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variableKinematics.py
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variableKinematics.py
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'''
variableKinematics.py
Created by: Dmitry Kryukov
website: www.linkedin.com/pub/dmitry-kryukov/86/5b7/7ba
email: dima.krukof@gmail.com
Version 1.4: December 2014
Thanks: to Jeff Brodsky (vimeo.com/72424469) and Vladimir Zabelin (CG Event 2012)
Script Summary: For the selected curve creates a chain of bones system VariableFK or VariableIK
Each parametric control is responsible for rotation of the bones in his area of influence.
Position control along the chain can be changed. You can also change the falloff of influence.
Variable number of bones in the chain and the number of controls.
______________________________________________
Install: just drop "rigtools" folder into your scripts folder or one any path
that's on a python path. then in a Python ScriptEditor Tab :
import rigtools.variableKinematics as vk
vk.build_ui()
______________________________________________
Variable Kinematics is released under a BSD-style license
Copyright (c) 2013-2014, Dmitry Kryukov.
All Rights Reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. The name of the author may not be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY WEBBER HUANG "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
______________________________________________
'''
import os, sys
import maya.cmds as cmds
import rigtools.OpenMayaHelper as OpenMayaHelper
import rigtools.setup_utils as setup
def cluster_on_curve(cu):
#find number of CVs in curve
numCVs = cmds.getAttr('%s.controlPoints' %cu, size=1)
res=[]
#make CV into a cluster
for i in range(numCVs):
cl=cmds.cluster('%s.cv[%s]' %(cu,i),relative=False,n='vk_cluster#')[1]
res.append(cl)
return res
def ik_stretch(ikhnd):
'''
'''
jts = cmds.ikHandle(ikhnd,q=True,jl=True)
cu_s = cmds.ikHandle(ikhnd,q=True,c=True)
cu=cmds.listRelatives(cu_s,p=1)[0]
cmds.addAttr(ikhnd, longName='ik_stretch', k=1, defaultValue=1.0, minValue=0.0, maxValue=1.)
dcu=cmds.duplicate(cu,n=cu+'_base_scale')[0]
dcu_s=cmds.listRelatives(dcu,c=1)[0]
cf=cmds.createNode('curveInfo')
dcf=cmds.createNode('curveInfo')
bl=cmds.createNode('blendTwoAttr')
md=cmds.createNode('multiplyDivide')
cmds.connectAttr (cu_s+'.worldSpace', cf+'.inputCurve')
cmds.connectAttr (dcu_s+'.worldSpace', dcf+'.inputCurve')
cmds.connectAttr (dcf+'.arcLength', bl+'.input[0]')
cmds.connectAttr (cf+'.arcLength', bl+'.input[1]')
cmds.connectAttr (ikhnd+'.ik_stretch', bl+'.attributesBlender')
cmds.connectAttr (bl+'.output', md+'.input1X')
cmds.setAttr(md+'.input2X', cmds.getAttr(cf+'.arcLength'),l=1)
cmds.setAttr(md+'.operation',2)
cmds.setAttr(dcu+'.v',0)
for j in jts:cmds.connectAttr (md+'.outputX', j+'.sx')
return dcu
def parameter_attr(jts):
"""
adds an attribute to the joints, taking into account the curve parameterization
this parameters is not proportional distance between 0 and 1
"""
pts=[cmds.xform(j,q=True,ws=True,t=True) for j in jts]
tmp_cu = cmds.curve(p=pts)
tmp_s=cmds.listRelatives(tmp_cu,c=1)[0]
for j in jts:
pt = cmds.xform(j,q=True,ws=True,t=True)
param = OpenMayaHelper.getParametrCurve(tmp_s,pt)
cmds.addAttr(j,ln="parameter", at='double', min=0, max=1)
cmds.setAttr('%s.parameter' %j, param, keyable=False, cb=True)
cmds.delete(tmp_cu)
def create_loft(jts,name='loftedSurface'):
"""
Create skins a surface along a series of profile curves.
