def command(
meshes=None,
name='bulletSoftBodyShape#',
# Attrs
generateBendConstraints=None,
selfCollision=None,
bendResistance=None,
linearStiffness=None,
friction=None,
damping=None,
pressure=None,
collisionMargin=None,
positionIterations=None,
#poseMatching=None,
#enablePoseMatching=None,
preserveSourceMesh=None,
singleTransform=None,
**kwargs):
'''Create a bulletSoftBody from specified mesh.
'''
# Explicitly list the names of settable attributes iterated over below
settableAttrs = [
'generateBendConstraints',
'selfCollision',
'bendResistance',
'linearStiffness',
'friction',
'damping',
'pressure',
'collisionMargin',
'positionIterations',
#'poseMatching',
#'enablePoseMatching',
]
# Make a boolean value that is easier to read in code
singleTransform = singleTransform != False
# Get list of meshes from selection if not passed in
if (meshes == None):
maya.cmds.select(maya.cmds.listRelatives(shapes=True,
fullPath=True),
add=True)
meshes = maya.cmds.ls(sl=True, type='mesh', long=True)
# Make sure the selection doesn't contain any bullet objects.
BulletUtils.verifySelectionNotBullet(meshes)
returnedNodes = []
# Sanity Checking
if len(meshes) == 0:
maya.OpenMaya.MGlobal.displayError(
maya.stringTable['y_SoftBody.kSelectMesh'])
return returnedNodes
# Loop over meshes and create soft bodies
for mesh in meshes:
meshT = maya.cmds.listRelatives([mesh], parent=True,
fullPath=True)[0]
# Duplicate mesh and connect in history
# Alternate: use a stub func like polyReduce -replaceOriginal 0 -percentage 100 -nodeState 1 -name "stubPolyMod";
meshCopyT = maya.cmds.polyDuplicateAndConnect(mesh)[0]
meshCopyShape = maya.cmds.listRelatives(meshCopyT,
s=True,
fullPath=True)[0]
if not singleTransform:
maya.cmds.setAttr((meshCopyT + ".t"), 0, 0, 0)
# zero out the transform since get values from WorldSpace
maya.cmds.setAttr((meshCopyT + ".r"), 0, 0, 0)
# zero out the transform since get values from WorldSpace
maya.cmds.setAttr((meshCopyT + ".s"), 1, 1, 1)
# zero out the transform since get values from WorldSpace
maya.cmds.setAttr((meshCopyT + ".inheritsTransform"), 0)
# Create softbody shape
# NOTE: If plugin not loaded, then sbShape will return unknown nodetype
# and listRelatives will not work as expected
sbShape = maya.cmds.createNode('bulletSoftBodyShape', name=name)
sbT = maya.cmds.listRelatives([sbShape],
parent=True,
fullPath=True)[0]
# Reparent body shape under it
maya.cmds.parent(sbShape, meshT, r=True, s=True)
maya.cmds.delete(sbT)
sbT = meshT
# Create Solver (proto)
sol = BulletUtils.getSolver()
# Connect
maya.cmds.connectAttr((mesh + ".worldMesh"),
(sbShape + ".inWorldMesh"))
maya.cmds.connectAttr((sol + ".outSolverInitialized"),
(sbShape + ".solverInitialized"))
maya.cmds.connectAttr((sbShape + ".outSoftBodyData"),
(sol + ".softBodies"),
na=True)
maya.cmds.connectAttr((sol + ".outSolverUpdated"),
(sbShape + ".solverUpdated"))
maya.cmds.connectAttr((sbShape + ".outSolvedMesh"),
(meshCopyShape + ".inMesh"),
f=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((sol + ".startTime"),
(sbShape + ".startTime"))
maya.cmds.connectAttr((sol + ".currentTime"),
(sbShape + ".currentTime"))
# 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' % (sbShape, k),
*v) # covers float3 cases
else:
maya.cmds.setAttr('%s.%s' % (sbShape, k), v)
# Additional Actions
if (preserveSourceMesh == False):
maya.cmds.setAttr((mesh + '.intermediateObject'), True)
# Alternate: Explicit method
#if generateBendConstraints != None:
# maya.cmds.setAttr((sbShape+'.generateBendConstraints'), generateBendConstraints)
#if selfCollision != None:
# maya.cmds.setAttr((sbShape+'.selfCollision'), selfCollision)
#...
