def initialHierarchy(self):
mgear.log("Initial Hierarchy")
# --------------------------------------------------
# Model
self.model = pri.addTransformFromPos(None, self.options["rig_name"])
att.lockAttribute(self.model)
# --------------------------------------------------
# Global Ctl
self.global_ctl = self.addCtl(self.model,
"global_C0_ctl",
dt.Matrix(),
self.options["C_color_fk"],
"crossarrow",
w=10)
# --------------------------------------------------
# INFOS
self.isRig_att = att.addAttribute(self.model, "is_rig", "bool", True)
self.rigName_att = att.addAttribute(self.model, "rig_name", "string",
self.options["rig_name"])
self.user_att = att.addAttribute(self.model, "user", "string",
getpass.getuser())
self.isWip_att = att.addAttribute(self.model, "wip", "bool",
self.options["mode"] != 0)
self.date_att = att.addAttribute(self.model, "date", "string",
str(datetime.datetime.now()))
self.mayaVersion_att = att.addAttribute(
self.model, "maya_version", "string",
str(mel.eval("getApplicationVersionAsFloat")))
self.gearVersion_att = att.addAttribute(self.model, "gear_version",
"string", mgear.getVersion())
self.synoptic_att = att.addAttribute(self.model, "synoptic", "string",
str(self.options["synoptic"]))
self.comments_att = att.addAttribute(self.model, "comments", "string",
str(self.options["comments"]))
self.ctlVis_att = att.addAttribute(self.model, "ctl_vis", "bool", True)
self.shdVis_att = att.addAttribute(self.model, "shd_vis", "bool",
False)
self.qsA_att = att.addAttribute(self.model, "quickselA", "string", "")
self.qsB_att = att.addAttribute(self.model, "quickselB", "string", "")
self.qsC_att = att.addAttribute(self.model, "quickselC", "string", "")
self.qsD_att = att.addAttribute(self.model, "quickselD", "string", "")
self.qsE_att = att.addAttribute(self.model, "quickselE", "string", "")
self.qsF_att = att.addAttribute(self.model, "quickselF", "string", "")
# --------------------------------------------------
# UI SETUP AND ANIM
self.oglLevel_att = att.addAttribute(self.model, "ogl_level", "long",
0, None, None, 0, 3)
# --------------------------------------------------
# Basic set of null
if self.options["shadow_rig"]:
self.shd_org = pri.addTransformFromPos(self.model, "shd_org")
connectAttr(self.shdVis_att, self.shd_org.attr("visibility"))
def initialHierarchy(self):
"""
Build the initial hierarchy of the rig.
Create the rig model, the main properties, and a couple of base organisation nulls.
Get the global size of the rig.
"""
mgear.log("Initial Hierarchy")
# --------------------------------------------------
# Model
self.model = pri.addTransformFromPos(None, self.options["rig_name"])
att.lockAttribute(self.model)
# --------------------------------------------------
# Global Ctl
self.global_ctl = self.addCtl(self.model, "global_C0_ctl", dt.Matrix(), self.options["C_color_fk"], "crossarrow", w=10)
att.setRotOrder(self.global_ctl, "ZXY")
# --------------------------------------------------
# Setup in world Space
self.setupWS = pri.addTransformFromPos(self.model, "setup")
att.lockAttribute(self.setupWS)
# --------------------------------------------------
# INFOS
self.isRig_att = att.addAttribute(self.model, "is_rig", "bool", True)
self.rigName_att = att.addAttribute(self.model, "rig_name", "string", self.options["rig_name"])
self.user_att = att.addAttribute(self.model, "user", "string", getpass.getuser())
self.isWip_att = att.addAttribute(self.model, "wip", "bool", self.options["mode"] != 0)
self.date_att = att.addAttribute(self.model, "date", "string", str(datetime.datetime.now()))
self.mayaVersion_att = att.addAttribute(self.model, "maya_version", "string", str(pm.mel.eval("getApplicationVersionAsFloat")))
self.gearVersion_att = att.addAttribute(self.model, "gear_version", "string", mgear.getVersion())
self.synoptic_att = att.addAttribute(self.model, "synoptic", "string", str(self.options["synoptic"]))
self.comments_att = att.addAttribute(self.model, "comments", "string", str(self.options["comments"]))
self.ctlVis_att = att.addAttribute(self.model, "ctl_vis", "bool", True)
self.jntVis_att = att.addAttribute(self.model, "jnt_vis", "bool", True)
self.qsA_att = att.addAttribute(self.model, "quickselA", "string", "")
self.qsB_att = att.addAttribute(self.model, "quickselB", "string", "")
self.qsC_att = att.addAttribute(self.model, "quickselC", "string", "")
self.qsD_att = att.addAttribute(self.model, "quickselD", "string", "")
self.qsE_att = att.addAttribute(self.model, "quickselE", "string", "")
self.qsF_att = att.addAttribute(self.model, "quickselF", "string", "")
self.rigGroups = self.model.addAttr( "rigGroups", at='message', m=1 )
self.rigPoses = self.model.addAttr( "rigPoses", at='message', m=1 )
# --------------------------------------------------
# Basic set of null
if self.options["joint_rig"]:
self.jnt_org = pri.addTransformFromPos(self.model, "jnt_org")
pm.connectAttr(self.jntVis_att, self.jnt_org.attr("visibility"))
def initialHierarchy(self):
"""
Create the inital structure for the rig.
"""
# Root
self.root = primitive.addTransformFromPos(self.model,
self.getName("root"),
self.guide.pos["root"])
self.addToGroup(self.root, names=["componentsRoots"])
# infos
attribute.addAttribute(self.root, "componentType", "string",
self.guide.compType)
attribute.addAttribute(self.root, "componentName", "string",
self.guide.compName)
attribute.addAttribute(self.root, "componentVersion", "string",
str(self.guide.version)[1:-1])
attribute.addAttribute(self.root, "componentAuthor", "string",
self.guide.author)
attribute.addAttribute(self.root, "componentURL", "string",
self.guide.url)
attribute.addAttribute(self.root, "componentEmail", "string",
self.guide.email)
# joint --------------------------------
if self.options["joint_rig"]:
self.component_jnt_org = primitive.addTransform(
self.rig.jnt_org, self.getName("jnt_org"))
# The initial assigment of the active jnt and the parent relative
# jnt is the same, later will be updated base in the user options
self.active_jnt = self.component_jnt_org
self.parent_relative_jnt = self.component_jnt_org
return
def initialHierarchy(self):
mgear.log("Initial Hierarchy")
# --------------------------------------------------
# Model
self.model = pri.addTransformFromPos(None, self.options["rig_name"])
att.lockAttribute(self.model)
# --------------------------------------------------
# Global Ctl
self.global_ctl = self.addCtl(self.model, "global_C0_ctl", dt.Matrix(), self.options["C_color_fk"], "crossarrow", w=10)
# --------------------------------------------------
# INFOS
self.isRig_att = att.addAttribute(self.model, "is_rig", "bool", True)
self.rigName_att = att.addAttribute(self.model, "rig_name", "string", self.options["rig_name"])
self.user_att = att.addAttribute(self.model, "user", "string", getpass.getuser())
self.isWip_att = att.addAttribute(self.model, "wip", "bool", self.options["mode"] != 0)
self.date_att = att.addAttribute(self.model, "date", "string", str(datetime.datetime.now()))
self.mayaVersion_att = att.addAttribute(self.model, "maya_version", "string", str(mel.eval("getApplicationVersionAsFloat")))
self.gearVersion_att = att.addAttribute(self.model, "gear_version", "string", mgear.getVersion())
self.synoptic_att = att.addAttribute(self.model, "synoptic", "string", str(self.options["synoptic"]))
self.comments_att = att.addAttribute(self.model, "comments", "string", str(self.options["comments"]))
self.ctlVis_att = att.addAttribute(self.model, "ctl_vis", "bool", True)
self.shdVis_att = att.addAttribute(self.model, "shd_vis", "bool", False)
self.qsA_att = att.addAttribute(self.model, "quickselA", "string", "")
self.qsB_att = att.addAttribute(self.model, "quickselB", "string", "")
self.qsC_att = att.addAttribute(self.model, "quickselC", "string", "")
self.qsD_att = att.addAttribute(self.model, "quickselD", "string", "")
self.qsE_att = att.addAttribute(self.model, "quickselE", "string", "")
self.qsF_att = att.addAttribute(self.model, "quickselF", "string", "")
# --------------------------------------------------
# UI SETUP AND ANIM
self.oglLevel_att = att.addAttribute(self.model, "ogl_level", "long", 0, None, None, 0, 3)
# --------------------------------------------------
# Basic set of null
if self.options["shadow_rig"]:
self.shd_org = pri.addTransformFromPos(self.model, "shd_org")
connectAttr(self.shdVis_att, self.shd_org.attr("visibility"))
def initialHierarchy(self):
# Root
self.root = pri.addTransformFromPos(self.model, self.getName("root"), self.guide.pos["root"])
# Shd --------------------------------
if self.options["shadow_rig"]:
self.shd_org = pri.addTransform(self.rig.shd_org, self.getName("shd_org"))
return
def addObjects(self):
self.normal = self.guide.blades["blade"].z
self.binormal = self.guide.blades["blade"].x
self.isFk = self.settings["mode"] != 1
self.isIk = self.settings["mode"] != 0
self.isFkIk = self.settings["mode"] == 2
# FK controlers ------------------------------------
if self.isFk:
self.fk_npo = []
self.fk_ctl = []
parent = self.root
for i, t in enumerate(tra.getChainTransform(self.guide.apos, self.normal, self.negate)):
dist = vec.getDistance(self.guide.apos[i], self.guide.apos[i+1])
fk_npo = pri.addTransform(parent, self.getName("fk%s_npo"%i), t)
fk_ctl = self.addCtl(fk_npo, "fk%s_ctl"%i, t, self.color_fk, "cube", w=dist, h=self.size*.1, d=self.size*.1, po=dt.Vector(dist*.5*self.n_factor,0,0))
parent = fk_ctl
self.fk_npo.append(fk_npo)
self.fk_ctl.append(fk_ctl)
# IK controlers ------------------------------------
if self.isIk:
normal = vec.getTransposedVector(self.normal, [self.guide.apos[0], self.guide.apos[1]], [self.guide.apos[-2], self.guide.apos[-1]])
t = tra.getTransformLookingAt(self.guide.apos[-2], self.guide.apos[-1], normal, "xy", self.negate)
t = tra.setMatrixPosition(t, self.guide.apos[-1])
self.ik_cns = pri.addTransform(self.root, self.getName("ik_cns"), t)
self.ikcns_ctl = self.addCtl(self.ik_cns, "ikcns_ctl", t, self.color_ik, "null", w=self.size)
self.ik_ctl = self.addCtl(self.ikcns_ctl, "ik_ctl", t, self.color_ik, "cube", w=self.size*.3, h=self.size*.3, d=self.size*.3)
v = self.guide.apos[-1] - self.guide.apos[0]
v = v ^ self.normal
v.normalize()
v *= self.size
v += self.guide.apos[1]
self.upv_cns = pri.addTransformFromPos(self.root, self.getName("upv_cns"), v)
self.upv_ctl = self.addCtl(self.upv_cns, "upv_ctl", tra.getTransform(self.upv_cns), self.color_ik, "diamond", w=self.size*.1)
# Chain
self.chain = pri.add2DChain(self.root, self.getName("chain"), self.guide.apos, self.normal, self.negate)
self.ikh = pri.addIkHandle(self.root, self.getName("ikh"), self.chain)
# Chain of deformers -------------------------------
self.loc = []
parent = self.root
for i, t in enumerate(tra.getChainTransform(self.guide.apos, self.normal, self.negate)):
loc = pri.addTransform(parent, self.getName("%s_loc"%i), t)
self.addShadow(loc, i)
self.loc.append(loc)
parent = loc
def initialHierarchy(self):
"""
Create the inital structure for the rig.
