Esempio n. 1
0
def drawVector(vector, name="vector", parent=xsi.ActiveSceneRoot):

    points = [0,0,0,1,vector.X, vector.Y, vector.Z, 1]

    curve = xsi.ActiveSceneRoot.AddNurbsCurve(points, None, False, 1, c.siNonUniformParameterization, c.siSINurbs, name)
    log.logVector(vector, "draw "+curve.Name+" : ")

    t = XSIMath.CreateTransform()
    t.SetTranslation(parent.Kinematics.Global.Transform.Translation)
    curve.Kinematics.Global.Transform = t

    return curve
Esempio n. 2
0
def drawVector(vector, name="vector", parent=xsi.ActiveSceneRoot):

    points = [0, 0, 0, 1, vector.X, vector.Y, vector.Z, 1]

    curve = xsi.ActiveSceneRoot.AddNurbsCurve(points, None, False, 1,
                                              c.siNonUniformParameterization,
                                              c.siSINurbs, name)
    log.logVector(vector, "draw " + curve.Name + " : ")

    t = XSIMath.CreateTransform()
    t.SetTranslation(parent.Kinematics.Global.Transform.Translation)
    curve.Kinematics.Global.Transform = t

    return curve
Esempio n. 3
0
    def addObjects(self):

        self.normal = self.getNormalFromPos(self.guide.apos)

        self.length0 = vec.getDistance(self.guide.apos[0], self.guide.apos[1])
        self.length1 = vec.getDistance(self.guide.apos[1], self.guide.apos[2])
        self.length2 = vec.getDistance(self.guide.apos[2], self.guide.apos[3])

        # FK Controlers ------------------------------------
        t = tra.getTransformLookingAt(self.guide.apos[0], self.guide.apos[1],
                                      self.normal, "xz", self.negate)
        self.fk0_ctl = self.addCtl(self.root,
                                   "fk0_ctl",
                                   t,
                                   self.color_fk,
                                   "cube",
                                   h=self.size * .1,
                                   w=1,
                                   d=self.size * .1,
                                   po=XSIMath.CreateVector3(
                                       .5 * self.n_factor, 0, 0))
        self.fk0_ctl.Parameters("SclX").Value = self.length0
        xsi.SetNeutralPose(self.fk0_ctl)
        par.setKeyableParameters(self.fk0_ctl)
        par.addLocalParamToCollection(self.inv_params, self.fk0_ctl,
                                      ["posx", "posy", "posz"])

        t = tra.getTransformLookingAt(self.guide.apos[1], self.guide.apos[2],
                                      self.normal, "xz", self.negate)
        self.fk1_ctl = self.addCtl(self.fk0_ctl,
                                   "fk1_ctl",
                                   t,
                                   self.color_fk,
                                   "cube",
                                   h=self.size * .1,
                                   w=1,
                                   d=self.size * .1,
                                   po=XSIMath.CreateVector3(
                                       .5 * self.n_factor, 0, 0))
        self.fk1_ctl.Parameters("SclX").Value = self.length1 / self.length0
        xsi.SetNeutralPose(self.fk1_ctl, c.siST)
        par.setKeyableParameters(self.fk1_ctl)
        par.addLocalParamToCollection(self.inv_params, self.fk1_ctl,
                                      ["posx", "posy", "posz"])

        t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3],
                                      self.normal, "xz", self.negate)
        self.fk2_ctl = self.addCtl(self.fk1_ctl,
                                   "fk2_ctl",
                                   t,
                                   self.color_fk,
                                   "cube",
                                   h=self.size * .1,
                                   w=self.length2,
                                   d=self.size * .1,
                                   po=XSIMath.CreateVector3(
                                       self.length2 * .5 * self.n_factor, 0,
                                       0))
        xsi.SetNeutralPose(self.fk2_ctl, c.siST)
        par.setKeyableParameters(self.fk2_ctl)
        par.addLocalParamToCollection(self.inv_params, self.fk2_ctl,
                                      ["posx", "posy", "posz"])