if singleTransform:
# Move the solved mesh under the same transform as the original mesh
maya.cmds.parent(meshCopyShape,
meshT,
relative=True,
shape=True)
maya.cmds.reorder(sbShape, back=True)
maya.cmds.delete(meshCopyT)
maya.cmds.setAttr(sbShape + '.localSpaceOutput', True)
else:
# We will keep the solved mesh under the new transform
# Rename new transform
maya.cmds.rename(meshCopyT, meshT + "_Solved")
# Update list of returned nodes
returnedNodes.append(sbT)
returnedNodes.append(sbShape)
# If command echoing is off, echo this short line.
if (not maya.cmds.commandEcho(query=True, state=True)):
print("SoftBody.CreateSoftBody.executeCommandCB()")
print "// Result: %s //" % string.join(returnedNodes, " ")
# Select and return
maya.cmds.select(returnedNodes, add=True)
return returnedNodes
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 createSoftBodyAnchorConstraint(selectedVerts=None):
'''Create a bulletSoftConstraint to anchor selected SoftBody vertices to a
RigidBody. If no RigidBody is specified, then one will be created and
centered on the first selected vertex.
'''
# Get list of selected verts
if selectedVerts == None:
selectedVerts = maya.cmds.ls(sl=True, flatten=True,
type='float3') # flattened list
if len(selectedVerts) == 0:
maya.OpenMaya.MGlobal.displayError(maya.stringTable[
'y_SoftBodyConstraint.kPleaseSelectASetOfMeshVertsForTheAnchorConstraint']
)
return
# extract out the vertex number
anchoredVertexIds = BulletUtils.extractVertexIds(selectedVerts)
# Get center of selected vertices
origTranslate = centroid(selectedVerts)
# Get meshshape
objs = maya.cmds.listRelatives(selectedVerts[0], parent=True, type='mesh')
if objs == None or len(objs) == 0:
maya.OpenMaya.MGlobal.displayError(maya.stringTable[
'y_SoftBodyConstraint.kPleaseSelectMeshVertsForTheAnchorConstraint']
)
return
mesh = objs[0]
# Get $softbody attached to mesh
# First check if output mesh vert selected, so look for incoming connection
softbody = ""
cons = maya.cmds.listConnections(".inMesh",
s=1,
sh=1,
type='bulletSoftBodyShape')
if cons != None and len(cons) == 1:
softbody = cons[0]
else:
# Otherwise, check input mesh to be connected to a softbody
cons = maya.cmds.listConnections(".worldMesh[0]",
d=1,
sh=1,
type='bulletSoftBodyShape')
if cons != None and len(cons) == 1:
softbody = cons[0]
if softbody == "":
maya.OpenMaya.MGlobal.displayError(
maya.stringTable['y_SoftBodyConstraint.kCouldNotDetermineSBShape'])
return
# Get anchor object
anchorCandidates = maya.cmds.ls(
sl=True, dag=True, shapes=True) # list all selected shape nodes
numCandidates = len(anchorCandidates)
if numCandidates == 0:
maya.OpenMaya.MGlobal.displayError(maya.stringTable[
'y_SoftBodyConstraint.kPleaseSelectOneBulletRigidBodyForAnchorConstraint']
)
return
# use first object found or first rigid body found
anchorConstrError1 = maya.stringTable[
'y_SoftBodyConstraint.kPleaseSelectOnlyOneObjectForAnchorConstraint1']
anchorConstrError2 = maya.stringTable[
'y_SoftBodyConstraint.kPleaseSelectOnlyOneObjectForAnchorConstraint2']
anchor = None
shape = None
rigidbody = None
for candidate in anchorCandidates:
if maya.cmds.objectType(candidate, isType='bulletRigidBodyShape'):
if rigidbody is not None:
maya.OpenMaya.MGlobal.displayError(anchorConstrError1)
return
anchor = candidate
rigidbody = candidate
else:
if shape is not None:
maya.OpenMaya.MGlobal.displayError(anchorConstrError2)