"""
# Root
self.root = pri.addTransformFromPos(self.model, self.getName("root"), self.guide.pos["root"])
# joint --------------------------------
if self.options["joint_rig"]:
self.component_jnt_org = pri.addTransform(self.rig.jnt_org, self.getName("jnt_org"))
# The initial assigment of the active jnt and the parent relative jnt is the same, later will be updated base in the user options
self.active_jnt = self.component_jnt_org
self.parent_relative_jnt = self.component_jnt_org
return
def addObjects(self):
"""Add all the objects needed to create the component."""
self.WIP = self.options["mode"]
self.normal = self.getNormalFromPos(self.guide.apos)
self.length0 = vector.getDistance(self.guide.apos[0],
self.guide.apos[1])
self.length1 = vector.getDistance(self.guide.apos[1],
self.guide.apos[2])
self.length2 = vector.getDistance(self.guide.apos[2],
self.guide.apos[3])
# 1 bone chain for upv ref
self.legChainUpvRef = primitive.add2DChain(
self.root, self.getName("legUpvRef%s_jnt"),
[self.guide.apos[0], self.guide.apos[2]], self.normal, False,
self.WIP)
self.legChainUpvRef[1].setAttr(
"jointOrientZ",
self.legChainUpvRef[1].getAttr("jointOrientZ") * -1)
# extra neutral pose
t = transform.getTransformFromPos(self.guide.apos[0])
self.root_npo = primitive.addTransform(self.root,
self.getName("root_npo"), t)
self.root_ctl = self.addCtl(self.root_npo,
"root_ctl",
t,
self.color_fk,
"circle",
w=self.length0 / 6,
tp=self.parentCtlTag)
# FK Controlers -----------------------------------
t = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1], self.normal,
"xz", self.negate)
self.fk0_npo = primitive.addTransform(self.root_ctl,
self.getName("fk0_npo"), t)
po_vec = datatypes.Vector(.5 * self.length0 * self.n_factor, 0, 0)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=po_vec,
tp=self.root_ctl)
attribute.setKeyableAttributes(
self.fk0_ctl, ["tx", "ty", "tz", "ro", "rx", "ry", "rz", "sx"])
t = transform.getTransformLookingAt(self.guide.apos[1],
self.guide.apos[2], self.normal,
"xz", self.negate)
self.fk1_npo = primitive.addTransform(self.fk0_ctl,
self.getName("fk1_npo"), t)
po_vec = datatypes.Vector(.5 * self.length1 * self.n_factor, 0, 0)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=po_vec,
tp=self.fk0_ctl)
attribute.setKeyableAttributes(
self.fk1_ctl, ["tx", "ty", "tz", "ro", "rx", "ry", "rz", "sx"])
t = transform.getTransformLookingAt(self.guide.apos[2],
self.guide.apos[3], self.normal,
"xz", self.negate)
self.fk2_npo = primitive.addTransform(self.fk1_ctl,
self.getName("fk2_npo"), t)
po_vec = datatypes.Vector(.5 * self.length2 * self.n_factor, 0, 0)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=po_vec,
tp=self.fk1_ctl)
attribute.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl]
for x in self.fk_ctl:
attribute.setInvertMirror(x, ["tx", "ty", "tz"])
# IK Controlers -----------------------------------
self.ik_cns = primitive.addTransformFromPos(self.root_ctl,
self.getName("ik_cns"),
self.guide.pos["ankle"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
transform.getTransformFromPos(
self.guide.pos["ankle"]),
self.color_ik,
"null",
w=self.size * .12,
tp=self.root_ctl)
attribute.setInvertMirror(self.ikcns_ctl, ["tx"])
m = transform.getTransformLookingAt(self.guide.pos["ankle"],
self.guide.pos["eff"], self.x_axis,
"zx", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
transform.getTransformFromPos(
self.guide.pos["ankle"]),
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12,
tp=self.ikcns_ctl)
attribute.setKeyableAttributes(self.ik_ctl)
attribute.setRotOrder(self.ik_ctl, "XZY")
attribute.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
self.upv_cns = primitive.addTransformFromPos(self.ik_ctl,
self.getName("upv_cns"),
v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
transform.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .12,
tp=self.root_ctl)
if self.settings["mirrorMid"]:
if self.negate:
self.upv_cns.rz.set(180)
self.upv_cns.sy.set(-1)
else:
attribute.setInvertMirror(self.upv_ctl, ["tx"])
attribute.setKeyableAttributes(self.upv_ctl, self.t_params)
# References --------------------------------------
self.ik_ref = primitive.addTransform(
self.ik_ctl, self.getName("ik_ref"),
transform.getTransform(self.ik_ctl))
self.fk_ref = primitive.addTransform(
self.fk_ctl[2], self.getName("fk_ref"),
transform.getTransform(self.ik_ctl))
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = primitive.addLocator(
self.root_ctl, self.getName("0_bone"),
transform.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = primitive.addLocator(
self.root_ctl, self.getName("1_bone"),
transform.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
self.ctrn_loc = primitive.addTransformFromPos(self.root_ctl,
self.getName("ctrn_loc"),
self.guide.apos[1])
self.eff_loc = primitive.addTransformFromPos(self.root_ctl,
self.getName("eff_loc"),
self.guide.apos[2])
# tws_ref
t = transform.getRotationFromAxis(datatypes.Vector(0, -1, 0),
self.normal, "xz", self.negate)
t = transform.setMatrixPosition(t, self.guide.pos["ankle"])
self.tws_ref = primitive.addTransform(self.eff_loc,
self.getName("tws_ref"), t)
# Mid Controler ------------------------------------
t = transform.getTransform(self.ctrn_loc)
self.mid_cns = primitive.addTransform(self.ctrn_loc,
self.getName("mid_cns"), t)
self.mid_ctl = self.addCtl(self.mid_cns,
"mid_ctl",
t,
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.root_ctl)
if self.settings["mirrorMid"]:
if self.negate:
self.mid_cns.rz.set(180)
self.mid_cns.sz.set(-1)
else:
attribute.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
# Twist references ---------------------------------
x = datatypes.Vector(0, -1, 0)
x = x * transform.getTransform(self.eff_loc)
z = datatypes.Vector(self.normal.x, self.normal.y, self.normal.z)
z = z * transform.getTransform(self.eff_loc)
m = transform.getRotationFromAxis(x, z, "xz", self.negate)
m = transform.setMatrixPosition(m,
transform.getTranslation(self.ik_ctl))
self.rollRef = primitive.add2DChain(self.root,
self.getName("rollChain"),
self.guide.apos[:2], self.normal,
self.negate, self.WIP)
self.tws0_loc = primitive.addTransform(
self.rollRef[0], self.getName("tws0_loc"),
transform.getTransform(self.fk_ctl[0]))
self.tws0_rot = primitive.addTransform(
self.tws0_loc, self.getName("tws0_rot"),
transform.getTransform(self.fk_ctl[0]))
self.tws1_loc = primitive.addTransform(
self.ctrn_loc, self.getName("tws1_loc"),
transform.getTransform(self.ctrn_loc))
self.tws1_rot = primitive.addTransform(
self.tws1_loc, self.getName("tws1_rot"),
transform.getTransform(self.ctrn_loc))
self.tws2_loc = primitive.addTransform(
self.root_ctl, self.getName("tws2_loc"),
transform.getTransform(self.tws_ref))
self.tws2_rot = primitive.addTransform(
self.tws2_loc, self.getName("tws2_rot"),
transform.getTransform(self.tws_ref))
self.tws2_rot.setAttr("sx", .001)
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for
# the elbow. + 2 for knee angle control
self.divisions = self.settings["div0"] + self.settings["div1"] + 3 + 2
self.div_cns = []
for i in range(self.divisions):
div_cns = primitive.addTransform(self.root_ctl,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the ankle
self.end_ref = primitive.addTransform(self.tws2_rot,
self.getName("end_ref"), m)
self.jnt_pos.append([self.end_ref, 'end'])
# match IK FK references
self.match_fk0_off = primitive.addTransform(
self.root, self.getName("matchFk0_npo"),
transform.getTransform(self.fk_ctl[1]))
self.match_fk0 = primitive.addTransform(
self.match_fk0_off, self.getName("fk0_mth"),
transform.getTransform(self.fk_ctl[0]))
self.match_fk1_off = primitive.addTransform(
self.root, self.getName("matchFk1_npo"),
transform.getTransform(self.fk_ctl[2]))
self.match_fk1 = primitive.addTransform(
self.match_fk1_off, self.getName("fk1_mth"),
transform.getTransform(self.fk_ctl[1]))
self.match_fk2 = primitive.addTransform(
self.ik_ctl, self.getName("fk2_mth"),
transform.getTransform(self.fk_ctl[2]))
self.match_ik = primitive.addTransform(
self.fk2_ctl, self.getName("ik_mth"),
transform.getTransform(self.ik_ctl))
self.match_ikUpv = primitive.addTransform(
self.fk0_ctl, self.getName("upv_mth"),
transform.getTransform(self.upv_ctl))
def addObjects(self):
"""Add all the objects needed to create the component."""
