def doBuild( self, bicep, elbow, wrist, clavicle=None, translateClavicle=True, stretchy=False, **kw ): getWristToWorldRotation( wrist, True ) colour = self.getParityColour() wireColor = 14 if self.getParity() == Parity.LEFT else 13 parentControl, rootControl = getParentAndRootControl( clavicle or bicep ) #build the base controls self.buildBase( ARM_NAMING_SCHEME ) #create variables for each control used ikHandle = self.ikHandle ikArmSpace, fkArmSpace = self.ikSpace, self.fkSpace fkControls = driverBicep, driverElbow, driverWrist = self.driverUpper, self.driverMid, self.driverLower elbowControl = self.poleControl #build the clavicle if clavicle: clavOffset = AX_Y.asVector() * getAutoOffsetAmount( clavicle, listRelatives( clavicle, pa=True ), AX_Y ) clavControl = buildControl( 'clavicleControl%s' % self.getParity().asName(), PlaceDesc( bicep, clavicle, clavicle ), shapeDesc=ShapeDesc( 'sphere' ), scale=self.scale*1.25, offset=clavOffset, offsetSpace=SPACE_WORLD, colour=colour ) clavControlOrient = getNodeParent( clavControl ) parent( clavControlOrient, parentControl ) parent( fkArmSpace, clavControl ) if not translateClavicle: attrState( clavControl, 't', *LOCK_HIDE ) else: clavControl = None parent( fkArmSpace, parentControl ) #build space switching allPurposeObj = self.buildAllPurposeLocator( 'arm' ) buildDefaultSpaceSwitching( bicep, elbowControl, **spaceSwitching.NO_ROTATION ) buildDefaultSpaceSwitching( bicep, self.control, [ allPurposeObj ], [ 'All Purpose' ], True ) buildDefaultSpaceSwitching( bicep, driverBicep, **spaceSwitching.NO_TRANSLATION ) #make the limb stretchy? if stretchy: StretchRig.Create( self.getSkeletonPart(), self.control, fkControls, '%s.ikBlend' % ikHandle, parity=self.getParity() ) controls = self.control, driverBicep, driverElbow, driverWrist, elbowControl, clavControl, allPurposeObj namedNodes = self.ikSpace, self.fkSpace, self.ikHandle, self.endOrient, self.lineNode return controls, namedNodes
def _build(self, skeletonPart, stretchy=True, **kw):
scale = kw['scale']
parity = self.getParity()
parityMult = parity.asMultiplier()
nameMod = kw.get('nameMod', 'front')
nameSuffix = '_%s%s' % (nameMod.capitalize(), parity.asName())
colour = self.getParityColour()
originalJoints = originalThighJoint, originalKneeJoint, originalAnkleJoint, originalToeJoint = skeletonPart[:
4]
getWristToWorldRotation(originalToeJoint, True)
#create a duplicate chain for the ik leg - later we create another chain for fk and constrain the original joints between them for ik/fk switching
ikJoints = ikThighJoint, ikKneeJoint, ikAnkleJoint, ikToeJoint = duplicateChain(
originalThighJoint, originalToeJoint)
### IK CHAIN SETUP
#determine the root
partParent, rootControl = getParentAndRootControl(ikThighJoint)
parent(ikThighJoint, partParent)
setAttr('%s.v' % ikThighJoint, 0)
ikHandle = cmd.ikHandle(fs=1,
sj=ikThighJoint,
ee=ikAnkleJoint,
solver='ikRPsolver')[0]
footCtrl = buildControl(
'Foot%s' % nameSuffix,
#PlaceDesc( ikToeJoint, PlaceDesc.WORLD ),
ikToeJoint,
PivotModeDesc.MID,
ShapeDesc('cube', axis=-AIM_AXIS if parity else AIM_AXIS),
colour,
scale=scale)
footCtrlSpace = getNodeParent(footCtrl)
setAttr('%s.rotateOrder' % footCtrl, 1)
setAttr('%s.v' % ikHandle, 0)
attrState(ikHandle, 'v', *LOCK_HIDE)
#build the pivots for the foot roll/rock attributes
placers = skeletonPart.getPlacers()
if placers:
footRock_fwd = buildNullControl('footRock_forward_null',
placers[0],
parent=footCtrl)
footRock_back = buildNullControl('footRock_backward_null',
placers[1],
parent=footRock_fwd)
footRoll_inner = buildNullControl('footRoll_inner_null',
placers[2],
parent=footRock_back)
footRoll_outer = buildNullControl('footRoll_outer_null',
placers[3],
parent=footRoll_inner)
else:
footRock_fwd = buildNullControl('footRock_forward_null',
ikToeJoint,
parent=footCtrlSpace)
footRock_back = buildNullControl('footRock_backward_null',
ikToeJoint,
parent=footCtrlSpace)
footRoll_inner = buildNullControl('footRoll_inner_null',
ikToeJoint,
parent=footCtrlSpace)
footRoll_outer = buildNullControl('footRoll_outer_null',
ikToeJoint,
parent=footCtrlSpace)
toePos = xform(ikToeJoint, q=True, ws=True, rp=True)
moveIncrement = scale / 2
move(0, -toePos[1], moveIncrement, footRock_fwd, r=True, ws=True)
move(0, -toePos[1], -moveIncrement, footRock_back, r=True, ws=True)