        # IK Controlers ------------------------------------
        self.ik_cns = pri.addNullFromPos(self.root, self.getName("ik_cns"),
                                         self.guide.apos[2], self.size * .02)
        self.addToGroup(self.ik_cns, "hidden")

        self.ikcns_ctl = self.addCtl(self.ik_cns,
                                     "ikcns_ctl",
                                     self.ik_cns.Kinematics.Global.Transform,
                                     self.color_ik,
                                     "null",
                                     h=self.size * .2)
        par.setKeyableParameters(self.ikcns_ctl)
        par.addLocalParamToCollection(self.inv_params, self.ikcns_ctl,
                                      ["posx", "rotx", "rotz"])

        t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3],
                                      self.x_axis, "zx", False)
        self.ik_ctl = self.addCtl(self.ikcns_ctl,
                                  "ik_ctl",
                                  t,
                                  self.color_ik,
                                  "cube",
                                  h=self.size * .12,
                                  w=self.length2,
                                  d=self.size * .12,
                                  po=XSIMath.CreateVector3(
                                      0, 0, self.length2 * .5))
        self.addToCtlGroup(self.ik_ctl)
        par.setKeyableParameters(self.ik_ctl)
        par.addLocalParamToCollection(self.inv_params, self.ik_ctl, ["posx"])

        # IK and FK references
        self.ik_ref = pri.addNull(self.ik_ctl, self.getName("ik_ref"),
                                  self.ik_ctl.Kinematics.Global.Transform,
                                  self.size * .1)
        self.addToGroup(self.ik_ref, "hidden")

        self.fk_ref = pri.addNull(self.fk2_ctl, self.getName("fk_ref"),
                                  self.ik_ref.Kinematics.Global.Transform,
                                  self.size * .1)
        self.addToGroup(self.fk_ref, "hidden")

        v = XSIMath.CreateVector3()
        v.Sub(self.guide.apos[2], self.guide.apos[0])
        v.Cross(self.normal, v)
        v.NormalizeInPlace()
        v.ScaleInPlace(self.size * .5)
        v.AddInPlace(self.guide.apos[1])
        self.upv_cns = pri.addNullFromPos(self.root, self.getName("upv_cns"),
                                          v, self.size * .02)
        self.addToGroup(self.upv_cns, "hidden")

        self.upv_ctl = self.addCtl(self.upv_cns,
                                   "upv_ctl",
                                   self.upv_cns.Kinematics.Global.Transform,
                                   self.color_ik,
                                   "leash",
                                   h=self.size * .05,
                                   ap=self.guide.apos[1])
        par.setKeyableParameters(self.upv_ctl, self.t_params)
        par.addLocalParamToCollection(self.inv_params, self.upv_ctl, ["posx"])

        # Chain --------------------------------------------
        self.bone0 = pri.addNull(self.root, self.getName("0_jnt"),
                                 self.fk0_ctl.Kinematics.Global.Transform)
        pri.setNullDisplay(self.bone0, 0, 1, 4, self.n_factor * .5, 0, 0, 1,
                           self.size * .01, self.size * .01)
        self.bone0.Kinematics.Global.Parameters("sclx").Value = self.length0
        self.bone1 = pri.addNull(self.bone0, self.getName("1_jnt"),
                                 self.fk1_ctl.Kinematics.Global.Transform)
        pri.setNullDisplay(self.bone1, 0, 1, 4, self.n_factor * .5, 0, 0, 1,
                           self.size * .01, self.size * .01)
        self.bone1.Kinematics.Global.Parameters("sclx").Value = self.length1

        self.ctrn_loc = pri.addNullFromPos(self.bone0,
                                           self.getName("ctrn_loc"),
                                           self.guide.apos[1], self.size * .05)
        self.eff_loc = pri.addNullFromPos(self.root, self.getName("eff_loc"),
                                          self.guide.apos[2], self.size * .05)

        x = XSIMath.CreateVector3(0, -1, 0)
        x.MulByRotationInPlace(
            self.eff_loc.Kinematics.Global.Transform.Rotation)
        import gear.xsi.log as log
        xsi.LogMessage("HEEEEYYYYYY")
        log.logVector(self.normal)
        z = XSIMath.CreateVector3(self.normal.X, self.normal.Y, self.normal.Z)
        z.MulByRotationInPlace(
            self.eff_loc.Kinematics.Global.Transform.Rotation)
        xsi.LogMessage("POUET")
        xsi.LogMessage("POUET2")

        r = tra.getRotationFromAxis(x, z, "xz", self.negate)
        t = self.ik_ctl.Kinematics.Global.Transform
        t.SetRotation(r)

        self.tws_ref = pri.addNull(self.eff_loc, self.getName("tws_ref"), t,
                                   self.size * .1)

        self.addToGroup([
            self.bone0, self.bone1, self.ctrn_loc, self.eff_loc, self.tws_ref
        ], "hidden")

