def updateColliderUI(nodeName):
"""
Called when the attribute editor UI for the rigid body
needs to be updated to reflect the latest attribute
values. Enables and disables controls.
"""
logger.debug(maya.stringTable['y_RigidBodyUI.kUpdatingCollider'] %
nodeName)
cst = _getAttr(nodeName, 'colliderShapeType')
autoFit = _getAttr(nodeName, 'autoFit')
maya.cmds.editorTemplate(dimControl=(nodeName, "colliderShapeOffset",
autoFit))
maya.cmds.editorTemplate(
dimControl=(nodeName, "axis",
autoFit or cst not in (eShapeType.kColliderCylinder,
eShapeType.kColliderCapsule)))
maya.cmds.editorTemplate(
dimControl=(nodeName, "length",
autoFit or cst not in (eShapeType.kColliderCylinder,
eShapeType.kColliderCapsule)))
maya.cmds.editorTemplate(
dimControl=(nodeName, "radius",
autoFit or cst not in (eShapeType.kColliderCylinder,
eShapeType.kColliderCapsule,
eShapeType.kColliderSphere)))
maya.cmds.editorTemplate(
dimControl=(nodeName, "extents",
autoFit or cst not in (eShapeType.kColliderBox, )))
def updateSoftBodyUI(nodeName):
"""
Called when the attribute editor UI for the soft body
needs to be updated to reflect the latest attribute
values. Enables and disables controls.
"""
logger.debug(maya.stringTable['y_SoftBodyUI.kUpdatingSoftBody'] % nodeName)
generateBendConstraints = cmds.getAttr(
'{0}.generateBendConstraints'.format(nodeName))
enableVolumeMatching = cmds.getAttr(
'{0}.enableVolumeMatching'.format(nodeName))
enableShapeMatching = cmds.getAttr(
'{0}.enableShapeMatching'.format(nodeName))
cmds.editorTemplate(dimControl=(nodeName, "bendResistance",
not generateBendConstraints))
cmds.editorTemplate(dimControl=(nodeName, "volumeCoefficient",
not enableVolumeMatching))
cmds.editorTemplate(dimControl=(nodeName, "maxVolumeRatio",
not enableVolumeMatching))
cmds.editorTemplate(dimControl=(nodeName, "shapeCoefficient",
not enableShapeMatching))
def updateConstraintUI(nodeName):
"""
Called when the attribute editor UI for the rigid body constraints
needs to be updated to reflect the latest attribute
values. Enables and disables controls.
"""
logger.debug(
maya.stringTable['y_RigidBodyConstraintUI.kUpdatingConstrUI'] %
nodeName)
# Limit Properties section
constraintType = cmds.getAttr('{0}.constraintType'.format(nodeName))
for attrName in dictConstraintAttributes.keys():
_enableControl(nodeName, attrName, constraintType,
dictConstraintAttributes[attrName])
linearMotorEnabled = cmds.getAttr(
'{0}.linearMotorEnabled'.format(nodeName))
cmds.editorTemplate(dimControl=(nodeName, "linearMotorTargetSpeed",
not linearMotorEnabled))
cmds.editorTemplate(dimControl=(nodeName, "linearMotorMaxForce",
not linearMotorEnabled))
angularMotorEnabled = cmds.getAttr(
'{0}.angularMotorEnabled'.format(nodeName))
cmds.editorTemplate(dimControl=(nodeName, "angularMotorTargetSpeed",
not angularMotorEnabled))
cmds.editorTemplate(dimControl=(nodeName, "angularMotorMaxForce",
not angularMotorEnabled))
def getRigidBodyFromTransform(transform):
"""
Given a transform (by name), return the rigid body.