return
anchor = candidate
shape = candidate
# allow a geometry shape and rigid body shape to be selected as long as the rigid body
# shape is connected to the geometry shape and therefore the same 'object'.
if shape and rigidbody:
rigidbodies = maya.cmds.listConnections(shape,
sh=True,
type='bulletRigidBodyShape')
if rigidbodies is None or rigidbodies[0] != rigidbody:
maya.OpenMaya.MGlobal.displayError(anchorConstrError2)
return
# Create SoftConstraint
shape = maya.cmds.createNode("bulletSoftConstraintShape")
shapeT = maya.cmds.listRelatives(shape, parent=True)[0]
# Create Solver
sol = BulletUtils.getSolver()
maya.cmds.setAttr((shapeT + ".translate"), *origTranslate)
# The logical place for the anchors to be stored is on the constraint node,
# but in order to remap the indices when the topology changes we have to
# put it on the soft body node and connect it to the constraint node. This
# is an array (multi) attribute, one per constraint; each constraint is
# itself an int32 array.
# Find the new index for the anchor.
anchorListAttr = softbody + ".anchors"
anchorIndices = maya.cmds.getAttr(anchorListAttr, multiIndices=True)
if anchorIndices:
anchorNewIndex = anchorIndices[-1] + 1
else:
anchorNewIndex = 0
anchorName = "%s[%d]" % (anchorListAttr, anchorNewIndex)
# getAttr allocates the new index, then setAttr stores the data,
# then connectAttr moves the data to where it's used.
maya.cmds.getAttr(anchorName)
maya.cmds.setAttr(anchorName, anchoredVertexIds, type='Int32Array')
maya.cmds.connectAttr(anchorName, shape + ".indexList")
# Connect the simple attributes.
maya.cmds.connectAttr((sol + ".startTime"), (shape + ".startTime"))
maya.cmds.connectAttr((sol + ".currentTime"), (shape + ".currentTime"))
maya.cmds.connectAttr((softbody + ".outSoftBodyData"),
(shape + ".softBody"))
if (rigidbody):
maya.cmds.connectAttr((rigidbody + ".outRigidBodyData"),
(shape + ".rigidBody"))
else:
maya.cmds.connectAttr((anchor + ".worldMatrix"),
(shape + ".inWorldMatrix"))
maya.cmds.connectAttr((shape + ".outConstraintData"),
(sol + ".softConstraints"),
na=True)
# Return
maya.cmds.select(shape)
ret = [shape]