self.normal = self.getNormalFromPos(self.guide.apos)
self.binormal = self.getBiNormalFromPos(self.guide.apos)
self.length0 = vector.getDistance(self.guide.apos[0],
self.guide.apos[1])
self.length1 = vector.getDistance(self.guide.apos[1],
self.guide.apos[2])
self.length2 = vector.getDistance(self.guide.apos[2],
self.guide.apos[3])
# FK Controlers -----------------------------------
# *ms* set npo @ Tpose, to make the fk rotation work
# best with rot order"yzx"
self.fk_cns = primitive.addTransformFromPos(self.root,
self.getName("fk_cns"),
self.guide.apos[0])
vec_offset = ((self.guide.apos[1] - self.guide.apos[0]) * [1, 0, 0])
tpv = self.guide.apos[0] + vec_offset
t = transform.getTransformLookingAt(self.guide.apos[0], tpv,
self.normal, "xz", self.negate)
# *ms* add FK isolation
self.fk0_npo = primitive.addTransform(self.fk_cns,
self.getName("fk0_npo"), t)
t = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1], self.normal,
"xz", self.negate)
po_off = datatypes.Vector(.35 * self.length0 * self.n_factor, 0, 0)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0 * .7,
h=self.size * .1,
d=self.size * .1,
po=po_off,
tp=self.parentCtlTag)
attribute.setKeyableAttributes(self.fk0_ctl)
# *ms* add fk roll control Simage style
po_off = datatypes.Vector(.85 * self.length0 * self.n_factor, 0, 0)
self.fk0_roll_ctl = self.addCtl(self.fk0_ctl,
"fk0_roll_ctl",
t,
self.color_fk,
"cube",
w=self.length0 * .3,
h=self.size * .1,
d=self.size * 0.1,
po=po_off,
tp=self.fk0_ctl)
attribute.setRotOrder(self.fk0_roll_ctl, "YZX")
attribute.setKeyableAttributes(self.fk0_roll_ctl, ["rx"])
self.fk0_mtx = primitive.addTransform(self.root,
self.getName("fk0_mtx"), t)
t = transform.setMatrixPosition(t, self.guide.apos[1])
self.fk1_ref = primitive.addTransform(self.fk0_roll_ctl,
self.getName("fk1_ref"), t)
self.fk1_loc = primitive.addTransform(self.root,
self.getName("fk1_loc"), t)
t = transform.getTransformLookingAt(self.guide.apos[1],
self.guide.apos[2], self.normal,
"xz", self.negate)
self.fk1_npo = primitive.addTransform(self.fk1_loc,
self.getName("fk1_npo"), t)
po_off = datatypes.Vector(.35 * self.length1 * self.n_factor, 0, 0)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1 * .7,
h=self.size * .1,
d=self.size * .1,
po=po_off,
tp=self.fk0_roll_ctl)
attribute.setKeyableAttributes(self.fk1_ctl)
self.fk1_mtx = primitive.addTransform(self.fk1_ctl,
self.getName("fk1_mtx"), t)
po_off = datatypes.Vector(.85 * self.length1 * self.n_factor, 0, 0)
self.fk1_roll_ctl = self.addCtl(self.fk1_ctl,
"fk1_roll_ctl",
t,
self.color_fk,
"cube",
w=self.length1 * .3,
h=self.size * .1,
d=self.size * .1,
po=po_off,
tp=self.fk1_ctl)
attribute.setRotOrder(self.fk1_roll_ctl, "XYZ")
attribute.setKeyableAttributes(self.fk1_roll_ctl, ["rx"])
t = transform.getTransformLookingAt(self.guide.apos[2],
self.guide.apos[3], self.normal,
"xz", self.negate)
# *ms* buffer object to feed into ikfk solver for hand seperation
self.fk2_mtx = primitive.addTransform(self.fk1_roll_ctl,
self.getName("fk2_mtx"), t)
# fk2_loc is need to take the effector position + bone1 rotation
t1 = transform.getTransformLookingAt(self.guide.apos[2],
self.guide.apos[1], self.normal,
"-xz", self.negate)
self.fk2_loc = primitive.addTransform(self.root,
self.getName("fk2_loc"), t1)
self.fk2_npo = primitive.addTransform(self.fk2_loc,
self.getName("fk2_npo"), t)
po_off = datatypes.Vector(.5 * self.length2 * self.n_factor, 0, 0)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=po_off,
tp=self.fk1_roll_ctl)
attribute.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_roll_ctl, self.fk1_mtx, self.fk2_ctl]
self.fk_ctls = [
self.fk0_ctl, self.fk0_roll_ctl, self.fk1_ctl, self.fk1_roll_ctl,
self.fk2_ctl
]
for x in self.fk_ctls:
attribute.setInvertMirror(x, ["tx", "ty", "tz"])
# IK Controlers -----------------------------------
self.ik_cns = primitive.addTransformFromPos(self.root,
self.getName("ik_cns"),
self.guide.pos["wrist"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
transform.getTransformFromPos(
self.guide.pos["wrist"]),
self.color_ik,
"null",
w=self.size * .12,
tp=self.parentCtlTag)
attribute.setInvertMirror(self.ikcns_ctl, ["tx", "ty", "tz"])
if self.negate:
m = transform.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal, "x-y", True)
else:
m = transform.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal, "xy", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
m,
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12,
tp=self.ikcns_ctl)
attribute.setKeyableAttributes(self.ik_ctl)
attribute.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
# *ms* auto up vector ------------------------------
self.upv_cns = primitive.addTransformFromPos(self.root,
self.getName("upv_cns"),
self.guide.apos[0])
self.upv_auv = primitive.addTransformFromPos(self.root,
self.getName("upv_auv"),
self.guide.apos[0])
self.upv_mtx = primitive.addTransformFromPos(self.upv_cns,
self.getName("upv_mtx"),
self.guide.apos[0])
self.upv_npo = primitive.addTransformFromPos(self.upv_mtx,
self.getName("upv_npo"),
v)
self.upv_ctl = self.addCtl(self.upv_npo,
"upv_ctl",
transform.getTransform(self.upv_npo),
self.color_ik,
"diamond",
w=self.size * .12,
tp=self.parentCtlTag)
attribute.setKeyableAttributes(self.upv_ctl, self.t_params)
attribute.setInvertMirror(self.upv_ctl, ["tx"])
# References --------------------------------------
# Calculate again the transfor for the IK ref. This way align with FK
trnIK_ref = transform.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal, "xz",
self.negate)
self.ik_ref = primitive.addTransform(self.ik_ctl,
self.getName("ik_ref"), trnIK_ref)
self.fk_ref = primitive.addTransform(self.fk_ctl[2],
self.getName("fk_ref"), trnIK_ref)
# Chain --------------------------------------------
# take outputs of the ikfk2bone solver
self.bone0 = primitive.addLocator(
self.root, self.getName("0_bone"),
transform.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = primitive.addLocator(
self.root, self.getName("1_bone"),
transform.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
self.ctrn_loc = primitive.addTransformFromPos(self.root,
self.getName("ctrn_loc"),
self.guide.apos[1])
# eff npo --- take the effector output of gear ik solver
self.eff_npo = primitive.addTransformFromPos(self.root,
self.getName("eff_npo"),
self.guide.apos[2])
# eff loc --- take the fk ik blend result
self.eff_loc = primitive.addTransformFromPos(self.eff_npo,
self.getName("eff_loc"),
self.guide.apos[2])
# Mid Controler ------------------------------------
self.mid_ctl = self.addCtl(self.ctrn_loc,
"mid_ctl",
transform.getTransform(self.ctrn_loc),
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.parentCtlTag)
attribute.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
# *ms* add elbow thickness
# Roll join ref
self.tws0_npo = primitive.addTransform(
self.root, self.getName("tws0_npo"),
transform.getTransform(self.fk_ctl[0]))
self.tws0_loc = primitive.addTransform(
self.tws0_npo, self.getName("tws0_loc"),
transform.getTransform(self.fk_ctl[0]))
self.tws0_rot = primitive.addTransform(
self.tws0_loc, self.getName("tws0_rot"),
transform.getTransform(self.fk_ctl[0]))
self.tws1_npo = primitive.addTransform(
self.ctrn_loc, self.getName("tws1_npo"),
transform.getTransform(self.ctrn_loc))
self.tws1_loc = primitive.addTransform(
self.tws1_npo, self.getName("tws1_loc"),
transform.getTransform(self.ctrn_loc))
self.tws1_rot = primitive.addTransform(
self.tws1_loc, self.getName("tws1_rot"),
transform.getTransform(self.ctrn_loc))
self.tws2_loc = primitive.addTransform(
self.tws1_npo, self.getName("tws2_loc"),
transform.getTransform(self.ctrn_loc))
self.tws2_rot = primitive.addTransform(
self.tws2_loc, self.getName("tws2_rot"),
transform.getTransform(self.ctrn_loc))
self.tws3_npo = primitive.addTransform(
self.root, self.getName("tws3_npo"),
transform.getTransform(self.fk_ctl[2]))
self.tws3_loc = primitive.addTransform(
self.tws3_npo, self.getName("tws3_loc"),
transform.getTransform(self.fk_ctl[2]))
self.tws3_rot = primitive.addTransform(
self.tws3_loc, self.getName("tws3_rot"),
transform.getTransform(self.fk_ctl[2]))
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the
# elbow. + 2 for elbow angle control
# separate up and dn limb
self.divisions = self.settings["div0"] + self.settings["div1"] + 3 + 2
self.divisions0 = self.settings["div0"] + 2