        # Mid Controler ------------------------------------
        self.mid_ctl = self.addCtl(self.ctrn_loc,
                                   "mid_ctl",
                                   self.ctrn_loc.Kinematics.Global.Transform,
                                   self.color_ik,
                                   "sphere",
                                   h=self.size * .2)
        par.addLocalParamToCollection(self.inv_params, self.mid_ctl,
                                      ["posx", "posy", "posz"])

        # Twist references ---------------------------------
        t = tra.getFilteredTransform(self.fk0_ctl.Kinematics.Global.Transform,
                                     True, True, False)
        self.tws0_loc = pri.addNull(self.root, self.getName("tws0_loc"), t,
                                    self.size * .05)
        self.tws0_rot = pri.addNull(self.tws0_loc, self.getName("tws0_rot"), t)
        pri.setNullDisplay(self.tws0_rot, 0, self.size * .05, 2, 0, 0, 0,
                           self.size * .01)

        self.tws1_loc = pri.addNull(self.ctrn_loc, self.getName("tws1_loc"),
                                    self.ctrn_loc.Kinematics.Global.Transform,
                                    self.size * .05)
        self.tws1_rot = pri.addNull(self.tws1_loc, self.getName("tws1_rot"),
                                    self.ctrn_loc.Kinematics.Global.Transform)
        pri.setNullDisplay(self.tws1_rot, 0, self.size * .05, 2, 0, 0, 0,
                           self.size * .01)

        t = tra.getFilteredTransform(self.bone1.Kinematics.Global.Transform,
                                     True, True, False)
        t.SetTranslation(self.guide.apos[2])
        self.tws2_loc = pri.addNull(self.bone1, self.getName("tws2_loc"), t,
                                    self.size * .05)
        self.tws2_rot = pri.addNull(self.tws2_loc, self.getName("tws2_rot"), t)
        self.tws2_rot.Kinematics.Global.Parameters("SclX").Value = .001
        pri.setNullDisplay(self.tws2_rot, 0, self.size * .05, 2, 0, 0, 0,
                           self.size * .01)

        self.addToGroup([
            self.tws0_loc, self.tws0_rot, self.tws1_loc, self.tws1_rot,
            self.tws2_loc, self.tws2_rot
        ], "hidden")

        # End reference ------------------------------------
        t = tra.getFilteredTransform(self.tws2_rot.Kinematics.Global.Transform,
                                     True, True, False)
        self.end_ref = pri.addNull(self.tws2_rot, self.getName("end_ref"), t,
                                   self.size * .2)
        self.addToGroup(self.end_ref, "hidden")
        self.addShadow(self.end_ref, "end")

        # Divisions ----------------------------------------
        # We have at least one division at the start, the end and one for the elbow.
        self.divisions = self.settings["div0"] + self.settings["div1"] + 3

        self.div_cns = []
        for i in range(self.divisions):

            div_cns = pri.addNull(self.tws0_loc, self.getName("div%s_loc" % i),
                                  XSIMath.CreateTransform())
            pri.setNullDisplay(div_cns, 1, self.size * .02, 10, 0, 0, 0, 1, 1,
                               2)
            self.addToGroup(div_cns, "hidden")

            self.div_cns.append(div_cns)

            self.addShadow(div_cns, i)
Esempio n. 4
0
    def addObjects(self):
	
        self.normal = self.getNormalFromPos(self.guide.apos)

        self.length0 = vec.getDistance(self.guide.apos[0], self.guide.apos[1])
        self.length1 = vec.getDistance(self.guide.apos[1], self.guide.apos[2])
        self.length2 = vec.getDistance(self.guide.apos[2], self.guide.apos[3])

        # FK Controlers ------------------------------------
        t = tra.getTransformLookingAt(self.guide.apos[0], self.guide.apos[1], self.normal, "xz", self.negate)
        self.fk0_ctl = self.addCtl(self.root, "fk0_ctl", t, self.color_fk, "cube", h=self.size*.1, w=1, d=self.size*.1, po=XSIMath.CreateVector3(.5*self.n_factor,0,0))
        self.fk0_ctl.Parameters("SclX").Value = self.length0
        xsi.SetNeutralPose(self.fk0_ctl)
        par.setKeyableParameters(self.fk0_ctl)
        par.addLocalParamToCollection(self.inv_params, self.fk0_ctl, ["posx", "posy", "posz"])