"""
pts=[cmds.xform(j,q=True,ws=True,t=True) for j in jts]
cuR = cmds.curve( p=pts)
cmds.move(0,0,.5,cuR,ls=True) #+z axis
cuL = cmds.duplicate(cuR)
cmds.move(0,0,-.5,cuL,ls=True) #-z axis
Nurbs=cmds.loft( cuR, cuL, ch=False, rn=True, n='%s#' %name)[0]
cmds.setAttr('%s.template' %Nurbs, 1)
sc_cl=cmds.skinCluster(jts[0],Nurbs,mi=1,sm=1)[0]
#delete bindpose
bind=cmds.listConnections('%s.bindPose' %sc_cl,c=0,d=1,p=0)
if bind:cmds.delete(bind)
cmds.delete(cuR,cuL)
return Nurbs
def create_control(flc,name='control'):
"""
The function creates a single vks control, as well as the necessary groups and attributes for further connection
Args:
flc: A follicle
Returns:
pctr,rctr,ctr: tuple new objects in the order of hierarchy, from top to bottom
"""
ctr=cmds.circle(name='%s#' %name,nr=(1,0,0),ch=0)[0]
ctr_s=cmds.listRelatives(ctr,s=1)[0]
cmds.setAttr("%s.overrideEnabled" %ctr_s,1)
cmds.setAttr("%s.overrideColor" %ctr_s,14)
rctr=cmds.group(name='%s_reverse_grp' %ctr)
pctr=cmds.group(name='%s_parent_grp' %ctr)
vPos=cmds.getAttr('%s.parameterV' %flc)
flc_tr = cmds.listRelatives(flc,p=1)[0]
cmds.pointConstraint(flc_tr,pctr,mo=0)
cmds.orientConstraint(flc_tr,pctr,mo=1)
mtp_r=cmds.createNode('multiplyDivide',n='multiplyReverce_%s' %ctr)
cmds.connectAttr('%s.rotate' %ctr, '%s.input1' %mtp_r)
cmds.connectAttr('%s.output' %mtp_r, '%s.rotate' %rctr)
[cmds.setAttr('%s.input2%s' %(mtp_r,a),-1) for a in ('X','Y','Z')]
cmds.addAttr(ctr,ln="falloff", at='double', min=0.0001, max=10, dv=2)
cmds.addAttr(ctr,ln="position", at='double', min=0, max=10, dv=vPos*10)
cmds.addAttr(ctr,ln="minPos", at='double', min=0, max=1)
cmds.addAttr(ctr,ln="maxPos", at='double', min=0, max=1)
cmds.setAttr('%s.position' %ctr,k=True)
cmds.setAttr('%s.falloff' %ctr,k=True)
ucn_p = setup.onetenthNode(ctr, 'position')
ucn_f = setup.onetenthNode(ctr, 'falloff')
ppf = cmds.createNode('plusMinusAverage',n='PplusF_%s' %ctr)
cmds.setAttr("%s.operation" %ppf ,1)
cmds.connectAttr('%s.output' %ucn_p, '%s.input1D[0]' %ppf)
cmds.connectAttr('%s.output' %ucn_f, '%s.input1D[1]' %ppf)
pmf = cmds.createNode('plusMinusAverage',n='PminusF_%s' %ctr)
cmds.setAttr("%s.operation" %pmf ,2)
cmds.connectAttr('%s.output' %ucn_p, '%s.input1D[0]' %pmf)
cmds.connectAttr('%s.output' %ucn_f, '%s.input1D[1]' %pmf)
cmds.connectAttr('%s.output1D' %pmf, '%s.minPos' %ctr)
cmds.connectAttr('%s.output1D' %ppf, '%s.maxPos' %ctr)
cmds.connectAttr('%s.output' %ucn_p, '%s.parameterV' %flc)
return pctr,rctr,ctr
def connection(vks,jt,jgroup):
"""
Establishes a connection between the vks control and one of the joints in the chain
"""
ucn_p = setup.onetenthNode(vks, 'position')
linstepA=cmds.createNode('setRange',n='setRangeA_%s' %jt)
cmds.setAttr('%s.minX' %linstepA, 1)
cmds.connectAttr('%s.parameter' %jt, '%s.valueX' %linstepA)
cmds.connectAttr('%s.maxPos' %vks, '%s.oldMaxX' %linstepA)
cmds.connectAttr('%s.output' %ucn_p, '%s.oldMinX' %linstepA)
linstepB=cmds.createNode('setRange',n='setRangeB_%s' %jt)
cmds.setAttr('%s.maxX' %linstepB, 1)