self.divisions1 = self.settings["div1"] + 2
self.div_cns = []
self.div_cnsUp = []
self.div_cnsDn = []
self.div_ctls = []
self.div_org = primitive.addTransform(
self.root, self.getName("div_org"),
transform.getTransform(self.root))
self.previousTag = self.parentCtlTag
for i in range(self.divisions0):
div_cns = primitive.addTransform(self.div_org,
self.getName("div%s_loc" % i))
if self.negate:
div_ctl = self.addCtl(
div_cns,
self.getName("div%s_ctl" % i),
transform.getTransform(div_cns),
self.color_fk,
"square",
d=self.size * .05,
w=self.size * .1,
po=datatypes.Vector(0, self.size * -0.05, 0),
ro=datatypes.Vector(0, 0, datatypes.radians(90)),
tp=self.previousTag)
else:
div_ctl = self.addCtl(
div_cns,
self.getName("div%s_ctl" % i),
transform.getTransform(div_cns),
self.color_fk,
"square",
d=self.size * .05,
w=self.size * .1,
po=datatypes.Vector(0, self.size * 0.05, 0),
ro=datatypes.Vector(0, 0, datatypes.radians(90)),
tp=self.previousTag)
attribute.setKeyableAttributes(div_ctl)
self.previousTag = div_ctl
self.div_cns.append(div_cns)
self.div_cnsUp.append(div_cns)
self.jnt_pos.append([div_ctl, i])
self.div_ctls.append(div_ctl)
# mid division
d = self.divisions0
self.div_mid = primitive.addTransform(
self.div_org, self.getName("div%s_loc" % d),
transform.getTransform(self.mid_ctl))
if self.negate:
self.div_mid_ctl = self.addCtl(
self.div_mid,
self.getName("div%s_ctl" % d),
transform.getTransform(self.div_mid),
self.color_fk,
"square",
d=self.size * .05,
w=self.size * .1,
po=datatypes.Vector(0, self.size * -0.05, 0),
ro=datatypes.Vector(0, 0, datatypes.radians(90)),
tp=self.previousTag)
else:
self.div_mid_ctl = self.addCtl(
self.div_mid,
self.getName("div%s_ctl" % d),
transform.getTransform(self.div_mid),
self.color_fk,
"square",
d=self.size * .05,
w=self.size * .1,
po=datatypes.Vector(0, self.size * 0.05, 0),
ro=datatypes.Vector(0, 0, datatypes.radians(90)),
tp=self.previousTag)
attribute.setKeyableAttributes(self.div_mid_ctl)
self.previousTag = div_ctl
self.div_cns.append(self.div_mid)
self.jnt_pos.append([self.div_mid_ctl, self.divisions0])
self.div_ctls.append(self.div_mid_ctl)
# down division
for i in range(self.divisions1):
dd = i + self.divisions1 + 1
div_cns = primitive.addTransform(self.div_org,
self.getName("div%s_loc" % dd))
if self.negate:
div_ctl = self.addCtl(
div_cns,
self.getName("div%s_ctl" % dd),
transform.getTransform(div_cns),
self.color_fk,
"square",
d=self.size * .05,
w=self.size * .1,
po=datatypes.Vector(0, self.size * -0.05, 0),
ro=datatypes.Vector(0, 0, datatypes.radians(90)),
tp=self.previousTag)
else:
div_ctl = self.addCtl(
div_cns,
self.getName("div%s_ctl" % dd),
transform.getTransform(div_cns),
self.color_fk,
"square",
d=self.size * .05,
w=self.size * .1,
po=datatypes.Vector(0, self.size * 0.05, 0),
ro=datatypes.Vector(0, 0, datatypes.radians(90)),
tp=self.previousTag)
attribute.setKeyableAttributes(div_ctl)
self.previousTag = div_ctl
self.div_cns.append(div_cns)
self.div_cnsDn.append(div_cns)
self.jnt_pos.append([div_ctl, i + self.divisions0 + 1])
self.div_ctls.append(div_ctl)
# End reference ------------------------------------
# To help the deformation on the wrist
self.jnt_pos.append([self.eff_loc, 'end'])
# match IK FK references
self.match_fk0 = primitive.addTransform(
self.root, self.getName("fk0_mth"),
transform.getTransform(self.fk_ctl[0]))
self.match_fk1 = primitive.addTransform(
self.root, self.getName("fk1_mth"),
transform.getTransform(self.fk_ctl[1]))
self.match_fk2 = primitive.addTransform(
self.ik_ctl, self.getName("fk2_mth"),
transform.getTransform(self.fk_ctl[2]))
self.match_ik = primitive.addTransform(
self.fk2_ctl, self.getName("ik_mth"),
transform.getTransform(self.ik_ctl))
self.match_ikUpv = primitive.addTransform(
self.fk0_roll_ctl, self.getName("upv_mth"),
transform.getTransform(self.upv_ctl))
def addObjects(self):
"""Add all the objects needed to create the component."""
self.WIP = self.options["mode"]
self.normal = self.getNormalFromPos(self.guide.apos)
self.length0 = vector.getDistance(self.guide.apos[0],
self.guide.apos[1])
self.length1 = vector.getDistance(self.guide.apos[1],
self.guide.apos[2])
self.length2 = vector.getDistance(self.guide.apos[2],
self.guide.apos[3])
# 1 bone chain for upv ref
self.legChainUpvRef = primitive.add2DChain(
self.root, self.getName("legUpvRef%s_jnt"),
[self.guide.apos[0], self.guide.apos[2]], self.normal, False,
self.WIP)
self.legChainUpvRef[1].setAttr(
"jointOrientZ",
self.legChainUpvRef[1].getAttr("jointOrientZ") * -1)
# extra neutral pose
t = transform.getTransformFromPos(self.guide.apos[0])
self.root_npo = primitive.addTransform(self.root,
self.getName("root_npo"), t)
self.root_ctl = self.addCtl(self.root_npo,
"root_ctl",
t,
self.color_fk,
"circle",
w=self.length0 / 6,
tp=self.parentCtlTag)
# FK Controlers -----------------------------------
t = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1], self.normal,
"xz", self.negate)
self.fk0_npo = primitive.addTransform(self.root_ctl,
self.getName("fk0_npo"), t)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length0 * self.n_factor, 0,
0),
tp=self.root_ctl)
attribute.setKeyableAttributes(
self.fk0_ctl, ["tx", "ty", "tz", "ro", "rx", "ry", "rz", "sx"])
t = transform.getTransformLookingAt(self.guide.apos[1],
self.guide.apos[2], self.normal,
"xz", self.negate)
self.fk1_npo = primitive.addTransform(self.fk0_ctl,
self.getName("fk1_npo"), t)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length1 * self.n_factor, 0,
0),
tp=self.fk0_ctl)
attribute.setKeyableAttributes(
self.fk1_ctl, ["tx", "ty", "tz", "ro", "rx", "ry", "rz", "sx"])
t = transform.getTransformLookingAt(self.guide.apos[2],
self.guide.apos[3], self.normal,
"xz", self.negate)
self.fk2_npo = primitive.addTransform(self.fk1_ctl,
self.getName("fk2_npo"), t)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length2 * self.n_factor, 0,
0),
tp=self.fk1_ctl)
attribute.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl]
for x in self.fk_ctl:
attribute.setInvertMirror(x, ["tx", "ty", "tz"])
# IK Controlers -----------------------------------
self.ik_cns = primitive.addTransformFromPos(self.root_ctl,
self.getName("ik_cns"),
self.guide.pos["ankle"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
transform.getTransformFromPos(
self.guide.pos["ankle"]),
self.color_ik,
"null",
w=self.size * .12,
tp=self.root_ctl)
attribute.setInvertMirror(self.ikcns_ctl, ["tx"])
m = transform.getTransformLookingAt(self.guide.pos["ankle"],
self.guide.pos["eff"], self.x_axis,
"zx", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
transform.getTransformFromPos(
self.guide.pos["ankle"]),
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12,
tp=self.ikcns_ctl)
attribute.setKeyableAttributes(self.ik_ctl)
attribute.setRotOrder(self.ik_ctl, "XZY")
attribute.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
self.upv_cns = primitive.addTransformFromPos(self.ik_ctl,
self.getName("upv_cns"),
v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
transform.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .12,
tp=self.root_ctl)
if self.settings["mirrorMid"]:
if self.negate:
self.upv_cns.rz.set(180)
self.upv_cns.sy.set(-1)
else:
attribute.setInvertMirror(self.upv_ctl, ["tx"])
attribute.setKeyableAttributes(self.upv_ctl, self.t_params)
# References --------------------------------------
self.ik_ref = primitive.addTransform(
self.ik_ctl, self.getName("ik_ref"),
transform.getTransform(self.ik_ctl))
self.fk_ref = primitive.addTransform(
self.fk_ctl[2], self.getName("fk_ref"),
transform.getTransform(self.ik_ctl))
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = primitive.addLocator(
self.root_ctl, self.getName("0_bone"),
transform.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = primitive.addLocator(
self.root_ctl, self.getName("1_bone"),
transform.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
tA = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1], self.normal,
"xz", self.negate)
tA = transform.setMatrixPosition(tA, self.guide.apos[1])
tB = transform.getTransformLookingAt(self.guide.apos[1],
self.guide.apos[2], self.normal,
"xz", self.negate)
t = transform.getInterpolateTransformMatrix(tA, tB)
self.ctrn_loc = primitive.addTransform(self.root,
self.getName("ctrn_loc"), t)
self.eff_loc = primitive.addTransformFromPos(self.root_ctl,
self.getName("eff_loc"),