move(-moveIncrement * parityMult,
-toePos[1],
0,
footRoll_inner,
r=True,
ws=True)
move(moveIncrement * parityMult,
-toePos[1],
0,
footRoll_outer,
r=True,
ws=True)
cmd.parent(footRock_back, footRock_fwd)
cmd.parent(footRoll_inner, footRock_back)
cmd.parent(footRoll_outer, footRoll_inner)
cmd.parent(footCtrl, footRoll_outer)
makeIdentity(footCtrl, a=True, t=True)
addAttr(footCtrl, ln='footRock', at='double', dv=0, min=-10, max=10)
attrState(footCtrl, 'footRock', *NORMAL)
setDrivenKeyframe('%s.rx' % footRock_fwd,
cd='%s.footRock' % footCtrl,
dv=0,
v=0)
setDrivenKeyframe('%s.rx' % footRock_fwd,
cd='%s.footRock' % footCtrl,
dv=10,
v=90)
setDrivenKeyframe('%s.rx' % footRock_back,
cd='%s.footRock' % footCtrl,
dv=0,
v=0)
setDrivenKeyframe('%s.rx' % footRock_back,
cd='%s.footRock' % footCtrl,
dv=-10,
v=-90)
addAttr(footCtrl, ln='bank', at='double', dv=0, min=-10, max=10)
attrState(footCtrl, 'bank', *NORMAL)
setDrivenKeyframe('%s.rz' % footRoll_inner,
cd='%s.bank' % footCtrl,
dv=0,
v=0)
setDrivenKeyframe('%s.rz' % footRoll_inner,
cd='%s.bank' % footCtrl,
dv=10,
v=90)
setDrivenKeyframe('%s.rz' % footRoll_outer,
cd='%s.bank' % footCtrl,
dv=0,
v=0)
setDrivenKeyframe('%s.rz' % footRoll_outer,
cd='%s.bank' % footCtrl,
dv=-10,
v=-90)
#setup the auto ankle
grpA = buildControl('ankle_auto_null',
PlaceDesc(ikToeJoint, ikAnkleJoint),
shapeDesc=SHAPE_NULL,
constrain=False,
parent=footCtrl)
grpB = buildAlignedNull(ikAnkleJoint,
'ankle_orientation_null',
parent=grpA)
orientConstraint(grpB, ikAnkleJoint)
for ax in AXES:
delete('%s.t%s' % (ikToeJoint, ax), icn=True)
cmd.parent(ikHandle, grpA)
cmd.parent(footCtrlSpace, self.getWorldControl())
grpASpace = getNodeParent(grpA)
grpAAutoNull = buildAlignedNull(PlaceDesc(ikToeJoint, ikAnkleJoint),
'%sauto_on_ankle_null%s' %
(nameMod, nameSuffix),
parent=footCtrl)
grpAAutoOffNull = buildAlignedNull(PlaceDesc(ikToeJoint, ikAnkleJoint),
'%sauto_off_ankle_null%s' %
(nameMod, nameSuffix),
parent=footCtrl)
grpA_knee_aimVector = betweenVector(grpAAutoNull, ikKneeJoint)
grpA_knee_aimAxis = getObjectAxisInDirection(grpAAutoNull,
grpA_knee_aimVector)
grpA_knee_upAxis = getObjectAxisInDirection(grpAAutoNull, (1, 0, 0))
grpA_knee_worldAxis = getObjectAxisInDirection(footCtrl, (1, 0, 0))
aimConstraint(ikThighJoint,
grpAAutoNull,
mo=True,
aim=grpA_knee_aimAxis.asVector(),
u=grpA_knee_upAxis.asVector(),
wu=grpA_knee_worldAxis.asVector(),
wuo=footCtrl,
wut='objectrotation')
autoAimConstraint = orientConstraint(grpAAutoNull, grpAAutoOffNull,
grpASpace)[0]
addAttr(footCtrl, ln='autoAnkle', at='double', dv=1, min=0, max=1)
attrState(footCtrl, 'autoAnkle', *NORMAL)
cAttrs = listAttr(autoAimConstraint, ud=True)
connectAttr('%s.autoAnkle' % footCtrl,
'%s.%s' % (autoAimConstraint, cAttrs[0]),
f=True)
connectAttrReverse('%s.autoAnkle' % footCtrl,
'%s.%s' % (autoAimConstraint, cAttrs[1]),
f=True)
poleCtrl = buildControl('Pole%s' % nameSuffix,
PlaceDesc(ikKneeJoint, PlaceDesc.WORLD),
PivotModeDesc.MID,
shapeDesc=ShapeDesc(
'sphere',
axis=-AIM_AXIS if parity else AIM_AXIS),
colour=colour,
constrain=False,
scale=scale,
parent=self.getPartsNode())
poleCtrlSpace = getNodeParent(poleCtrl)
polePos = findPolePosition(ikAnkleJoint)
move(polePos[0],
polePos[1],
polePos[2],
poleCtrlSpace,
ws=True,
rpr=True,
a=True)
pointConstraint(ikThighJoint, footCtrl, poleCtrlSpace, mo=True)
poleVectorConstraint(poleCtrl, ikHandle)
#build the ankle aim control - its acts kinda like a secondary pole vector
anklePoleControl = buildControl('Ankle%s' % nameSuffix,
ikAnkleJoint,
shapeDesc=ShapeDesc('sphere'),
colour=colour,
scale=scale,
constrain=False,
parent=grpASpace)
ankleAimVector = betweenVector(grpA, anklePoleControl)
ankleAimAxis = getObjectAxisInDirection(grpA, ankleAimVector)
ankleUpAxis = getObjectAxisInDirection(grpA, (1, 0, 0))
ankleWorldUpAxis = getObjectAxisInDirection(anklePoleControl,
(1, 0, 0))
aimConstraint(anklePoleControl,
grpA,
aim=ankleAimAxis.asVector(),
u=ankleUpAxis.asVector(),
wu=ankleWorldUpAxis.asVector(),
wuo=anklePoleControl,
wut='objectrotation')
### FK CHAIN SETUP
fkThighControl = buildControl('fkThigh%s' % nameSuffix,
originalThighJoint,
PivotModeDesc.MID,
'sphere',
colour,
False,
scale=scale,
parent=partParent)
fkKneeControl = buildControl('fkKnee%s' % nameSuffix,
originalKneeJoint,
PivotModeDesc.MID,
'sphere',
colour,