# If command echoing is off, echo this short line.
if (not maya.cmds.commandEcho(query=True, state=True)):
print("SoftBodyConstraint.createSoftBodyAnchorConstraint()")
print "// Result: %s //" % shape
return ret
def doCommand(name='bulletRigidBodyShape#', transformName = None, bAttachSelected = True, ignoreShape = False, hideShape = False, # Attrs colliderShapeType = None, axis = None, length = None, radius = None, extents = None, bodyType = None, initiallySleeping = None, neverSleeps = None, mass = None, linearDamping = None, angularDamping = None, friction = None, restitution = None, initialVelocity = None, initialAngularVelocity = None, impulse = None, torqueImpulse = None, centerOfMass = None, autoFit = None, colliderShapeOffset = None, colliderShapeMargin = None, **kwargs ): '''Create a bulletRigidBody ''' # Explicitly list the names of settable attributes iterated over below # Check for selection being a rigid body already if ( bAttachSelected ): selectedObjs = _getSelectedTransforms() selectedObj = selectedObjs[0] if len(selectedObjs) else None # don't attach a rigid body underneath another one during # creation, it's more likely that the user is invoking # this command multiple times, and the selection is # leftover from a previous invocation. if ( BulletUtils.getRigidBodyFromTransform(selectedObj) is not None ): selectedObj = None else: transformName = selectedObj else: selectedObj = None if not transformName: transformName='' # Create from scratch rbShape = maya.cmds.createNode( "bulletRigidBodyShape", name=name, parent=transformName ) rbXform = _firstParent(rbShape) if not rbXform: OpenMaya.MGlobal.displayError(maya.stringTable[ 'y_RigidBody.kErrorRigidBodyNotCreated' ]) return [ None, None ] # Performance: if we're attaching to an object # make rbShape an visibility so it doesn't draw by default. # NOTE: since the rigid body is not a MPxShape it doesn't # support an intermediateObject attribute. if transformName and hideShape: _setAttr(rbShape, 'visibility', 0) # Create Solver (proto) solver = BulletUtils.getSolver() # 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 CreateRigidBody.settableAttrs and v != None: _setAttr( rbShape, k, v ) # Additional Actions # ******* TODO: Need to enable local transform instead of just worldSpace. Pass in parentMatrix to rigidbody # Store t and r (used below) origTranslate = _getAttr(rbXform, 'translate')[0] origRotate = _getAttr(rbXform,'rotate')[0] # Connect _connectAttr( _attr(rbXform,'worldMatrix'), _attr(rbShape,'inWorldMatrix') ) _connectAttr( _attr(rbXform,'parentInverseMatrix'), _attr(rbShape,'inParentInverseMatrix') ) _connectAttr( _attr(solver,'outSolverInitialized'), _attr(rbShape,'solverInitialized') ) _connectAttr( _attr(solver,'outSolverUpdated'), _attr(rbShape,'solverUpdated') ) _connectAttr( _attr(rbShape,'outRigidBodyData'), _attr(solver,'rigidBodies'), nextAvailable=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 _connectAttr( _attr(solver,'startTime'), _attr(rbShape,'startTime') ) _connectAttr( _attr(solver,'currentTime'), _attr(rbShape,'currentTime') ) _setAttr(rbShape, 'initialTranslate', origTranslate) deg2Rad = 3.14159 / 180 _setAttr(rbShape, 'initialRotateX', origRotate[0] * deg2Rad) _setAttr(rbShape, 'initialRotateY', origRotate[1] * deg2Rad) _setAttr(rbShape, 'initialRotateZ', origRotate[2] * deg2Rad) pairBlend = maya.cmds.createNode( "pairBlend", name= "translateRotate") _setAttr(pairBlend, 'inTranslate1', origTranslate) _setAttr(pairBlend, 'inRotate1', origRotate) _connectAttr( _attr(rbShape, 'outSolvedTranslate'), _attr(pairBlend, 'inTranslate2') ) _connectAttr( _attr(rbShape, 'outSolvedRotate'), _attr(pairBlend, 'inRotate2') ) _connectAttr(_attr(pairBlend, 'outTranslateX'), _attr(rbXform, 'translateX'), force=True) _connectAttr(_attr(pairBlend, 'outTranslateY'), _attr(rbXform, 'translateY'), force=True) _connectAttr(_attr(pairBlend, 'outTranslateZ'), _attr(rbXform, 'translateZ'), force=True) _connectAttr(_attr(pairBlend, 'outRotateX'), _attr(rbXform, 'rotateX'), force=True) _connectAttr(_attr(pairBlend, 'outRotateY'), _attr(rbXform, 'rotateY'), force=True) _connectAttr(_attr(pairBlend, 'outRotateZ'), _attr(rbXform, 'rotateZ'), force=True) _connectAttr(_attr(rbXform, 'isDrivenBySimulation'), _attr(pairBlend,'weight'), force=True) _connectAttr(_attr(rbXform, 'rotatePivot'), _attr(rbShape,'pivotTranslate') ) # ****** TODO: Remove the unused pairBlend weight attrs # Select the rigidBody transform and return the resulting values maya.cmds.select( rbXform, replace=True ) return [ rbXform, rbShape ]