self.guide.apos[2])
# tws_ref
t = transform.getRotationFromAxis(datatypes.Vector(0, -1, 0),
self.normal, "xz", self.negate)
t = transform.setMatrixPosition(t, self.guide.pos["ankle"])
self.tws_ref = primitive.addTransform(self.eff_loc,
self.getName("tws_ref"), t)
# Mid Controler ------------------------------------
t = transform.getTransform(self.ctrn_loc)
self.mid_cns = primitive.addTransform(self.ctrn_loc,
self.getName("mid_cns"), t)
self.mid_ctl = self.addCtl(self.mid_cns,
"mid_ctl",
t,
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.root_ctl)
if self.settings["mirrorMid"]:
if self.negate:
self.mid_cns.rz.set(180)
self.mid_cns.sz.set(-1)
else:
attribute.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
attribute.setKeyableAttributes(self.mid_ctl, self.t_params)
# Twist references ---------------------------------
x = datatypes.Vector(0, -1, 0)
x = x * transform.getTransform(self.eff_loc)
z = datatypes.Vector(self.normal.x, self.normal.y, self.normal.z)
z = z * transform.getTransform(self.eff_loc)
m = transform.getRotationFromAxis(x, z, "xz", self.negate)
m = transform.setMatrixPosition(m,
transform.getTranslation(self.ik_ctl))
self.tws0_loc = primitive.addTransform(
self.root_ctl, self.getName("tws0_loc"),
transform.getTransform(self.fk_ctl[0]))
self.tws0_rot = primitive.addTransform(
self.tws0_loc, self.getName("tws0_rot"),
transform.getTransform(self.fk_ctl[0]))
self.tws1_loc = primitive.addTransform(
self.ctrn_loc, self.getName("tws1_loc"),
transform.getTransform(self.ctrn_loc))
self.tws1_rot = primitive.addTransform(
self.tws1_loc, self.getName("tws1_rot"),
transform.getTransform(self.ctrn_loc))
self.tws1A_npo = primitive.addTransform(self.mid_ctl,
self.getName("tws1A_npo"), tA)
self.tws1A_loc = primitive.addTransform(self.tws1A_npo,
self.getName("tws1A_loc"), tA)
self.tws1B_npo = primitive.addTransform(self.mid_ctl,
self.getName("tws1B_npo"), tB)
self.tws1B_loc = primitive.addTransform(self.tws1B_npo,
self.getName("tws1B_loc"), tB)
self.tws2_npo = primitive.addTransform(
self.root, self.getName("tws2_npo"),
transform.getTransform(self.fk_ctl[2]))
self.tws2_loc = primitive.addTransform(
self.tws2_npo, self.getName("tws2_loc"),
transform.getTransform(self.fk_ctl[2]))
self.tws2_rot = primitive.addTransform(
self.tws2_npo, self.getName("tws2_rot"),
transform.getTransform(self.fk_ctl[2]))
# Roll twist chain ---------------------------------
# Arm
self.uplegChainPos = []
ii = 1.0 / (self.settings["div0"] + 1)
i = 0.0
for p in range(self.settings["div0"] + 2):
self.uplegChainPos.append(
vector.linearlyInterpolate(self.guide.pos["root"],
self.guide.pos["knee"],
blend=i))
i = i + ii
self.uplegTwistChain = primitive.add2DChain(
self.root, self.getName("uplegTwist%s_jnt"), self.uplegChainPos,
self.normal, False, self.WIP)
# Forearm
self.lowlegChainPos = []
ii = 1.0 / (self.settings["div1"] + 1)
i = 0.0
for p in range(self.settings["div1"] + 2):
self.lowlegChainPos.append(
vector.linearlyInterpolate(self.guide.pos["knee"],
self.guide.pos["ankle"],
blend=i))
i = i + ii
self.lowlegTwistChain = primitive.add2DChain(
self.root, self.getName("lowlegTwist%s_jnt"), self.lowlegChainPos,
self.normal, False, self.WIP)
pm.parent(self.lowlegTwistChain[0], self.mid_ctl)
# Hand Aux chain and nonroll
self.auxChainPos = []
ii = .5
i = 0.0
for p in range(3):
self.auxChainPos.append(
vector.linearlyInterpolate(self.guide.pos["ankle"],
self.guide.pos["eff"],
blend=i))
i = i + ii
t = self.root.getMatrix(worldSpace=True)
self.aux_npo = primitive.addTransform(self.root,
self.getName("aux_npo"), t)
self.auxTwistChain = primitive.add2DChain(
self.aux_npo, self.getName("auxTwist%s_jnt"),
self.lowlegChainPos[:3], self.normal, False, self.WIP)
# Non Roll join ref ---------------------------------
self.uplegRollRef = primitive.add2DChain(
self.root, self.getName("uplegRollRef%s_jnt"),
self.uplegChainPos[:2], self.normal, False, self.WIP)
self.lowlegRollRef = primitive.add2DChain(
self.aux_npo, self.getName("lowlegRollRef%s_jnt"),
self.lowlegChainPos[:2], self.normal, False, self.WIP)
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the
# elbow. + 2 for knee angle control
self.divisions = self.settings["div0"] + self.settings["div1"] + 4
self.div_cns = []
for i in range(self.divisions):
div_cns = primitive.addTransform(self.root_ctl,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the ankle
self.end_ref = primitive.addTransform(self.eff_loc,
self.getName("end_ref"), m)
for a in "xyz":
self.end_ref.attr("s%s" % a).set(1.0)
if self.negate:
self.end_ref.attr("ry").set(-180.0)
self.jnt_pos.append([self.end_ref, 'end'])
# Tangent controls
t = transform.getInterpolateTransformMatrix(self.fk_ctl[0],
self.tws1A_npo, .5)
self.uplegTangentA_loc = primitive.addTransform(
self.root_ctl, self.getName("uplegTangentA_loc"),
self.fk_ctl[0].getMatrix(worldSpace=True))
self.uplegTangentA_npo = primitive.addTransform(
self.uplegTangentA_loc, self.getName("uplegTangentA_npo"), t)
self.uplegTangentA_ctl = self.addCtl(self.uplegTangentA_npo,
"uplegTangentA_ctl",
t,
self.color_ik,
"circle",
w=self.size * .2,
ro=datatypes.Vector(
0, 0, 1.570796),
tp=self.mid_ctl)
if self.negate:
self.uplegTangentA_npo.rz.set(180)
self.uplegTangentA_npo.sz.set(-1)
attribute.setKeyableAttributes(self.uplegTangentA_ctl, self.t_params)
t = transform.getInterpolateTransformMatrix(self.fk_ctl[0],
self.tws1A_npo, .9)
self.uplegTangentB_npo = primitive.addTransform(
self.tws1A_loc, self.getName("uplegTangentB_npo"), t)
self.uplegTangentB_ctl = self.addCtl(self.uplegTangentB_npo,
"uplegTangentB_ctl",
t,
self.color_ik,
"circle",
w=self.size * .1,
ro=datatypes.Vector(
0, 0, 1.570796),
tp=self.mid_ctl)
if self.negate:
self.uplegTangentB_npo.rz.set(180)
self.uplegTangentB_npo.sz.set(-1)
attribute.setKeyableAttributes(self.uplegTangentB_ctl, self.t_params)
tC = self.tws1B_npo.getMatrix(worldSpace=True)
tC = transform.setMatrixPosition(tC, self.guide.apos[2])
t = transform.getInterpolateTransformMatrix(self.tws1B_npo, tC, .1)
self.lowlegTangentA_npo = primitive.addTransform(
self.tws1B_loc, self.getName("lowlegTangentA_npo"), t)
self.lowlegTangentA_ctl = self.addCtl(self.lowlegTangentA_npo,
"lowlegTangentA_ctl",
t,
self.color_ik,
"circle",
w=self.size * .1,
ro=datatypes.Vector(
0, 0, 1.570796),
tp=self.mid_ctl)
if self.negate:
self.lowlegTangentA_npo.rz.set(180)
self.lowlegTangentA_npo.sz.set(-1)
attribute.setKeyableAttributes(self.lowlegTangentA_ctl, self.t_params)
t = transform.getInterpolateTransformMatrix(self.tws1B_npo, tC, .5)
self.lowlegTangentB_loc = primitive.addTransform(
self.root, self.getName("lowlegTangentB_loc"), tC)
self.lowlegTangentB_npo = primitive.addTransform(
self.lowlegTangentB_loc, self.getName("lowlegTangentB_npo"), t)
self.lowlegTangentB_ctl = self.addCtl(self.lowlegTangentB_npo,
"lowlegTangentB_ctl",
t,
self.color_ik,
"circle",
w=self.size * .2,
ro=datatypes.Vector(
0, 0, 1.570796),
tp=self.mid_ctl)
if self.negate:
self.lowlegTangentB_npo.rz.set(180)
self.lowlegTangentB_npo.sz.set(-1)
attribute.setKeyableAttributes(self.lowlegTangentB_ctl, self.t_params)
t = self.mid_ctl.getMatrix(worldSpace=True)
self.kneeTangent_npo = primitive.addTransform(
self.mid_ctl, self.getName("kneeTangent_npo"), t)
self.kneeTangent_ctl = self.addCtl(self.kneeTangent_npo,
"kneeTangent_ctl",
t,
self.color_fk,
"circle",
w=self.size * .25,
ro=datatypes.Vector(0, 0, 1.570796),
tp=self.mid_ctl)
if self.negate:
self.kneeTangent_npo.rz.set(180)
self.kneeTangent_npo.sz.set(-1)
attribute.setKeyableAttributes(self.kneeTangent_ctl, self.t_params)
# match IK FK references
self.match_fk0_off = primitive.addTransform(
self.root, self.getName("matchFk0_npo"),
transform.getTransform(self.fk_ctl[1]))
self.match_fk0 = primitive.addTransform(
self.match_fk0_off, self.getName("fk0_mth"),
transform.getTransform(self.fk_ctl[0]))
self.match_fk1_off = primitive.addTransform(
self.root, self.getName("matchFk1_npo"),
transform.getTransform(self.fk_ctl[2]))
self.match_fk1 = primitive.addTransform(
self.match_fk1_off, self.getName("fk1_mth"),
transform.getTransform(self.fk_ctl[1]))
self.match_fk2 = primitive.addTransform(
self.ik_ctl, self.getName("fk2_mth"),
transform.getTransform(self.fk_ctl[2]))
self.match_ik = primitive.addTransform(
self.fk2_ctl, self.getName("ik_mth"),
transform.getTransform(self.ik_ctl))
self.match_ikUpv = primitive.addTransform(