False,
scale=scale,
parent=fkThighControl)
fkAnkleControl = buildControl('fkAnkle%s' % nameSuffix,
originalAnkleJoint,
PivotModeDesc.MID,
'sphere',
colour,
False,
scale=scale,
parent=fkKneeControl)
fkToeControl = buildControl('fkToe%s' % nameSuffix,
originalToeJoint,
PivotModeDesc.MID,
'sphere',
colour,
False,
scale=scale,
parent=fkAnkleControl)
fkControls = fkThighControl, fkKneeControl, fkAnkleControl, fkToeControl
setItemRigControl(originalThighJoint, fkThighControl)
setItemRigControl(originalKneeJoint, fkKneeControl)
setItemRigControl(originalAnkleJoint, fkAnkleControl)
addAttr(footCtrl,
ln='ikBlend',
at='float',
min=0,
max=1,
dv=1,
keyable=True)
for ikJ, fkC, orgJ in zip(ikJoints, fkControls, originalJoints):
constraintNode = parentConstraint(ikJ, orgJ, w=1, mo=True)[0]
constraintNode = parentConstraint(fkC, orgJ, w=0, mo=True)[0]
ikAttr, fkAttr = listAttr(constraintNode, ud=True)
connectAttr('%s.ikBlend' % footCtrl,
'%s.%s' % (constraintNode, ikAttr))
connectAttrReverse('%s.ikBlend' % footCtrl,
'%s.%s' % (constraintNode, fkAttr))
ikControls = footCtrl, poleCtrl, anklePoleControl
setupIkFkVisibilityConditions('%s.ikBlend' % footCtrl, ikControls,
fkControls)
#now we need to setup right mouse button menus for ik/fk switching
footTrigger = Trigger(footCtrl)
footTrigger.createMenu(
'switch to FK',
'''python( "import rigPrimitives; rigPrimitives.RigPart.InitFromItem('#').switchToFk()" )'''
)
for c in fkControls:
t = Trigger(c)
t.createMenu(
'switch to IK',
'''python( "import rigPrimitives; rigPrimitives.RigPart.InitFromItem('#').switchToIk()" )'''
)
#setup stretch as appropriate
if stretchy:
StretchRig.Create(
self._skeletonPart,
footCtrl,
(ikThighJoint, ikKneeJoint, ikAnkleJoint, ikToeJoint),
'%s.ikBlend' % ikHandle,
parity=parity,
connectEndJoint=True)
for ax in CHANNELS:
delete('%s.t%s' % (ikToeJoint, ax), icn=True)
pointConstraint(footCtrl, ikToeJoint)
buildDefaultSpaceSwitching(originalThighJoint,
footCtrl,
reverseHierarchy=True,
space=footCtrlSpace)
buildDefaultSpaceSwitching(originalThighJoint, fkThighControl)
buildDefaultSpaceSwitching(originalToeJoint, fkToeControl,
**spaceSwitching.NO_ROTATION)
controls = ikControls + fkControls
namedNodes = None, None, ikHandle, None
return controls, namedNodes
def doBuild(self, thigh, knee, ankle, stretchy=True, **kw):
partParent, rootControl = getParentAndRootControl(thigh)
#first rotate the foot so its aligned to a world axis
footCtrlRot = Vector(getAnkleToWorldRotation(str(ankle), 'z', True))
footCtrlRot = (0, -footCtrlRot.y, 0)
#build the base controls
self.buildBase(LEG_NAMING_SCHEME)
#if the legs are parented to a root part - which is usually the case but not always - grab the hips and parent the fk control space to the hips
hipsControl = partParent
partParentRigPart = RigPart.InitFromItem(partParent)
if isinstance(partParentRigPart.getSkeletonPart(), Root):
hipsControl = partParentRigPart.getControl('hips')
#if the part parent in a Root primitive, grab the hips control instead of the root gimbal - for the leg parts this is preferable
parentRigPart = RigPart.InitFromItem(partParent)
if isinstance(parentRigPart, Root):
partParent = parentRigPart.getControl('hips')
#create variables for each control used
legControl = self.control
legControlSpace = getNodeParent(legControl)
ikLegSpace, fkLegSpace = self.ikSpace, self.fkSpace
driverThigh, driverKnee, driverAnkle = self.driverUpper, self.driverMid, self.driverLower
fkControls = driverThigh, driverKnee, driverAnkle
kneeControl = self.poleControl
kneeControlSpace = getNodeParent(kneeControl)
parent(kneeControlSpace, partParent)
toe = listRelatives(ankle, type='joint', pa=True) or None
toeTip = None
if toe:
toe = toe[0]
#if the toe doesn't exist, build a temp one
if not toe:
toe = group(em=True)
parent(toe, ankle, r=True)
move(0, -self.scale, self.scale, toe, r=True, ws=True)
toeTip = self.getSkeletonPart().endPlacer
if not toeTip:
possibleTips = listRelatives(toe, type='joint', pa=True)
if possibleTips:
toeTip = possibleTips[0]
#build the objects to control the foot
suffix = self.getSuffix()
footControlSpace = buildNullControl("foot_controlSpace" + suffix,
ankle,
parent=legControl)
heelRoll = buildNullControl("heel_roll_piv" + suffix,
ankle,
offset=(0, 0, -self.scale),
parent=footControlSpace)
select(
heelRoll