cmds.connectAttr('%s.parameter' %jt, '%s.valueX' %linstepB)
cmds.connectAttr('%s.minPos' %vks, '%s.oldMinX' %linstepB)
cmds.connectAttr('%s.output' %ucn_p, '%s.oldMaxX' %linstepB)
cond=cmds.createNode('condition',n='condition_%s' %jt)
cmds.setAttr('%s.operation' %cond, 2)
cmds.connectAttr('%s.parameter' %jt, '%s.firstTerm' %cond)
cmds.connectAttr('%s.output' %ucn_p, '%s.secondTerm' %cond)
cmds.connectAttr('%s.outValueX' %linstepA,'%s.colorIfTrueR' %cond)
cmds.connectAttr('%s.outValueX' %linstepB,'%s.colorIfFalseR' %cond)
mtp_r=cmds.createNode('multiplyDivide',n='multiplyRotate_%s' %jt)
cmds.connectAttr('%s.rotate' %vks, '%s.input1' %mtp_r)
cmds.connectAttr('%s.outColorR' %cond, '%s.input2X' %mtp_r)
cmds.connectAttr('%s.outColorR' %cond, '%s.input2Y' %mtp_r)
cmds.connectAttr('%s.outColorR' %cond, '%s.input2Z' %mtp_r)
cmds.connectAttr('%s.output' %mtp_r, '%s.rotate' %jgroup)
def VK_system(num_ctr=1,num_jt=20,fk=True):
"""
final assembly of the entire system
"""
fk_hide_attr = lambda node,b:[cmds.setAttr('%s.%s' %(node,a),l=b,k=not b) for a in 'tx,ty,tz,sx,sy,sz,v'.split(',')]
ik_hide_attr = lambda node,b:[cmds.setAttr('%s.%s' %(node,a),l=b,k=not b) for a in 'tx,ty,tz,ry,rz,sx,sy,sz,v'.split(',')]
ctrl_hide_attr = lambda node,b:[cmds.setAttr('%s.%s' %(node,a),l=b,k=not b) for a in 'rx,ry,rz,sx,sy,sz,v'.split(',')]
orig_cu=setup.get_curve()[0]
cu=cmds.duplicate(orig_cu,n='vks_curve#')[0]
jts = setup.chain(cu,num_jt,'vks_orig_joint')
d_jts = setup.chain(cu,num_jt,'vks_skin_joint')
cmds.toggle(d_jts,localAxis=True)
parameter_attr(jts)
#loft,skin
surf = create_loft(jts,'vks_lofted_mesh')
surf_s=cmds.listRelatives(surf,c=1)[0]
#hierarchical groups
vks_grp=cmds.group(surf, name='VariableKinematicsSystem#')
mov_grp=cmds.group(em=True,parent=vks_grp,name='vks_move_grp#')
rig_grp=cmds.group(em=True,parent=vks_grp,name='vks_rig_grp#')
flc_grp=cmds.group(em=True,parent=rig_grp,name='vks_follice_grp#')
setup.lock_attr(flc_grp,1)
setup.off_vis(rig_grp)
#create vks controls
vks_ctr=[];vks_ctr_grp=[]
for i in range(num_ctr):
#create follice
vPos= setup.linstep(0., num_ctr-1, i)
flc = setup.create_follicle(surf_s,0.5,vPos,'vks_follice')
flc_tr = cmds.listRelatives(flc,p=1)[0]
cmds.parent(flc_tr,flc_grp)
#create control
vkss = create_control(flc,'vks_parametric')
vks_ctr_grp.append(vkss[0])
vks_ctr.append(vkss[-1])
#ikspline
ikhnd=cmds.ikHandle(sj=jts[0], ee=jts[-1], c=cu, ccv=False, sol='ikSplineSolver')
#create joint orig group
org_grp = cmds.group(jts[0],parent=rig_grp,n='vks_orig_grp#')
rot=cmds.xform(jts[0],q=True,ws=True,ro=True)
cmds.xform(org_grp,ws=True,ro=(rot[0],rot[1],rot[2]),piv=(0,0,0))
cmds.parent(cu,ikhnd[0],rig_grp)
#building explicit control
m_ctr=setup.ctrl_cube('vks_explicit#',sz=2)
cmds.parent(m_ctr,vks_grp)
tr=cmds.xform(jts[0],q=True,ws=True,t=True)
cmds.xform(m_ctr,ws=True,t=tr)
cmds.makeIdentity(m_ctr,apply=1,t=1,r=1,s=1,n=0)
cmds.parent(vks_ctr_grp,m_ctr)
cmds.parentConstraint(m_ctr,org_grp,mo=1)
cmds.parentConstraint(m_ctr,mov_grp,mo=1)