self.fk0_ctl, self.getName("upv_mth"),
transform.getTransform(self.upv_ctl))
# add visual reference
self.line_ref = icon.connection_display_curve(
self.getName("visalRef"), [self.upv_ctl, self.mid_ctl])
def addObjects(self):
self.div_count = len(self.guide.apos) - 5
plane = [self.guide.apos[0], self.guide.apos[-4], self.guide.apos[-3]]
self.normal = self.getNormalFromPos(plane)
self.binormal = self.getBiNormalFromPos(plane)
# Heel ---------------------------------------------
# bank pivot
t = tra.getTransformLookingAt(self.guide.pos["heel"], self.guide.apos[-4], self.normal, "xz", self.negate)
t = tra.setMatrixPosition(t, self.guide.pos["inpivot"])
self.in_piv = pri.addTransform(self.root, self.getName("in_piv"), t)
t = tra.setMatrixPosition(t, self.guide.pos["outpivot"])
self.out_piv = pri.addTransform(self.in_piv, self.getName("out_piv"), t)
# heel
t = tra.getTransformLookingAt(self.guide.pos["heel"], self.guide.apos[-4], self.normal, "xz", self.negate)
self.heel_loc = pri.addTransform(self.out_piv, self.getName("heel_loc"), t)
att.setRotOrder(self.heel_loc, "YZX")
self.heel_ctl = self.addCtl(self.heel_loc, "heel_ctl", t, self.color_ik, "sphere", w=self.size*.1)
att.setKeyableAttributes(self.heel_ctl, self.r_params)
# Tip ----------------------------------------------
v = dt.Vector(self.guide.apos[-5].x,self.guide.apos[-1].y,self.guide.apos[-5].z)
t = tra.setMatrixPosition(t, v)
self.tip_ctl = self.addCtl(self.heel_ctl, "tip_ctl", t, self.color_ik, "circle", w=self.size)
att.setKeyableAttributes(self.tip_ctl, self.r_params)
# Roll ---------------------------------------------
if self.settings["roll"] == 0:
t = tra.getRotationFromAxis(self.y_axis, self.normal, "yz", self.negate)
t = tra.setMatrixPosition(t, self.guide.pos["root"])
self.roll_np = pri.addTransform(self.root, self.getName("roll_np"), t)
self.roll_ctl = self.addCtl(self.roll_np, "roll_ctl", t, self.color_ik, "cylinder", w=self.size*.5, h=self.size*.5, ro=dt.Vector(3.1415*.5,0,0))
att.setKeyableAttributes(self.roll_ctl, ["rx", "rz"])
# Backward Controlers ------------------------------
bk_pos = self.guide.apos[1:-3]
bk_pos.reverse()
parent = self.tip_ctl
self.bk_ctl = []
self.bk_loc = []
for i, pos in enumerate(bk_pos):
if i == 0:
t = tra.getTransform(self.heel_ctl)
t = tra.setMatrixPosition(t, pos)
else:
dir = bk_pos[i-1]
t = tra.getTransformLookingAt(pos, dir, self.normal, "xz", self.negate)
bk_loc = pri.addTransform(parent, self.getName("bk%s_loc"%i), t)
bk_ctl = self.addCtl(bk_loc, "bk%s_ctl"%i, t, self.color_ik, "sphere", w=self.size*.15)
att.setKeyableAttributes(bk_ctl, self.r_params)
self.bk_loc.append(bk_loc)
self.bk_ctl.append(bk_ctl)
parent = bk_ctl
# FK Reference ------------------------------------
self.fk_ref = pri.addTransformFromPos(self.bk_ctl[-1], self.getName("fk_ref"), self.guide.apos[0])
self.fk_npo = pri.addTransform(self.fk_ref, self.getName("fk0_npo"), tra.getTransform(self.bk_ctl[-1]))
# Forward Controlers ------------------------------
self.fk_ctl = []
self.fk_loc = []
parent = self.fk_npo
for i, bk_ctl in enumerate(reversed(self.bk_ctl[1:])):
t = tra.getTransform(bk_ctl)
dist = vec.getDistance(self.guide.apos[i+1], self.guide.apos[i+2])
# fk_npo = pri.addTransform(parent, self.getName("fk%s_npo"%i), t)
fk_loc = pri.addTransform(parent, self.getName("fk%s_loc"%i), t)
fk_ctl = self.addCtl(fk_loc, "fk%s_ctl"%i, t, self.color_fk, "cube", w=dist, h=self.size*.5, d=self.size*.5, po=dt.Vector(dist*.5*self.n_factor,0,0))
att.setKeyableAttributes(fk_ctl)
self.addShadow(fk_ctl, i)
parent = fk_ctl
self.fk_ctl.append(fk_ctl)
self.fk_loc.append(fk_loc)
def addObjects(self):
"""Add all the objects needed to create the component."""
self.div_count = len(self.guide.apos) - 5
plane = [self.guide.apos[0], self.guide.apos[-4], self.guide.apos[-3]]
self.normal = self.getNormalFromPos(plane)
self.binormal = self.getBiNormalFromPos(plane)
# Heel ---------------------------------------------
# bank pivot
t = transform.getTransformLookingAt(self.guide.pos["heel"],
self.guide.apos[-4],
self.normal,
"xz",
self.negate)
t = transform.setMatrixPosition(t, self.guide.pos["inpivot"])
self.in_npo = primitive.addTransform(
self.root, self.getName("in_npo"), t)
self.in_piv = primitive.addTransform(
self.in_npo, self.getName("in_piv"), t)
t = transform.setMatrixPosition(t, self.guide.pos["outpivot"])
self.out_piv = primitive.addTransform(
self.in_piv, self.getName("out_piv"), t)
# heel
t = transform.getTransformLookingAt(self.guide.pos["heel"],
self.guide.apos[-4],
self.normal,
"xz",
self.negate)
self.heel_loc = primitive.addTransform(
self.out_piv, self.getName("heel_loc"), t)
attribute.setRotOrder(self.heel_loc, "YZX")
self.heel_ctl = self.addCtl(self.heel_loc,
"heel_ctl",
t,
self.color_ik,
"sphere",
w=self.size * .1,
tp=self.parentCtlTag)
attribute.setKeyableAttributes(self.heel_ctl, self.r_params)
# Tip ----------------------------------------------
v = datatypes.Vector(self.guide.apos[-5].x,
self.guide.apos[-1].y,
self.guide.apos[-5].z)
t = transform.setMatrixPosition(t, v)
self.tip_ctl = self.addCtl(self.heel_ctl,
"tip_ctl",
t,
self.color_ik,
"circle",
w=self.size,
tp=self.heel_ctl)
attribute.setKeyableAttributes(self.tip_ctl, self.r_params)
# Roll ---------------------------------------------
if self.settings["useRollCtl"]:
t = transform.getTransformLookingAt(self.guide.pos["heel"],
self.guide.apos[-4],
self.normal,
"xz",
self.negate)
t = transform.setMatrixPosition(t, self.guide.pos["root"])
self.roll_np = primitive.addTransform(
self.root, self.getName("roll_npo"), t)
self.roll_ctl = self.addCtl(self.roll_np,
"roll_ctl",
t,
self.color_ik,
"cylinder",
w=self.size * .5,
h=self.size * .5,
ro=datatypes.Vector(3.1415 * .5, 0, 0),
tp=self.tip_ctl)
attribute.setKeyableAttributes(self.roll_ctl, ["rx", "rz"])
# Backward Controlers ------------------------------
bk_pos = self.guide.apos[1:-3]
bk_pos.reverse()
parent = self.tip_ctl
self.bk_ctl = []
self.bk_loc = []
self.previousTag = self.tip_ctl
for i, pos in enumerate(bk_pos):
if i == 0:
t = transform.getTransform(self.heel_ctl)
t = transform.setMatrixPosition(t, pos)
else:
dir = bk_pos[i - 1]
t = transform.getTransformLookingAt(
pos, dir, self.normal, "xz", self.negate)
bk_loc = primitive.addTransform(
parent, self.getName("bk%s_loc" % i), t)
bk_ctl = self.addCtl(bk_loc,
"bk%s_ctl" % i,
t,
self.color_ik,
"sphere",
w=self.size * .15,
tp=self.previousTag)
attribute.setKeyableAttributes(bk_ctl, self.r_params)
self.previousTag = bk_ctl
self.bk_loc.append(bk_loc)
self.bk_ctl.append(bk_ctl)
parent = bk_ctl
# FK Reference ------------------------------------
self.fk_ref = primitive.addTransformFromPos(self.bk_ctl[-1],
self.getName("fk_ref"),
self.guide.apos[0])
self.fk_npo = primitive.addTransform(
self.fk_ref,
self.getName("fk0_npo"),
transform.getTransform(self.bk_ctl[-1]))
# Forward Controlers ------------------------------
self.fk_ctl = []
self.fk_loc = []
parent = self.fk_npo
self.previousTag = self.tip_ctl
for i, bk_ctl in enumerate(reversed(self.bk_ctl[1:])):
t = transform.getTransform(bk_ctl)
dist = vector.getDistance(self.guide.apos[i + 1],
self.guide.apos[i + 2])
fk_loc = primitive.addTransform(
parent, self.getName("fk%s_loc" % i), t)
po_vec = datatypes.Vector(dist * .5 * self.n_factor, 0, 0)
fk_ctl = self.addCtl(fk_loc,
"fk%s_ctl" % i,
t,
self.color_fk,
"cube",
w=dist,
h=self.size * .5,
d=self.size * .5,
po=po_vec,
tp=self.previousTag)
self.previousTag = fk_ctl
attribute.setKeyableAttributes(fk_ctl)
self.jnt_pos.append([fk_ctl, i])
parent = fk_ctl
self.fk_ctl.append(fk_ctl)
self.fk_loc.append(fk_loc)
def eyeRig(eyeMesh,
edgeLoop,
blinkH,
namePrefix,
offset,
rigidLoops,
falloffLoops,
headJnt,
doSkin,
parent=None,
ctlName="ctl",
sideRange=False,
customCorner=False,
intCorner=None,
extCorner=None,
ctlGrp=None,
defGrp=None):
"""Create eyelid and eye rig
Args:
eyeMesh (TYPE): Description
edgeLoop (TYPE): Description
blinkH (TYPE): Description
namePrefix (TYPE): Description
offset (TYPE): Description
rigidLoops (TYPE): Description
falloffLoops (TYPE): Description
headJnt (TYPE): Description
doSkin (TYPE): Description
parent (None, optional): Description
ctlName (str, optional): Description
sideRange (bool, optional): Description
customCorner (bool, optional): Description
intCorner (None, optional): Description
extCorner (None, optional): Description