) #move command doesn't support object naming when specifying a single axis move, so we must selec the object first
move(0, 0, 0, rpr=True, y=True)
if toeTip:
toeRoll = buildNullControl("leg_toe_roll_piv" + suffix,
toeTip,
parent=heelRoll)
else:
toeRoll = buildNullControl("leg_toe_roll_piv" + suffix,
toe,
parent=heelRoll,
offset=(0, 0, self.scale))
footBankL = buildNullControl("bank_in_piv" + suffix,
toe,
parent=toeRoll)
footBankR = buildNullControl("bank_out_piv" + suffix,
toe,
parent=footBankL)
footRollControl = buildNullControl("roll_piv" + suffix,
toe,
parent=footBankR)
#move bank pivots to a good spot on the ground
placers = self.getSkeletonPart().getPlacers()
numPlacers = len(placers)
if placers:
toePos = Vector(xform(toe, q=True, ws=True, rp=True))
if numPlacers >= 2:
innerPlacer = Vector(
xform(placers[1], q=True, ws=True, rp=True))
move(innerPlacer[0],
innerPlacer[1],
innerPlacer[2],
footBankL,
a=True,
ws=True,
rpr=True)
if numPlacers >= 3:
outerPlacer = Vector(
xform(placers[2], q=True, ws=True, rp=True))
move(outerPlacer[0],
outerPlacer[1],
outerPlacer[2],
footBankR,
a=True,
ws=True,
rpr=True)
if numPlacers >= 4:
heelPlacer = Vector(xform(placers[3], q=True, ws=True,
rp=True))
move(heelPlacer[0],
heelPlacer[1],
heelPlacer[2],
heelRoll,
a=True,
ws=True,
rpr=True)
#move the knee control so its inline with the leg
rotate(footCtrlRot[0],
footCtrlRot[1],
footCtrlRot[2],
kneeControlSpace,
p=xform(thigh, q=True, ws=True, rp=True),
a=True,
ws=True)
makeIdentity(kneeControl, apply=True, t=True)
#add attributes to the leg control, to control the pivots
addAttr(legControl, ln='rollBall', at='double', min=0, max=10, k=True)
addAttr(legControl, ln='rollToe', at='double', min=-10, max=10, k=True)
addAttr(legControl,
ln='twistFoot',
at='double',
min=-10,
max=10,
k=True)
addAttr(legControl, ln='bank', at='double', min=-10, max=10, k=True)
#replace the legControl as a target to the parent constraint on the endOrient transform so the ikHandle respects the foot slider controls
footFinalPivot = buildNullControl("final_piv" + suffix,
ankle,
parent=footRollControl)
delete(parentConstraint(footFinalPivot, self.ikHandle, mo=True))
parent(self.ikHandle, footFinalPivot)
replaceGivenConstraintTarget(self.endOrientSpaceConstraint, legControl,
footFinalPivot)
#build the SDK's to control the pivots
setDrivenKeyframe('%s.rx' % footRollControl,
cd='%s.rollBall' % legControl,
dv=0,
v=0)
setDrivenKeyframe('%s.rx' % footRollControl,
cd='%s.rollBall' % legControl,
dv=10,
v=90)
setDrivenKeyframe('%s.rx' % footRollControl,
cd='%s.rollBall' % legControl,
dv=-10,
v=-90)
setDrivenKeyframe('%s.rx' % toeRoll,
cd='%s.rollToe' % legControl,
dv=0,
v=0)
setDrivenKeyframe('%s.rx' % toeRoll,
cd='%s.rollToe' % legControl,
dv=10,
v=90)
setDrivenKeyframe('%s.rx' % toeRoll,
cd='%s.rollToe' % legControl,
dv=0,
v=0)
setDrivenKeyframe('%s.rx' % toeRoll,
cd='%s.rollToe' % legControl,
dv=-10,
v=-90)
setDrivenKeyframe('%s.ry' % toeRoll,
cd='%s.twistFoot' % legControl,
dv=-10,
v=-90)
setDrivenKeyframe('%s.ry' % toeRoll,
cd='%s.twistFoot' % legControl,
dv=10,
v=90)
min = -90 if self.getParity() == Parity.LEFT else 90
max = 90 if self.getParity() == Parity.LEFT else -90
setDrivenKeyframe('%s.rz' % footBankL,
cd='%s.bank' % legControl,
dv=0,
v=0)
setDrivenKeyframe('%s.rz' % footBankL,
cd='%s.bank' % legControl,
dv=10,
v=max)
setDrivenKeyframe('%s.rz' % footBankR,
cd='%s.bank' % legControl,
dv=0,
v=0)
setDrivenKeyframe('%s.rz' % footBankR,
cd='%s.bank' % legControl,
dv=-10,
v=min)
#setup the toe if we have one
if toe:
toeSDK = buildControl("toeSDK%s" % suffix,
toe,
shapeDesc=SHAPE_NULL,
parent=footBankR,
scale=self.scale,
colour=self.getParityColour())
toeConstraint = parentConstraint(driverAnkle, toe, w=0, mo=True)[0]
toeConstraintAttrs = listAttr(toeConstraint, ud=True)
expression(s='%s.%s = %s.ikBlend;\n%s.%s = 1 - %s.ikBlend;' %
(toeConstraint, toeConstraintAttrs[0], self.control,
toeConstraint, toeConstraintAttrs[1], self.control),
n='toe_parentingConstraintSwitch')
addAttr(legControl, ln='toe', at='double', min=-10, max=10, k=True)
setDrivenKeyframe('%s.r%s' % (toeSDK, ROT_AXIS.asCleanName()),
cd='%s.toe' % legControl,
dv=-10,
v=90)
setDrivenKeyframe('%s.r%s' % (toeSDK, ROT_AXIS.asCleanName()),
cd='%s.toe' % legControl,
dv=10,
v=-90)
#build space switching
parent(fkLegSpace, hipsControl)