This method encapsulates the logic behind the RB
hierarchies. Currently that hierarchy looks like:
init_xform
rb_xform
rb_shape
"""
logger.debug(maya.stringTable['y_BulletUtils.kGettingRB'] % transform)
if transform:
xformNode = _longName(transform)
else:
return None
# first check if this is a rigid body xform...
shapeNodes = _getChildren(xformNode,
type=("bulletRigidBodyShape",
"bulletSoftBodyShape", "bulletSolverShape",
"bulletRigidBodyConstraintShape",
"bulletSoftConstraintShape"))
if (len(shapeNodes) > 1):
logger.warn(maya.stringTable['y_BulletUtils.kExceptedShapeUnder'] %
xformNode)
if (len(shapeNodes) > 0):
return shapeNodes[0]
# no match? check if the xform was the init xform...
for childXformNode in _getChildren(xformNode, type="transform"):
shapeNodes = _getChildren(
childXformNode,
type=("bulletRigidBodyShape", "bulletSoftBodyShape",
"bulletSolverShape", "bulletRigidBodyConstraintShape",
"bulletSoftConstraintShape"))
if (len(shapeNodes) > 1):
logger.warn(
maya.stringTable['y_BulletUtils.kExceptedShapeUnder2'] %
childXformNode)
if (len(shapeNodes) > 0):
return shapeNodes[0]
# end-for
# didn't find any RB shapes in the expected places
return None
def disconnectFromSolver(bulletShape):
"""
Given a Bullet shape, disconnect its connections to any
BulletSolverShape nodes.
"""
@Trace()
def _inputs(obj):
return zip( maya.cmds.listConnections( bulletShape, plugs=True, \
source=True, destination=False ),
maya.cmds.listConnections( bulletShape, \
source=True, destination=False, sh=True ) )
@Trace()
def _nodeFromPlug(plug):
return _longName(plug.split('.')[0])
@Trace()
def _disconnect(outPlug, inPlug):
maya.cmds.disconnectAttr(outPlug, inPlug)
bulletShape = _longName(bulletShape)
logger.debug(maya.stringTable['y_BulletUtils.kDisconnectShape'] %
bulletShape)
# into the shape from other nodes
for outPlug, outSrc in _inputs(bulletShape):
if not _isType(outSrc, 'bulletSolverShape'):
logger.debug(maya.stringTable['y_BulletUtils.kSkipNonSolverConn'] %
outPlug)
continue
# get input plugs connected to output plug
for inPlug in maya.cmds.connectionInfo(outPlug, \
destinationFromSource=True):
# get the node from plug
if (_nodeFromPlug(inPlug) != bulletShape):
logger.debug(
maya.stringTable['y_BulletUtils.kSkipUnrelatedConn'] %
inPlug)
continue
logger.debug(maya.stringTable['y_BulletUtils.kDisconnectConn'] %
(outPlug, inPlug))
_disconnect(outPlug, inPlug)
# end-for
# end-for
# these are connections out from the shape to other nodes
destinations = maya.cmds.listConnections( _longName(bulletShape), plugs=True, \
source=False, destination=True )
for inPlug in destinations:
if (not _isType(inPlug, 'bulletSolverShape')):
logger.debug(
maya.stringTable['y_BulletUtils.kSkipNonSolverConn2'] % inPlug)
continue
outPlug \
= maya.cmds.connectionInfo(_name(inPlug), \
sourceFromDestination=True)
if _nodeFromPlug(outPlug) != bulletShape:
logger.debug(
maya.stringTable['y_BulletUtils.kSkipUnrelatedConn2'] %
outPlug)
continue
logger.debug(maya.stringTable['y_BulletUtils.kDisconnectConn2'] %
(outPlug, inPlug))
_disconnect(outPlug, inPlug)
# end-for
return True
def command(
rigidBodyA=None,
rigidBodyB=None,
parent=None,
# Attrs
constraintType=None,
useReferenceFrame=None,
linearDamping=None,
linearSoftness=None,
linearRestitution=None,
angularDamping=None,
angularSoftness=None,
angularRestitution=None,
linearConstraintX=None,
linearConstraintY=None,
linearConstraintZ=None,
linearConstraintMin=None,
linearConstraintMax=None,
angularConstraintX=None,
angularConstraintY=None,