        t = tra.getTransformLookingAt(self.guide.apos[1], self.guide.apos[2], self.normal, "xz", self.negate)
        self.fk1_ctl = self.addCtl(self.fk0_ctl, "fk1_ctl", t, self.color_fk, "cube", h=self.size*.1, w=1, d=self.size*.1, po=XSIMath.CreateVector3(.5*self.n_factor,0,0))
        self.fk1_ctl.Parameters("SclX").Value = self.length1/self.length0
        xsi.SetNeutralPose(self.fk1_ctl, c.siST)
        par.setKeyableParameters(self.fk1_ctl)
        par.addLocalParamToCollection(self.inv_params, self.fk1_ctl, ["posx", "posy", "posz"])

        t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3], self.normal, "xz", self.negate)
        self.fk2_ctl = self.addCtl(self.fk1_ctl, "fk2_ctl", t, self.color_fk, "cube", h=self.size*.1, w=self.length2, d=self.size*.1, po=XSIMath.CreateVector3(self.length2*.5*self.n_factor,0,0))
        xsi.SetNeutralPose(self.fk2_ctl, c.siST)
        par.setKeyableParameters(self.fk2_ctl)
        par.addLocalParamToCollection(self.inv_params, self.fk2_ctl, ["posx", "posy", "posz"])

        # IK Controlers ------------------------------------
        self.ik_cns = pri.addNullFromPos(self.root, self.getName("ik_cns"), self.guide.apos[2], self.size * .02)
        self.addToGroup(self.ik_cns, "hidden")

        self.ikcns_ctl = self.addCtl(self.ik_cns, "ikcns_ctl", self.ik_cns.Kinematics.Global.Transform, self.color_ik, "null", h=self.size*.2)
        par.setKeyableParameters(self.ikcns_ctl)
        par.addLocalParamToCollection(self.inv_params, self.ikcns_ctl, ["posx", "rotx", "rotz"])

        t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3], self.x_axis, "zx", False)
        self.ik_ctl = self.addCtl(self.ikcns_ctl, "ik_ctl", t, self.color_ik, "cube", h=self.size*.12, w=self.length2, d=self.size*.12, po=XSIMath.CreateVector3(0,0,self.length2*.5))
        self.addToCtlGroup(self.ik_ctl)
        par.setKeyableParameters(self.ik_ctl)
        par.addLocalParamToCollection(self.inv_params, self.ik_ctl, ["posx"])

        # IK and FK references
        self.ik_ref = pri.addNull(self.ik_ctl, self.getName("ik_ref"), self.ik_ctl.Kinematics.Global.Transform, self.size * .1)
        self.addToGroup(self.ik_ref, "hidden")

        self.fk_ref = pri.addNull(self.fk2_ctl, self.getName("fk_ref"), self.ik_ref.Kinematics.Global.Transform, self.size * .1)
        self.addToGroup(self.fk_ref, "hidden")

        v = XSIMath.CreateVector3()
        v.Sub(self.guide.apos[2], self.guide.apos[0])
        v.Cross(self.normal, v)
        v.NormalizeInPlace()
        v.ScaleInPlace(self.size*.5)
        v.AddInPlace(self.guide.apos[1])
        self.upv_cns = pri.addNullFromPos(self.root, self.getName("upv_cns"), v, self.size * .02)
        self.addToGroup(self.upv_cns, "hidden")
        
        self.upv_ctl = self.addCtl(self.upv_cns, "upv_ctl", self.upv_cns.Kinematics.Global.Transform, self.color_ik, "leash", h=self.size*.05, ap=self.guide.apos[1])
        par.setKeyableParameters(self.upv_ctl, self.t_params)
        par.addLocalParamToCollection(self.inv_params, self.upv_ctl, ["posx"])

        # Chain --------------------------------------------
        self.bone0 = pri.addNull(self.root, self.getName("0_jnt"), self.fk0_ctl.Kinematics.Global.Transform)
        pri.setNullDisplay(self.bone0, 0, 1, 4, self.n_factor * .5, 0, 0, 1, self.size * .01, self.size * .01)
        self.bone0.Kinematics.Global.Parameters("sclx").Value = self.length0
        self.bone1 = pri.addNull(self.bone0, self.getName("1_jnt"), self.fk1_ctl.Kinematics.Global.Transform)
        pri.setNullDisplay(self.bone1, 0, 1, 4, self.n_factor * .5, 0, 0, 1, self.size * .01, self.size * .01)
        self.bone1.Kinematics.Global.Parameters("sclx").Value = self.length1