ctlGrp (None, optional): Description
defGrp (None, optional): Description
Returns:
TYPE: Description
"""
# Checkers
if edgeLoop:
edgeLoopList = [pm.PyNode(e) for e in edgeLoop.split(",")]
else:
pm.displayWarning("Please set the edge loop first")
return
if eyeMesh:
try:
eyeMesh = pm.PyNode(eyeMesh)
except pm.MayaNodeError:
pm.displayWarning("The object %s can not be found in the "
"scene" % (eyeMesh))
return
else:
pm.displayWarning("Please set the eye mesh first")
if doSkin:
if not headJnt:
pm.displayWarning("Please set the Head Jnt or unCheck "
"Compute Topological Autoskin")
return
# Initial Data
bboxCenter = meshNavigation.bboxCenter(eyeMesh)
extr_v = meshNavigation.getExtremeVertexFromLoop(edgeLoopList, sideRange)
upPos = extr_v[0]
lowPos = extr_v[1]
inPos = extr_v[2]
outPos = extr_v[3]
edgeList = extr_v[4]
vertexList = extr_v[5]
# Detect the side L or R from the x value
if inPos.getPosition(space='world')[0] < 0.0:
side = "R"
inPos = extr_v[3]
outPos = extr_v[2]
normalPos = outPos
npw = normalPos.getPosition(space='world')
normalVec = npw - bboxCenter
else:
side = "L"
normalPos = outPos
npw = normalPos.getPosition(space='world')
normalVec = bboxCenter - npw
# Manual Vertex corners
if customCorner:
if intCorner:
try:
if side == "R":
inPos = pm.PyNode(extCorner)
else:
inPos = pm.PyNode(intCorner)
except pm.MayaNodeError:
pm.displayWarning("%s can not be found" % intCorner)
return
else:
pm.displayWarning("Please set the internal eyelid corner")
return
if extCorner:
try:
normalPos = pm.PyNode(extCorner)
npw = normalPos.getPosition(space='world')
if side == "R":
outPos = pm.PyNode(intCorner)
normalVec = npw - bboxCenter
else:
outPos = pm.PyNode(extCorner)
normalVec = bboxCenter - npw
except pm.MayaNodeError:
pm.displayWarning("%s can not be found" % extCorner)
return
else:
pm.displayWarning("Please set the external eyelid corner")
return
# Check if we have prefix:
if namePrefix:
namePrefix = string.removeInvalidCharacter(namePrefix)
else:
pm.displayWarning("Prefix is needed")
return
def setName(name, ind=None):
namesList = [namePrefix, side, name]
if ind is not None:
namesList[1] = side + str(ind)
name = "_".join(namesList)
return name
if pm.ls(setName("root")):
pm.displayWarning("The object %s already exist in the scene. Please "
"choose another name prefix" % setName("root"))
return
# Eye root
eye_root = primitive.addTransform(None, setName("root"))
eyeCrv_root = primitive.addTransform(eye_root, setName("crvs"))
# Eyelid Main crvs
try:
upEyelid = meshNavigation.edgeRangeInLoopFromMid(
edgeList, upPos, inPos, outPos)
upCrv = curve.createCurveFromOrderedEdges(
upEyelid, inPos, setName("upperEyelid"), parent=eyeCrv_root)
upCrv_ctl = curve.createCurveFromOrderedEdges(
upEyelid, inPos, setName("upCrv_%s" % ctlName), parent=eyeCrv_root)
pm.rebuildCurve(upCrv_ctl, s=2, rt=0, rpo=True, ch=False)
lowEyelid = meshNavigation.edgeRangeInLoopFromMid(
edgeList, lowPos, inPos, outPos)
lowCrv = curve.createCurveFromOrderedEdges(
lowEyelid, inPos, setName("lowerEyelid"), parent=eyeCrv_root)
lowCrv_ctl = curve.createCurveFromOrderedEdges(
lowEyelid,
inPos,
setName("lowCrv_%s" % ctlName),
parent=eyeCrv_root)
pm.rebuildCurve(lowCrv_ctl, s=2, rt=0, rpo=True, ch=False)
except UnboundLocalError:
if customCorner:
pm.displayWarning("This error is maybe caused because the custom "
"Corner vertex is not part of the edge loop")
pm.displayError(traceback.format_exc())
return
upBlink = curve.createCurveFromCurve(
upCrv, setName("upblink_crv"), nbPoints=30, parent=eyeCrv_root)
lowBlink = curve.createCurveFromCurve(
lowCrv, setName("lowBlink_crv"), nbPoints=30, parent=eyeCrv_root)
upTarget = curve.createCurveFromCurve(
upCrv, setName("upblink_target"), nbPoints=30, parent=eyeCrv_root)
lowTarget = curve.createCurveFromCurve(
lowCrv, setName("lowBlink_target"), nbPoints=30, parent=eyeCrv_root)
midTarget = curve.createCurveFromCurve(
lowCrv, setName("midBlink_target"), nbPoints=30, parent=eyeCrv_root)
rigCrvs = [upCrv,
lowCrv,
upCrv_ctl,
lowCrv_ctl,
upBlink,
lowBlink,
upTarget,
lowTarget,
midTarget]
for crv in rigCrvs:
crv.attr("visibility").set(False)
# localBBOX
localBBox = eyeMesh.getBoundingBox(invisible=True, space='world')
wRadius = abs((localBBox[0][0] - localBBox[1][0]))
dRadius = abs((localBBox[0][1] - localBBox[1][1]) / 1.7)
# Groups
if not ctlGrp:
ctlGrp = "rig_controllers_grp"
try:
ctlSet = pm.PyNode(ctlGrp)
except pm.MayaNodeError:
pm.sets(n=ctlGrp, em=True)
ctlSet = pm.PyNode(ctlGrp)
if not defGrp:
defGrp = "rig_deformers_grp"
try:
defset = pm.PyNode(defGrp)
except pm.MayaNodeError:
pm.sets(n=defGrp, em=True)
defset = pm.PyNode(defGrp)
# Calculate center looking at
averagePosition = ((upPos.getPosition(space='world')
+ lowPos.getPosition(space='world')
+ inPos.getPosition(space='world')
+ outPos.getPosition(space='world'))
/ 4)
if side == "R":
negate = False
offset = offset
over_offset = dRadius
else:
negate = False
over_offset = dRadius
if side == "R" and sideRange or side == "R" and customCorner:
axis = "z-x"
# axis = "zx"
else:
axis = "z-x"
t = transform.getTransformLookingAt(
bboxCenter,
averagePosition,
normalVec,
axis=axis,
negate=negate)
over_npo = primitive.addTransform(
eye_root, setName("center_lookatRoot"), t)
over_ctl = icon.create(over_npo,
setName("over_%s" % ctlName),
t,
icon="square",
w=wRadius,
d=dRadius,
ro=datatypes.Vector(1.57079633, 0, 0),
po=datatypes.Vector(0, 0, over_offset),
color=4)
node.add_controller_tag(over_ctl)
attribute.add_mirror_config_channels(over_ctl)
attribute.setKeyableAttributes(
over_ctl,
params=["tx", "ty", "tz", "ro", "rx", "ry", "rz", "sx", "sy", "sz"])
if side == "R":
over_npo.attr("rx").set(over_npo.attr("rx").get() * -1)
over_npo.attr("ry").set(over_npo.attr("ry").get() + 180)
over_npo.attr("sz").set(-1)
if len(ctlName.split("_")) == 2 and ctlName.split("_")[-1] == "ghost":
pass
else:
pm.sets(ctlSet, add=over_ctl)
center_lookat = primitive.addTransform(
over_ctl, setName("center_lookat"), t)
# Tracking
# Eye aim control
t_arrow = transform.getTransformLookingAt(bboxCenter,
averagePosition,
upPos.getPosition(space='world'),
axis="zy", negate=False)
radius = abs((localBBox[0][0] - localBBox[1][0]) / 1.7)
arrow_npo = primitive.addTransform(eye_root, setName("aim_npo"), t_arrow)
arrow_ctl = icon.create(arrow_npo,
setName("aim_%s" % ctlName),
t_arrow,
icon="arrow",
w=1,
po=datatypes.Vector(0, 0, radius),
color=4)
if len(ctlName.split("_")) == 2 and ctlName.split("_")[-1] == "ghost":
pass
else:
pm.sets(ctlSet, add=arrow_ctl)
attribute.setKeyableAttributes(arrow_ctl, params=["rx", "ry", "rz"])
# tracking custom trigger
if side == "R":
tt = t_arrow
else:
tt = t
aimTrigger_root = primitive.addTransform(
center_lookat, setName("aimTrigger_root"), tt)
aimTrigger_lvl = primitive.addTransform(
aimTrigger_root, setName("aimTrigger_lvl"), tt)
aimTrigger_lvl.attr("tz").set(1.0)
aimTrigger_ref = primitive.addTransform(
aimTrigger_lvl, setName("aimTrigger_ref"), tt)
aimTrigger_ref.attr("tz").set(0.0)
# connect trigger with arrow_ctl
pm.parentConstraint(arrow_ctl, aimTrigger_ref, mo=True)
# Controls lists
upControls = []
trackLvl = []
# upper eyelid controls
upperCtlNames = ["inCorner", "upInMid", "upMid", "upOutMid", "outCorner"]
cvs = upCrv_ctl.getCVs(space="world")
if side == "R" and not sideRange:
# if side == "R":
cvs = [cv for cv in reversed(cvs)]
for i, cv in enumerate(cvs):
if utils.is_odd(i):
color = 14
wd = .5
icon_shape = "circle"
params = ["tx", "ty", "tz"]
else:
color = 4
wd = .7
icon_shape = "square"
params = ["tx",
"ty",
"tz",
"ro",
"rx",
"ry",
"rz",
"sx",
"sy",
"sz"]
t = transform.setMatrixPosition(t, cvs[i])
npo = primitive.addTransform(center_lookat,
setName("%s_npo" % upperCtlNames[i]),
t)
npoBase = npo
if i == 2:
# we add an extra level to input the tracking ofset values
npo = primitive.addTransform(npo,
setName("%s_trk" % upperCtlNames[i]),
t)
trackLvl.append(npo)
ctl = icon.create(npo,
setName("%s_%s" % (upperCtlNames[i], ctlName)),
t,
icon=icon_shape,
w=wd,
d=wd,
ro=datatypes.Vector(1.57079633, 0, 0),
po=datatypes.Vector(0, 0, offset),
color=color)
attribute.add_mirror_config_channels(ctl)
node.add_controller_tag(ctl, over_ctl)
upControls.append(ctl)
if len(ctlName.split("_")) == 2 and ctlName.split("_")[-1] == "ghost":
pass
else:
pm.sets(ctlSet, add=ctl)
attribute.setKeyableAttributes(ctl, params)