angularConstraintZ=None,
angularConstraintMin=None,
angularConstraintMax=None,
linearLimitSoftness=None,
linearLimitBias=None,
linearLimitRelaxation=None,
angularLimitSoftness=None,
angularLimitBias=None,
angularLimitRelaxation=None,
linearMotorEnabled=None,
linearMotorTargetSpeed=None,
linearMotorMaxForce=None,
angularMotorEnabled=None,
angularMotorTargetSpeed=None,
angularMotorMaxForce=None,
linearSpringEnabledX=None,
linearSpringEnabledY=None,
linearSpringEnabledZ=None,
linearSpringStiffness=None,
linearSpringDamping=None,
angularSpringEnabledX=None,
angularSpringEnabledY=None,
angularSpringEnabledZ=None,
angularSpringStiffness=None,
angularSpringDamping=None,
breakable=None,
breakingThreshold=None,
):
logger.debug( maya.stringTable[ 'y_RigidBodyConstraint.kCreatingRBC' ] \
% (rigidBodyA, rigidBodyB) )
# List settable attrs (setAttr below)
settableAttrs = [
'constraintType',
'useReferenceFrame',
'linearDamping',
'linearSoftness',
'linearRestitution',
'angularDamping',
'angularSoftness',
'angularRestitution',
'linearConstraintX',
'linearConstraintY',
'linearConstraintZ',
'linearConstraintMin',
'linearConstraintMax',
'angularConstraintX',
'angularConstraintY',
'angularConstraintZ',
'angularConstraintMin',
'angularConstraintMax',
'linearLimitSoftness',
'linearLimitBias',
'linearLimitRelaxation',
'angularLimitSoftness',
'angularLimitBias',
'angularLimitRelaxation',
'linearMotorEnabled',
'linearMotorTargetSpeed',
'linearMotorMaxForce',
'angularMotorEnabled',
'angularMotorTargetSpeed',
'angularMotorMaxForce',
'linearSpringEnabledX',
'linearSpringEnabledY',
'linearSpringEnabledZ',
'linearSpringStiffness',
'linearSpringDamping',
'angularSpringEnabledX',
'angularSpringEnabledY',
'angularSpringEnabledZ',
'angularSpringStiffness',
'angularSpringDamping',
'breakable',
'breakingThreshold',
]
# Get the rigid body/bodies.
rigids = [i for i in [rigidBodyA, rigidBodyB]
if i != None] # list of non-None rigid bodies
if len(rigids) == 0: # if no rigids specified, then look at selection
rigids = BulletUtils.getConnectedRigidBodies()
logger.info(
maya.stringTable['y_RigidBodyConstraint.kRigidBodiesToConnect'] %
(rigids, parent))
if len(rigids) == 0 or len(rigids) > 2:
# TODO: this produces a pretty difficult to read error for the user.
maya.OpenMaya.MGlobal.displayError(
maya.
stringTable['y_RigidBodyConstraint.kPleaseSelectRigidbodies'])
return []
if len(rigids) == 1 and locals()['constraintType'] in (
eConstraintType.kRBConstraintHinge2,
eConstraintType.kRBConstraintSixDOF2):
maya.OpenMaya.MGlobal.displayError(maya.stringTable[
'y_RigidBodyConstraint.kPleaseSelectTwoRigidbodies'])
return []
# Get Solver
solver = BulletUtils.getSolver()
# Create Node
constraint = maya.cmds.createNode('bulletRigidBodyConstraintShape',
parent=parent)
# Set Attrs (optional, set if value != None)
# Use the settableAttrs list above to qualify kwargs passed into the
# function
for k, v in locals().iteritems():
if k in settableAttrs and v != None:
if isinstance(v, list):
maya.cmds.setAttr('%s.%s' % (constraint, k),
*v) # covers float3 cases
else:
maya.cmds.setAttr('%s.%s' % (constraint, k), v)
# Connect
maya.cmds.connectAttr((solver + ".outSolverInitialized"),
(constraint + ".solverInitialized"))
maya.cmds.connectAttr((rigids[0] + ".outRigidBodyData"),
(constraint + ".rigidBodyA"))
if len(rigids) > 1:
maya.cmds.connectAttr((rigids[1] + ".outRigidBodyData"),
(constraint + ".rigidBodyB"))
maya.cmds.connectAttr((constraint + ".outConstraintData"),
(solver + ".rigidBodyConstraints"),
na=True)