allPurposeObj = self.buildAllPurposeLocator('leg')
spaceSwitching.build(
legControl,
(self.getWorldControl(), hipsControl, rootControl, allPurposeObj),
('World', None, 'Root', 'All Purpose'),
space=legControlSpace)
spaceSwitching.build(
kneeControl,
(legControl, partParent, rootControl, self.getWorldControl()),
("Leg", None, "Root", "World"), **spaceSwitching.NO_ROTATION)
spaceSwitching.build(
driverThigh, (hipsControl, rootControl, self.getWorldControl()),
(None, 'Root', 'World'), **spaceSwitching.NO_TRANSLATION)
spaceSwitching.build(
kneeControl, (self.getWorldControl(), hipsControl, rootControl),
('World', None, 'Root'), **spaceSwitching.NO_ROTATION)
#make the limb stretchy
if stretchy:
StretchRig.Create(self.getSkeletonPart(),
legControl,
fkControls,
'%s.ikBlend' % self.ikHandle,
parity=self.getParity())
if objExists('%s.elbowPos' % legControl):
renameAttr('%s.elbowPos' % legControl, 'kneePos')
controls = legControl, driverThigh, driverKnee, driverAnkle, kneeControl, allPurposeObj
namedNodes = self.ikSpace, self.fkSpace, self.ikHandle, self.endOrient, self.lineNode
return controls, namedNodes
def doBuild(self,
bicep,
elbow,
wrist,
clavicle=None,
translateClavicle=True,
stretchy=False,
**kw):
scale = kw['scale']
idx = kw['idx']
parity = Parity(idx)
getWristToWorldRotation(wrist, True)
colour = ColourDesc('green') if parity == Parity.LEFT else ColourDesc(
'red')
worldPart = WorldPart.Create()
worldControl = worldPart.control
partsControl = worldPart.parts
parentControl, rootControl = getParentAndRootControl(clavicle or bicep)
ikFkPart = IkFkBase.Create(self.getSkeletonPart(), **kw)
#create variables for each control used
armControl = asMObject(ikFkPart.control)
ikHandle = asMObject(ikFkPart.ikHandle)
ikArmSpace = asMObject(ikFkPart.ikSpace)
fkArmSpace = asMObject(ikFkPart.fkSpace)
driverBicep = asMObject(ikFkPart.fkUpper)
driverElbow = asMObject(ikFkPart.fkMid)
driverWrist = asMObject(ikFkPart.fkLower)
elbowControl = asMObject(ikFkPart.poleControl)
fkControls = driverBicep, driverElbow, driverWrist
#build the clavicle
if clavicle:
clavOffset = AX_Y.asVector() * getAutoOffsetAmount(
clavicle, listRelatives(clavicle, pa=True), AX_Y)
clavControl = buildControl('clavicleControl%s' % parity.asName(),
PlaceDesc(bicep, clavicle, clavicle),
shapeDesc=ShapeDesc('sphere'),
scale=scale * 1.25,
offset=clavOffset,
offsetSpace=SPACE_WORLD,
colour=colour)
clavControlOrient = getNodeParent(clavControl)
parent(clavControlOrient, parentControl)
parent(fkArmSpace, clavControl)
if not translateClavicle:
attrState(clavControl, 't', *LOCK_HIDE)
else:
clavControl = None
parent(fkArmSpace, parentControl)
#build space switching
allPurposeObj = spaceLocator()[0]
allPurposeObj = rename(allPurposeObj,
"arm_all_purpose_loc%s" % parity.asName())
attrState(allPurposeObj, 's', *LOCK_HIDE)
attrState(allPurposeObj, 'v', *HIDE)
parent(allPurposeObj, worldControl)
buildDefaultSpaceSwitching(bicep, armControl, [allPurposeObj],
['All Purpose'], True)
buildDefaultSpaceSwitching(bicep, driverBicep,
**spaceSwitching.NO_TRANSLATION)
#make the limb stretchy?
if stretchy:
StretchRig.Create(self._skeletonPart,
armControl,
fkControls,
'%s.ikBlend' % ikHandle,
parity=parity)
return armControl, driverBicep, driverElbow, driverWrist, elbowControl, clavControl, allPurposeObj, ikFkPart.poleTrigger
def doBuild(self, thigh, knee, ankle, stretchy=True, **kw):
scale = kw['scale']
idx = kw['idx']
parity = Parity(idx)
parityMult = parity.asMultiplier()
suffix = parity.asName()
colour = ColourDesc('green') if parity == Parity.LEFT else ColourDesc(
'red')
worldPart = WorldPart.Create()
worldControl = worldPart.control
partsControl = worldPart.parts
#first rotate the foot so its aligned to a world axis
footCtrlRot = Vector(getAnkleToWorldRotation(str(ankle), 'z', True))
footCtrlRot = (0, -footCtrlRot.y, 0)
### BUILD THE IKFK BASE
ikFkPart = IkFkBase.Create(self.getSkeletonPart(),
nameScheme=LEG_NAMING_SCHEME,
alignEnd=False,
addControlsToQss=False,
**kw)
partParent, rootControl = getParentAndRootControl(thigh)
#if the legs are parented to a root part - which is usually the case but not always - grab the hips and parent the fk control space to the hips
hipsControl = partParent
partParentRigPart = RigPart.InitFromItem(partParent)
if isinstance(partParentRigPart.getSkeletonPart(), Root):