        self.ctrn_loc = pri.addNullFromPos(self.bone0, self.getName("ctrn_loc"), self.guide.apos[1], self.size * .05)
        self.eff_loc  = pri.addNullFromPos(self.root, self.getName("eff_loc"), self.guide.apos[2], self.size * .05)


        x = XSIMath.CreateVector3(0,-1,0)
        x.MulByRotationInPlace(self.eff_loc.Kinematics.Global.Transform.Rotation)
        import gear.xsi.log as log
        xsi.LogMessage("HEEEEYYYYYY")
        log.logVector(self.normal)
        z = XSIMath.CreateVector3(self.normal.X,self.normal.Y,self.normal.Z)
        z.MulByRotationInPlace(self.eff_loc.Kinematics.Global.Transform.Rotation)
        xsi.LogMessage("POUET")
        xsi.LogMessage("POUET2")

        r = tra.getRotationFromAxis(x, z, "xz", self.negate)
        t = self.ik_ctl.Kinematics.Global.Transform
        t.SetRotation(r)

        self.tws_ref = pri.addNull(self.eff_loc, self.getName("tws_ref"), t, self.size * .1)

        self.addToGroup([self.bone0, self.bone1, self.ctrn_loc, self.eff_loc, self.tws_ref], "hidden")

        # Mid Controler ------------------------------------
        self.mid_ctl = self.addCtl(self.ctrn_loc, "mid_ctl", self.ctrn_loc.Kinematics.Global.Transform, self.color_ik, "sphere", h=self.size*.2)
        par.addLocalParamToCollection(self.inv_params, self.mid_ctl, ["posx", "posy", "posz"])

        # Twist references ---------------------------------
        t = tra.getFilteredTransform(self.fk0_ctl.Kinematics.Global.Transform, True, True, False)
        self.tws0_loc = pri.addNull(self.root, self.getName("tws0_loc"), t, self.size * .05)
        self.tws0_rot = pri.addNull(self.tws0_loc, self.getName("tws0_rot"), t)
        pri.setNullDisplay(self.tws0_rot, 0, self.size * .05, 2, 0, 0, 0, self.size * .01)

        self.tws1_loc = pri.addNull(self.ctrn_loc, self.getName("tws1_loc"), self.ctrn_loc.Kinematics.Global.Transform, self.size * .05)
        self.tws1_rot = pri.addNull(self.tws1_loc, self.getName("tws1_rot"), self.ctrn_loc.Kinematics.Global.Transform)
        pri.setNullDisplay(self.tws1_rot, 0, self.size * .05, 2, 0, 0, 0, self.size * .01)

        t = tra.getFilteredTransform(self.bone1.Kinematics.Global.Transform, True, True, False)
        t.SetTranslation(self.guide.apos[2])
        self.tws2_loc = pri.addNull(self.bone1, self.getName("tws2_loc"), t, self.size * .05)
        self.tws2_rot = pri.addNull(self.tws2_loc, self.getName("tws2_rot"), t)
        self.tws2_rot.Kinematics.Global.Parameters("SclX").Value = .001
        pri.setNullDisplay(self.tws2_rot, 0, self.size * .05, 2, 0, 0, 0, self.size * .01)

        self.addToGroup([self.tws0_loc, self.tws0_rot, self.tws1_loc, self.tws1_rot, self.tws2_loc, self.tws2_rot], "hidden")

        # End reference ------------------------------------
        t = tra.getFilteredTransform(self.tws2_rot.Kinematics.Global.Transform, True, True, False)
        self.end_ref = pri.addNull(self.tws2_rot, self.getName("end_ref"), t, self.size*.2)
        self.addToGroup(self.end_ref, "hidden")
        self.addShadow(self.end_ref, "end")
        
        # Divisions ----------------------------------------
        # We have at least one division at the start, the end and one for the elbow.
        self.divisions = self.settings["div0"] + self.settings["div1"] + 3

        self.div_cns = []
        for i in range(self.divisions):

            div_cns = pri.addNull(self.tws0_loc, self.getName("div%s_loc" % i), XSIMath.CreateTransform())
            pri.setNullDisplay(div_cns, 1, self.size * .02, 10, 0, 0, 0, 1, 1, 2)
            self.addToGroup(div_cns, "hidden")

            self.div_cns.append(div_cns)

            self.addShadow(div_cns, i)