# REVISIT: Consider alternatives like a single initSystem bool attr
# instead of startTime and currentTime.
# Might be able to get around needing it at all
maya.cmds.connectAttr((solver + ".startTime"),
(constraint + ".startTime"))
maya.cmds.connectAttr((solver + ".currentTime"),
(constraint + ".currentTime"))
# Translate (avg the rigid body positions)
t = maya.cmds.xform(maya.cmds.listRelatives(rigids[0],
fullPath=True,
parent=True),
q=True,
ws=True,
t=True)
if len(rigids) > 1:
t2 = maya.cmds.xform(maya.cmds.listRelatives(rigids[1],
fullPath=True,
parent=True),
q=True,
ws=True,
t=True)
t = [(t[0] + t2[0]) * 0.5, (t[1] + t2[1]) * 0.5,
(t[2] + t2[2]) * 0.5]
constraintT = maya.cmds.listRelatives(constraint, parent=True)
maya.cmds.xform(constraintT, ws=True, t=t)
ret = [constraint]
# If command echoing is off, echo this short line.
if (not maya.cmds.commandEcho(query=True, state=True)):
print(
"RigidBodyConstraint.CreateRigidBodyConstraint.executeCommandCB()"
)
print "// Result: %s //" % constraint
return ret
def createRagdoll(rootJoint=None,
angularDamping=DEFAULT_ANGULAR_DAMPING,
angularSoftness=DEFAULT_ANGULAR_SOFTNESS,
angularRestitution=DEFAULT_ANGULAR_RESTITUTION,
capsuleBoneRatio=DEFAULT_CAPSULE_LENGTH,
capsuleRadiusRatio=DEFAULT_CAPSULE_RADIUS,
capsuleMass=DEFAULT_CAPSULE_MASS,
jointNameSeparator=DEFAULT_NAME_SEPARATOR):
"""
Creates a ragdoll of capsules joined by constraints, that matches
the skeleton starting from the joint named by rootJoint. If no
root is specified, the current selection is used.
"""
nodesToVisit = deque(_getNodesToVisit(rootJoint))
if not nodesToVisit or len(nodesToVisit) < 1:
maya.OpenMaya.MGlobal.displayError(
maya.stringTable['y_Ragdoll.kCreateRagdollSelectJoint'])
return
ragdollRootNode = maya.cmds.createNode('transform',
name="Ragdoll#",
skipSelect=True)
currentJoint = None
while (len(nodesToVisit) > 0):
logger.debug( maya.stringTable[ 'y_Ragdoll.kStartingIterCurrJoint' ] \
% (currentJoint, nodesToVisit) )
currentJoint = nodesToVisit.popleft()
# NOTE: assumes joints are directly connected to each other
try:
parentJoint = _firstParent(currentJoint)
if (not _isJoint(parentJoint)):
parentJoint = None
except:
parentJoint = None
# end-try
logger.debug(maya.stringTable['y_Ragdoll.kVisiting2'] % currentJoint)
(rbAXform, rbA) = _getRagdollCapsule(ragdollRootNode, parentJoint,
currentJoint, jointNameSeparator)
childJoints = _getChildren(currentJoint, type="joint")
nodesToVisit.extend(childJoints)
prevChildJoint = None
for childJoint in childJoints:
# Here's what we're working with within this loop:
#
# parent current child
# joint --[rbA]--> joint --[rbB]--> joint
(rbBXform, rbB) \
= _createCapsule( currentJoint, childJoint, False,
eBodyType.kDynamicRigidBody, capsuleMass,
capsuleBoneRatio, capsuleRadiusRatio,
"%s%s%s" % (_name(currentJoint),
jointNameSeparator,
_name(childJoint)) )
rbBXform = _setParent(rbBXform, ragdollRootNode)
rbBName = None
if (rbB is not None):
rbBName = _getChildren(rbBXform,
type='bulletRigidBodyShape')[0]
rbBXformName = None
if (rbBXform is not None): rbBXformName = _longName(rbBXform)
# figure out what to anchor this rigid body to
if (rbA is None and prevChildJoint is not None):