hipsControl = partParentRigPart.hips
#if the part parent in a Root primitive, grab the hips control instead of the root gimbal - for the leg parts this is preferable
parentRigPart = RigPart.InitFromItem(partParent)
if isinstance(parentRigPart, Root):
partParent = parentRigPart.hips
#create variables for each control used
legControl = ikFkPart.control
legControlSpace = getNodeParent(legControl)
ikLegSpace = ikFkPart.ikSpace
fkLegSpace = ikFkPart.fkSpace
driverThigh = ikFkPart.fkUpper
driverKnee = ikFkPart.fkMid
driverAnkle = ikFkPart.fkLower
ikHandle = ikFkPart.ikHandle
kneeControl = ikFkPart.poleControl
kneeControlSpace = getNodeParent(kneeControl)
toe = listRelatives(ankle, type='joint', pa=True) or None
toeTip = None
if toe:
toe = toe[0]
fkControls = driverThigh, driverKnee, driverAnkle
#if the toe doesn't exist, build a temp one
if not toe:
toe = group(em=True)
parent(toe, ankle, r=True)
move(0, -scale, scale, toe, r=True, ws=True)
toeTip = self.getSkeletonPart().endPlacer
if not toeTip:
possibleTips = listRelatives(toe, type='joint', pa=True)
if possibleTips:
toeTip = possibleTips[0]
#build the objects to control the foot
footControlSpace = buildNullControl("foot_controlSpace" + suffix,
ankle,
parent=legControl)
heelRoll = buildNullControl("heel_roll_piv" + suffix,
ankle,
offset=(0, 0, -scale))
footBankL = buildNullControl("bank_in_piv" + suffix, toe)
footBankR = buildNullControl("bank_out_piv" + suffix, toe)
footRollControl = buildNullControl("roll_piv" + suffix, toe)
toeOrient = buildNullControl("toe_orient_piv" + suffix, toe)
if toeTip:
toeRoll = buildNullControl("leg_toe_roll_piv" + suffix, toeTip)
else:
toeRoll = buildNullControl("leg_toe_roll_piv" + suffix,
toe,
offset=(0, 0, scale))
select(
heelRoll
) #stupid move command doesn't support object naming when specifying a single axis move, so we must selec the object first
move(0, 0, 0, rpr=True, y=True)
#move bank pivots to a good spot on the ground
placers = self.getSkeletonPart().getPlacers()
numPlacers = len(placers)
if placers:
toePos = Vector(xform(toe, q=True, ws=True, rp=True))
if numPlacers >= 2:
innerPlacer = Vector(
xform(placers[1], q=True, ws=True, rp=True))
move(innerPlacer[0],
innerPlacer[1],
innerPlacer[2],
footBankL,
a=True,
ws=True,
rpr=True)
if numPlacers >= 3:
outerPlacer = Vector(
xform(placers[2], q=True, ws=True, rp=True))
move(outerPlacer[0],
outerPlacer[1],
outerPlacer[2],
footBankR,
a=True,
ws=True,
rpr=True)
if numPlacers >= 4:
heelPlacer = Vector(xform(placers[3], q=True, ws=True,
rp=True))
move(heelPlacer[0],
heelPlacer[1],
heelPlacer[2],
heelRoll,
a=True,
ws=True,
rpr=True)
#parent the leg pivots together
parent(kneeControlSpace, partParent)
parent(heelRoll, footControlSpace)
parent(toeRoll, heelRoll)
parent(footBankL, toeRoll)
parent(footBankR, footBankL)
parent(footRollControl, footBankR)
parent(toeOrient, footBankR)
if toe:
orientConstraint(toeOrient, toe, mo=True)
makeIdentity(heelRoll, apply=True, t=True, r=True)
#move the knee control so its inline with the leg
rotate(footCtrlRot[0],
footCtrlRot[1],
footCtrlRot[2],
kneeControlSpace,
p=xform(thigh, q=True, ws=True, rp=True),
a=True,
ws=True)
makeIdentity(kneeControl, apply=True, t=True)
#add attributes to the leg control, to control the pivots
addAttr(legControl, ln='rollBall', at='double', min=0, max=10, k=True)
addAttr(legControl, ln='rollToe', at='double', min=-10, max=10, k=True)
addAttr(legControl,
ln='twistFoot',
at='double',
min=-10,
max=10,
k=True)
addAttr(legControl, ln='toe', at='double', min=-10, max=10, k=True)
addAttr(legControl, ln='bank', at='double', min=-10, max=10, k=True)
#replace the legControl as a target to teh parent constraint on the endOrient transform so the ikHandle respects the foot slider controls
footFinalPivot = buildNullControl("final_piv" + suffix,
ankle,
parent=footRollControl)
endOrientConstraint = listConnections('%s.tx' % ikFkPart.endOrient,
type='constraint',
d=False)[0]
#replaceConstraintTarget( endOrientConstraint, footFinalPivot )
for attr in attributeQuery('target',
node=endOrientConstraint,
listChildren=True):
for con in listConnections('%s.target[ 0 ].%s' %
(endOrientConstraint, attr),
p=True,
type='transform',
d=False) or []:
node = con.split('.')[0]
if cmpNodes(node, legControl):
toks = str(con).split('.')