cmds.scaleConstraint(m_ctr,mov_grp)
if fk:#FK module
for c in vks_ctr:
fk_hide_attr(c,1)
for j in jts:
jgroup = cmds.group(j,n='%s_%s' %(j,c))
piv=cmds.xform(j,q=True,ws=True,piv=True)
cmds.xform(jgroup,ws=True,piv=(piv[0],piv[1],piv[2]))
connection(c,j,jgroup)
for n,j in enumerate(jts):cmds.parentConstraint(j,d_jts[n])
#fk length
cmds.addAttr(m_ctr,ln='length', at='double', k=1, min=0, max=10, dv=1)
v_tx = cmds.getAttr('%s.tx' %jts[1])
pma =cmds.createNode('plusMinusAverage',n='vfk_lengthConversion_%s' %m_ctr)
cmds.setAttr("%s.input1D[0]" %pma,-1)
cmds.setAttr("%s.input1D[1]" %pma,v_tx)
cmds.connectAttr('%s.length' %m_ctr, '%s.input1D[2]' %pma)
for j in jts[1:-1]:cmds.connectAttr('%s.output1D' %pma, '%s.tx' %j)
cmds.scaleConstraint(m_ctr,org_grp)
cmds.parent(d_jts[0],mov_grp)
cmds.delete(ikhnd)
if not fk:#IK module
jj=[j for j in jts]
for c in vks_ctr:
ik_hide_attr(c,1)
for n,j in enumerate(jts):
jgroup=cmds.group( em=True, n='%s_%s' %(j,c), parent=jj[n])
jj[n]=jgroup
connection(c,j,jgroup)
for n in range(num_jt):
cmds.parentConstraint(jj[n],d_jts[n])
#ik stretch
cu_sc = ik_stretch(ikhnd[0])
cmds.addAttr(m_ctr,ln="stretch", at='double', k=1, min=0, max=10, dv=10)
ucn = setup.onetenthNode(m_ctr,'stretch')
cmds.connectAttr('%s.output' %ucn, '%s.ik_stretch' %ikhnd[0])
cls_grp=cmds.group(em=True,name='vks_cluster_grp#')
setup.off_vis(cls_grp)
ik_cls=cluster_on_curve(cu)
for ik_cl in ik_cls:
l_ctrl,l_null=setup.local_cluster_control2(ik_cl)
ctrl_hide_attr(l_ctrl,1)
cmds.parent(l_ctrl,m_ctr)
cmds.parent(ik_cl,l_null,cls_grp)
cmds.parent(d_jts[0],cls_grp,cu_sc,mov_grp)
cmds.select(cl=True)
def run_command(b):
n_jnts = cmds.intSliderGrp( 'intJoints_ISG_UI',q=1,v=1)
n_ctrl = cmds.intSliderGrp( 'intControl_ISG_UI',q=1,v=1)
VK_system(n_ctrl,n_jnts,b)
def findFile(path):
for dirname in sys.path:
possible = os.path.join(dirname, path)
if os.path.isfile(possible):
return dirname
return None
def build_ui():
name_ui = 'variableKinematicsUI'
mainDir = findFile('rigtools/variableKinematics.py')
if cmds.window (name_ui,ex=1): cmds.deleteUI(name_ui)
mainwin=cmds.window(name_ui, title='Variable Kinematics Window')
cmds.formLayout(numberOfDivisions=100)
cmds.columnLayout(adjustableColumn=True)
cmds.intSliderGrp( 'intJoints_ISG_UI', field=True, label='joints', minValue=10, maxValue=100, fieldMaxValue=1000, value=20, step=1)
cmds.separator()
cmds.intSliderGrp( 'intControl_ISG_UI', field=True, label='controls', minValue=1, maxValue=25, fieldMaxValue=1000, value=2, step=1)
cmds.separator()
cmds.rowLayout('rl',nc=2,adjustableColumn=2)
cmds.iconTextButton(label='FK',w=200,h=180,style='iconOnly',c=lambda:run_command(1),i1='%s/rigtools/images/vfk.png' %mainDir)
cmds.iconTextButton(label='IK',w=200,h=180,style='iconOnly',c=lambda:run_command(0),i1='%s/rigtools/images/vik.png' %mainDir)
cmds.intSliderGrp( 'intJoints_ISG_UI',e=1,cw3=(50,30,320), adj=3,h=35)
cmds.intSliderGrp( 'intControl_ISG_UI',e=1,cw3=(50,30,320), adj=3,h=35)
cmds.window(name_ui, e=True,w=360,h=50)
cmds.showWindow(mainwin)