# prevChildJoint implies that a sibling capsule was
# created in a previous iteration, which this capsule
# can be constrained to.
(sibXform, sib) \
= _getRagdollCapsule( ragdollRootNode, currentJoint, prevChildJoint,
jointNameSeparator )
rbAnchorName = _longName(sib)
elif (rbA is not None):
rbAnchorName = _longName(rbA)
else:
# NOTE: don't create constraints without an anchor, or
# else the ragdoll will end up constrained to the world.
rbAnchorName = None
# end-if
if (rbAnchorName is not None):
logger.info( maya.stringTable[ 'y_Ragdoll.kCreatingConstr' ] \
% (rbAnchorName, rbB) )
# "constraint" abbreviated "constr"
constrName = _createRigidBodyConstraint( \
constraintType=eConstraintType.kRBConstraintSixDOF,
rigidBodyA=rbAnchorName,
rigidBodyB=rbBName,
parent=None )[0]
constrNode = constrName
constrXformNode = _firstParent(constrNode)
# configure the transform
constrXformNode = maya.cmds.rename(
constrXformNode, "constraint_%s" % _name(currentJoint))
constrXformNode = _setParent(constrXformNode, ragdollRootNode)
constrNode = _getChildren(
constrXformNode, type='bulletRigidBodyConstraintShape')[0]
_setTranslation(constrXformNode,
_getTranslation(currentJoint, space="world"))
_setRotation(constrXformNode,
_getRotation(currentJoint, space="world"))
# configure the constraint
_setAttr(constrNode, 'angularDamping', angularDamping)
_setAttr(constrNode, 'angularSoftness', angularSoftness)
_setAttr(constrNode, 'angularRestitution', angularRestitution)
# lock the linear motion, to behave like a point constraint
_setAttr(constrNode,'linearConstraintX', \
eConstraintLimitType.kRBConstraintLimitLocked )
_setAttr(constrNode,'linearConstraintY', \
eConstraintLimitType.kRBConstraintLimitLocked )
_setAttr(constrNode,'linearConstraintZ', \
eConstraintLimitType.kRBConstraintLimitLocked )
# set the rotational limits to match the joint
_applyJointLimits(currentJoint, constrNode)
# end-if
prevChildJoint = childJoint
# end-for
# end-while
maya.cmds.select(ragdollRootNode, replace=True)
def addCapsulesToSkeleton(rootJointName=None,
capsuleBoneRatio=DEFAULT_CAPSULE_LENGTH,
capsuleRadiusRatio=DEFAULT_CAPSULE_RADIUS):
"""
This method traverses a joint hierarchy, adding kinematic rigid
body capsules to the bones. If the name of the root joint is
provided, the traversal will begin at that joint. Otherwise, the
currently selected joint(s) will be used.
"""
initialSelection = maya.cmds.ls(long=True, selection=True)
nodesToVisit = deque(_getNodesToVisit(rootJointName))
if not nodesToVisit or len(nodesToVisit) < 1:
maya.OpenMaya.MGlobal.displayError(
maya.stringTable['y_Ragdoll.kAddCollidersSelectJoint'])
return
while (len(nodesToVisit) > 0):
currentJoint = nodesToVisit.popleft()
logger.debug(maya.stringTable['y_Ragdoll.kVisiting'] % currentJoint)
# within the current iteration, we will consider only other
# joints attached to the current joint
children = [ child for child in _getChildren(currentJoint) \
if _isJoint(child) ]
# future iterations need only consider joints with children
nodesToVisit.extend( [child for child in children \
if _numChildren(child) > 0] )
prevCapsules = [child for child in _getChildren(currentJoint) \
if RB_XFORM_PREFIX in _name(child)]
# examine the bones between this joint and its child joints...
for childJoint in children:
logger.debug(maya.stringTable['y_Ragdoll.kBoneFromTo'] %
(currentJoint, childJoint))
boneVector = _getTranslation(childJoint)
bCapsuleExists = False
for prevCapsuleXform in prevCapsules:
if _getTranslation(prevCapsuleXform) == boneVector * 0.5:
bCapsuleExists = True
break
# end-if
# end-for
if (bCapsuleExists):
logger.warn(maya.stringTable['y_Ragdoll.kSkippingBone'])
continue
# end-if
_createCapsule(
currentJoint,
childJoint,
bAttachToJoint=True,
# colliders for animation should be kinematic,
# with zero mass
bodyType=eBodyType.kKinematicRigidBody,
mass=0.0,
boneLengthRatio=capsuleBoneRatio,
lengthRadiusRatio=capsuleRadiusRatio)
# end-for
# end-while
# restore the initial selection
maya.cmds.select(initialSelection, replace=True)