toks[0] = str(footFinalPivot)
connectAttr('.'.join(toks),
'%s.target[0].%s' %
(endOrientConstraint, attr),
f=True)
delete(parentConstraint(footFinalPivot, ikHandle, mo=True))
parent(ikHandle, footFinalPivot)
#build the SDK's to control the pivots
setDrivenKeyframe('%s.rx' % footRollControl,
cd='%s.rollBall' % legControl,
dv=0,
v=0)
setDrivenKeyframe('%s.rx' % footRollControl,
cd='%s.rollBall' % legControl,
dv=10,
v=90)
setDrivenKeyframe('%s.rx' % footRollControl,
cd='%s.rollBall' % legControl,
dv=-10,
v=-90)
setDrivenKeyframe('%s.rx' % toeRoll,
cd='%s.rollToe' % legControl,
dv=0,
v=0)
setDrivenKeyframe('%s.rx' % toeRoll,
cd='%s.rollToe' % legControl,
dv=10,
v=90)
setDrivenKeyframe('%s.rx' % toeRoll,
cd='%s.rollToe' % legControl,
dv=0,
v=0)
setDrivenKeyframe('%s.rx' % toeRoll,
cd='%s.rollToe' % legControl,
dv=-10,
v=-90)
setDrivenKeyframe('%s.ry' % toeRoll,
cd='%s.twistFoot' % legControl,
dv=-10,
v=-90)
setDrivenKeyframe('%s.ry' % toeRoll,
cd='%s.twistFoot' % legControl,
dv=10,
v=90)
setDrivenKeyframe('%s.rx' % toeOrient,
cd='%s.toe' % legControl,
dv=-10,
v=90)
setDrivenKeyframe('%s.rx' % toeOrient,
cd='%s.toe' % legControl,
dv=10,
v=-90)
min = -90 if parity == Parity.LEFT else 90
max = 90 if parity == Parity.LEFT else -90
setDrivenKeyframe('%s.rz' % footBankL,
cd='%s.bank' % legControl,
dv=0,
v=0)
setDrivenKeyframe('%s.rz' % footBankL,
cd='%s.bank' % legControl,
dv=10,
v=max)
setDrivenKeyframe('%s.rz' % footBankR,
cd='%s.bank' % legControl,
dv=0,
v=0)
setDrivenKeyframe('%s.rz' % footBankR,
cd='%s.bank' % legControl,
dv=-10,
v=min)
#build all purpose
allPurposeObj = spaceLocator(name="leg_all_purpose_loc%s" % suffix)[0]
attrState(allPurposeObj, 's', *LOCK_HIDE)
attrState(allPurposeObj, 'v', *HIDE)
parent(allPurposeObj, worldControl)
#build space switching
parent(fkLegSpace, hipsControl)
spaceSwitching.build(
legControl,
(worldControl, hipsControl, rootControl, allPurposeObj),
('World', None, 'Root', 'All Purpose'),
space=legControlSpace)
spaceSwitching.build(
kneeControl, (legControl, partParent, rootControl, worldControl),
("Leg", None, "Root", "World"), **spaceSwitching.NO_ROTATION)
spaceSwitching.build(driverThigh,
(hipsControl, rootControl, worldControl),
(None, 'Root', 'World'),
**spaceSwitching.NO_TRANSLATION)
#make the limb stretchy
if stretchy:
StretchRig.Create(self._skeletonPart,
legControl,
fkControls,
'%s.ikBlend' % ikHandle,
parity=parity)
if objExists('%s.elbowPos' % legControl):
renameAttr('%s.elbowPos' % legControl, 'kneePos')
return legControl, driverThigh, driverKnee, driverAnkle, kneeControl, allPurposeObj, ikFkPart.poleTrigger
def _build( self, skeletonPart, stretchy=True, **kw ): thigh, knee, ankle, toe = skeletonPart[:4] idx = kw[ 'idx' ] scale = kw[ 'scale' ] parity = Parity( idx ) parityMult = parity.asMultiplier() nameMod = kw.get( 'nameMod', 'front' ) worldPart = WorldPart.Create() worldControl, partsControl = worldPart.control, worldPart.parts nameSuffix = '_%s%s' % (nameMod.capitalize(), parity.asName()) colour = ColourDesc( 'red 0.7' ) if parity else ColourDesc( 'green 0.7' ) #first rotate the foot so its aligned to a world axis footCtrlRot = getAnkleToWorldRotation( toe, 'z', False ) rotate( 0, footCtrlRot[1], 0, toe, ws=True, r=True ) #determine the root partParent, rootControl = getParentAndRootControl( thigh ) ikHandle = cmd.ikHandle( fs=1, sj=thigh, ee=ankle, solver='ikRPsolver' )[ 0 ] footCtrl = buildControl( 'Foot%s' % nameSuffix, PlaceDesc( toe, PlaceDesc.WORLD ), PivotModeDesc.MID, ShapeDesc( 'sphere', axis=-AIM_AXIS if parity else AIM_AXIS ), colour, scale=scale ) footCtrlSpace = getNodeParent( footCtrl ) setAttr( '%s.rotateOrder' % footCtrl, 1 ) setAttr( '%s.v' % ikHandle, 0 ) attrState( ikHandle, 'v', *LOCK_HIDE ) #build the pivots for the foot roll/rock attributes placers = skeletonPart.getPlacers() if placers: footRock_fwd = buildNullControl( 'footRock_forward_null', placers[0], parent=footCtrl ) footRock_back = buildNullControl( 'footRock_backward_null', placers[1], parent=footRock_fwd ) footRoll_inner = buildNullControl( 'footRoll_inner_null', placers[2], parent=footRock_back ) footRoll_outer = buildNullControl( 'footRoll_outer_null', placers[3], parent=footRoll_inner ) else: footRock_fwd = buildNullControl( 'footRock_forward_null', toe, parent=footCtrlSpace ) footRock_back = buildNullControl( 'footRock_backward_null', toe, parent=footCtrlSpace ) footRoll_inner = buildNullControl( 'footRoll_inner_null', toe, parent=footCtrlSpace ) footRoll_outer = buildNullControl( 'footRoll_outer_null', toe, parent=footCtrlSpace ) toePos = xform( toe, q=True, ws=True, rp=True ) moveIncrement = scale / 2 move( 0, -toePos[1], moveIncrement, footRock_fwd, r=True, ws=True ) move( 0, -toePos[1], -moveIncrement, footRock_back, r=True, ws=True ) move( -moveIncrement * parityMult, -toePos[1], 0, footRoll_inner, r=True, ws=True ) move( moveIncrement * parityMult, -toePos[1], 0, footRoll_outer, r=True, ws=True ) cmd.parent( footRock_back, footRock_fwd ) cmd.parent( footRoll_inner, footRock_back ) cmd.parent( footRoll_outer, footRoll_inner ) cmd.parent( footCtrl, footRoll_outer ) makeIdentity( footCtrl, a=True, t=True ) addAttr( footCtrl, ln='footRock', at='double', dv=0, min=-10, max=10 ) attrState( footCtrl, 'footRock', *NORMAL ) setDrivenKeyframe( '%s.rx' % footRock_fwd, cd='%s.footRock' % footCtrl, dv=0, v=0 ) setDrivenKeyframe( '%s.rx' % footRock_fwd, cd='%s.footRock' % footCtrl, dv=10, v=90 ) setDrivenKeyframe( '%s.rx' % footRock_back, cd='%s.footRock' % footCtrl, dv=0, v=0 ) setDrivenKeyframe( '%s.rx' % footRock_back, cd='%s.footRock' % footCtrl, dv=-10, v=-90 ) addAttr( footCtrl, ln='bank', at='double', dv=0, min=-10, max=10 ) attrState( footCtrl, 'bank', *NORMAL ) setDrivenKeyframe( '%s.rz' % footRoll_inner, cd='%s.bank' % footCtrl, dv=0, v=0 ) setDrivenKeyframe( '%s.rz' % footRoll_inner, cd='%s.bank' % footCtrl, dv=10, v=90 ) setDrivenKeyframe( '%s.rz' % footRoll_outer, cd='%s.bank' % footCtrl, dv=0, v=0 ) setDrivenKeyframe( '%s.rz' % footRoll_outer, cd='%s.bank' % footCtrl, dv=-10, v=-90 ) #setup the auto ankle grpA = buildControl( 'ankle_auto_null', PlaceDesc( toe, ankle ), shapeDesc=SHAPE_NULL, constrain=False, parent=footCtrl ) grpB = buildAlignedNull( ankle, 'ankle_orientation_null', parent=grpA ) orientConstraint( grpB, ankle ) for ax in AXES: delete( '%s.t%s' % (toe, ax), icn=True ) cmd.parent( ikHandle, grpA ) cmd.parent( footCtrlSpace, worldControl ) grpASpace = getNodeParent( grpA ) grpAAutoNull = buildAlignedNull( PlaceDesc( toe, ankle ), '%sauto_on_ankle_null%s' % (nameMod, nameSuffix), parent=footCtrl ) grpAAutoOffNull = buildAlignedNull( PlaceDesc( toe, ankle ), '%sauto_off_ankle_null%s' % (nameMod, nameSuffix), parent=footCtrl ) grpA_knee_aimVector = betweenVector( grpAAutoNull, knee ) grpA_knee_aimAxis = getObjectAxisInDirection( grpAAutoNull, grpA_knee_aimVector ) grpA_knee_upAxis = getObjectAxisInDirection( grpAAutoNull, (0, 0, 1) ) grpA_knee_worldAxis = getObjectAxisInDirection( footCtrl, (0, 0, 1) ) aimConstraint( thigh, grpAAutoNull, mo=True, aim=grpA_knee_aimAxis.asVector(), u=grpA_knee_upAxis.asVector(), wu=grpA_knee_worldAxis.asVector(), wuo=footCtrl, wut='objectrotation' ) autoAimConstraint = orientConstraint( grpAAutoNull, grpAAutoOffNull, grpASpace )[0] addAttr( footCtrl, ln='autoAnkle', at='double', dv=1, min=0, max=1 ) attrState( footCtrl, 'autoAnkle', *NORMAL ) connectAttr( '%s.autoAnkle' % footCtrl, '%s.target[0].targetWeight' % autoAimConstraint, f=True ) connectAttrReverse( '%s.autoAnkle' % footCtrl, '%s.target[1].targetWeight' % autoAimConstraint, f=True ) poleCtrl = buildControl( 'Pole%s' % nameSuffix, PlaceDesc( knee, PlaceDesc.WORLD ), PivotModeDesc.MID, shapeDesc=ShapeDesc( 'sphere', axis=-AIM_AXIS if parity else AIM_AXIS ), colour=colour, constrain=False, scale=scale, parent=partsControl ) poleCtrlSpace = getNodeParent( poleCtrl ) polePos = findPolePosition( ankle ) move( polePos[0], polePos[1], polePos[2], poleCtrlSpace, ws=True, rpr=True, a=True ) pointConstraint( thigh, footCtrl, poleCtrlSpace, mo=True ) poleVectorConstraint( poleCtrl, ikHandle ) #build the ankle roll addAttr( footCtrl, ln='ankleRoll', at='double', dv=0, min=-10, max=10 ) attrState( footCtrl, 'ankleRoll', *NORMAL ) rollAxis = getObjectAxisInDirection( grpA, (1, 0, 0) ) rollAttrpath = '%s.r%s' % (grpA, rollAxis.asCleanName()) driverAttrpath = '%s.ankleRoll' % footCtrl setDrivenKeyframe( rollAttrpath, currentDriver=driverAttrpath, v=0, dv=0 ) setDrivenKeyframe( rollAttrpath, currentDriver=driverAttrpath, v=85, dv=10 ) setDrivenKeyframe( rollAttrpath, currentDriver=driverAttrpath, v=-85, dv=-10 ) #build the ankle "wag" addAttr( footCtrl, ln='ankleWag', at='double', dv=0, min=-10, max=10 ) attrState( footCtrl, 'ankleWag', *NORMAL ) rollAxis = getObjectAxisInDirection( grpA, (0, 0, 1) ) rollAttrpath = '%s.r%s' % (grpA, rollAxis.asCleanName()) driverAttrpath = '%s.ankleWag' % footCtrl setDrivenKeyframe( rollAttrpath, currentDriver=driverAttrpath, v=0, dv=0 ) setDrivenKeyframe( rollAttrpath, currentDriver=driverAttrpath, v=85, dv=10 ) setDrivenKeyframe( rollAttrpath, currentDriver=driverAttrpath, v=-85, dv=-10 ) if stretchy: StretchRig.Create( self._skeletonPart, footCtrl, (thigh, knee, ankle, toe), '%s.ikBlend' % ikHandle, parity=parity, connectEndJoint=True ) for ax in CHANNELS: delete( '%s.t%s' % (toe, ax), icn=True ) pointConstraint( footCtrl, toe ) return [ footCtrl, poleCtrl ]