if side == "R":
npoBase.attr("ry").set(180)
npoBase.attr("sz").set(-1)
# adding parent average contrains to odd controls
for i, ctl in enumerate(upControls):
if utils.is_odd(i):
pm.parentConstraint(upControls[i - 1],
upControls[i + 1],
ctl.getParent(),
mo=True)
# lower eyelid controls
lowControls = [upControls[0]]
lowerCtlNames = ["inCorner",
"lowInMid",
"lowMid",
"lowOutMid",
"outCorner"]
cvs = lowCrv_ctl.getCVs(space="world")
if side == "R" and not sideRange:
cvs = [cv for cv in reversed(cvs)]
for i, cv in enumerate(cvs):
# we skip the first and last point since is already in the uper eyelid
if i in [0, 4]:
continue
if utils.is_odd(i):
color = 14
wd = .5
icon_shape = "circle"
params = ["tx", "ty", "tz"]
else:
color = 4
wd = .7
icon_shape = "square"
params = ["tx",
"ty",
"tz",
"ro",
"rx",
"ry",
"rz",
"sx",
"sy",
"sz"]
t = transform.setMatrixPosition(t, cvs[i])
npo = primitive.addTransform(center_lookat,
setName("%s_npo" % lowerCtlNames[i]),
t)
npoBase = npo
if i == 2:
# we add an extra level to input the tracking ofset values
npo = primitive.addTransform(npo,
setName("%s_trk" % lowerCtlNames[i]),
t)
trackLvl.append(npo)
ctl = icon.create(npo,
setName("%s_%s" % (lowerCtlNames[i], ctlName)),
t,
icon=icon_shape,
w=wd,
d=wd,
ro=datatypes.Vector(1.57079633, 0, 0),
po=datatypes.Vector(0, 0, offset),
color=color)
attribute.add_mirror_config_channels(ctl)
lowControls.append(ctl)
if len(ctlName.split("_")) == 2 and ctlName.split("_")[-1] == "ghost":
pass
else:
pm.sets(ctlSet, add=ctl)
attribute.setKeyableAttributes(ctl, params)
# mirror behaviout on R side controls
if side == "R":
npoBase.attr("ry").set(180)
npoBase.attr("sz").set(-1)
for lctl in reversed(lowControls[1:]):
node.add_controller_tag(lctl, over_ctl)
lowControls.append(upControls[-1])
# adding parent average contrains to odd controls
for i, ctl in enumerate(lowControls):
if utils.is_odd(i):
pm.parentConstraint(lowControls[i - 1],
lowControls[i + 1],
ctl.getParent(),
mo=True)
# Connecting control crvs with controls
applyop.gear_curvecns_op(upCrv_ctl, upControls)
applyop.gear_curvecns_op(lowCrv_ctl, lowControls)
# adding wires
w1 = pm.wire(upCrv, w=upBlink)[0]
w2 = pm.wire(lowCrv, w=lowBlink)[0]
w3 = pm.wire(upTarget, w=upCrv_ctl)[0]
w4 = pm.wire(lowTarget, w=lowCrv_ctl)[0]
# adding blendshapes
bs_upBlink = pm.blendShape(upTarget,
midTarget,
upBlink,
n="blendShapeUpBlink")
bs_lowBlink = pm.blendShape(lowTarget,
midTarget,
lowBlink,
n="blendShapeLowBlink")
bs_mid = pm.blendShape(lowTarget,
upTarget,
midTarget,
n="blendShapeLowBlink")
# setting blendshape reverse connections
rev_node = pm.createNode("reverse")
pm.connectAttr(bs_upBlink[0].attr(midTarget.name()), rev_node + ".inputX")
pm.connectAttr(rev_node + ".outputX", bs_upBlink[0].attr(upTarget.name()))
rev_node = pm.createNode("reverse")
pm.connectAttr(bs_lowBlink[0].attr(midTarget.name()), rev_node + ".inputX")
pm.connectAttr(rev_node + ".outputX",
bs_lowBlink[0].attr(lowTarget.name()))
rev_node = pm.createNode("reverse")
pm.connectAttr(bs_mid[0].attr(upTarget.name()), rev_node + ".inputX")
pm.connectAttr(rev_node + ".outputX", bs_mid[0].attr(lowTarget.name()))
# setting default values
bs_mid[0].attr(upTarget.name()).set(blinkH)
# joints root
jnt_root = primitive.addTransformFromPos(
eye_root, setName("joints"), pos=bboxCenter)
# head joint
if headJnt:
try:
headJnt = pm.PyNode(headJnt)
jnt_base = headJnt
except pm.MayaNodeError:
pm.displayWarning(
"Aborted can not find %s " % headJnt)
return
else:
# Eye root
jnt_base = jnt_root
eyeTargets_root = primitive.addTransform(eye_root,
setName("targets"))
eyeCenter_jnt = rigbits.addJnt(arrow_ctl,
jnt_base,
grp=defset,
jntName=setName("center_jnt"))
# Upper Eyelid joints ##################################################
cvs = upCrv.getCVs(space="world")
upCrv_info = node.createCurveInfoNode(upCrv)
# aim constrain targets and joints
upperEyelid_aimTargets = []
upperEyelid_jnt = []
upperEyelid_jntRoot = []
for i, cv in enumerate(cvs):
# aim targets
trn = primitive.addTransformFromPos(eyeTargets_root,
setName("upEyelid_aimTarget", i),
pos=cv)
upperEyelid_aimTargets.append(trn)
# connecting positions with crv
pm.connectAttr(upCrv_info + ".controlPoints[%s]" % str(i),
trn.attr("translate"))
# joints
jntRoot = primitive.addJointFromPos(jnt_root,
setName("upEyelid_jnt_base", i),
pos=bboxCenter)
jntRoot.attr("radius").set(.08)
jntRoot.attr("visibility").set(False)
upperEyelid_jntRoot.append(jntRoot)
applyop.aimCns(jntRoot, trn, axis="zy", wupObject=jnt_root)
jnt_ref = primitive.addJointFromPos(jntRoot,
setName("upEyelid_jnt_ref", i),
pos=cv)
jnt_ref.attr("radius").set(.08)
jnt_ref.attr("visibility").set(False)
jnt = rigbits.addJnt(jnt_ref,
jnt_base,
grp=defset,
jntName=setName("upEyelid_jnt", i))
upperEyelid_jnt.append(jnt)
# Lower Eyelid joints ##################################################
cvs = lowCrv.getCVs(space="world")
lowCrv_info = node.createCurveInfoNode(lowCrv)
# aim constrain targets and joints
lowerEyelid_aimTargets = []
lowerEyelid_jnt = []
lowerEyelid_jntRoot = []
for i, cv in enumerate(cvs):
if i in [0, len(cvs) - 1]:
continue
# aim targets
trn = primitive.addTransformFromPos(eyeTargets_root,
setName("lowEyelid_aimTarget", i),
pos=cv)
lowerEyelid_aimTargets.append(trn)
# connecting positions with crv
pm.connectAttr(lowCrv_info + ".controlPoints[%s]" % str(i),
trn.attr("translate"))
# joints
jntRoot = primitive.addJointFromPos(jnt_root,
setName("lowEyelid_base", i),
pos=bboxCenter)
jntRoot.attr("radius").set(.08)
jntRoot.attr("visibility").set(False)
lowerEyelid_jntRoot.append(jntRoot)
applyop.aimCns(jntRoot, trn, axis="zy", wupObject=jnt_root)
jnt_ref = primitive.addJointFromPos(jntRoot,
setName("lowEyelid_jnt_ref", i),
pos=cv)
jnt_ref.attr("radius").set(.08)
jnt_ref.attr("visibility").set(False)
jnt = rigbits.addJnt(jnt_ref,
jnt_base,
grp=defset,
jntName=setName("lowEyelid_jnt", i))
lowerEyelid_jnt.append(jnt)
# Channels
# Adding and connecting attributes for the blink
up_ctl = upControls[2]
blink_att = attribute.addAttribute(
over_ctl, "blink", "float", 0, minValue=0, maxValue=1)
blinkMult_att = attribute.addAttribute(
over_ctl, "blinkMult", "float", 1, minValue=1, maxValue=2)
midBlinkH_att = attribute.addAttribute(
over_ctl, "blinkHeight", "float", blinkH, minValue=0, maxValue=1)
mult_node = node.createMulNode(blink_att, blinkMult_att)
pm.connectAttr(mult_node + ".outputX",
bs_upBlink[0].attr(midTarget.name()))
pm.connectAttr(mult_node + ".outputX",
bs_lowBlink[0].attr(midTarget.name()))
pm.connectAttr(midBlinkH_att, bs_mid[0].attr(upTarget.name()))
low_ctl = lowControls[2]
# Adding channels for eye tracking
upVTracking_att = attribute.addAttribute(up_ctl,
"vTracking",
"float",
.02,
minValue=0,
maxValue=1,
keyable=False,
channelBox=True)
upHTracking_att = attribute.addAttribute(up_ctl,
"hTracking",
"float",
.01,
minValue=0,
maxValue=1,
keyable=False,
channelBox=True)
lowVTracking_att = attribute.addAttribute(low_ctl,
"vTracking",
"float",
.01,
minValue=0,
maxValue=1,
keyable=False,
channelBox=True)
lowHTracking_att = attribute.addAttribute(low_ctl,
"hTracking",
"float",
.01,
minValue=0,
maxValue=1,
keyable=False,
channelBox=True)
mult_node = node.createMulNode(upVTracking_att, aimTrigger_ref.attr("ty"))
pm.connectAttr(mult_node + ".outputX", trackLvl[0].attr("ty"))
mult_node = node.createMulNode(upHTracking_att, aimTrigger_ref.attr("tx"))
pm.connectAttr(mult_node + ".outputX", trackLvl[0].attr("tx"))
mult_node = node.createMulNode(lowVTracking_att, aimTrigger_ref.attr("ty"))
pm.connectAttr(mult_node + ".outputX", trackLvl[1].attr("ty"))
mult_node = node.createMulNode(lowHTracking_att, aimTrigger_ref.attr("tx"))
pm.connectAttr(mult_node + ".outputX", trackLvl[1].attr("tx"))
# Tension on blink
node.createReverseNode(blink_att, w1.scale[0])
node.createReverseNode(blink_att, w3.scale[0])
node.createReverseNode(blink_att, w2.scale[0])
node.createReverseNode(blink_att, w4.scale[0])
###########################################
# Reparenting
###########################################
if parent:
try:
if isinstance(parent, basestring):
parent = pm.PyNode(parent)
parent.addChild(eye_root)
except pm.MayaNodeError:
pm.displayWarning("The eye rig can not be parent to: %s. Maybe "
"this object doesn't exist." % parent)
###########################################
# Auto Skinning
###########################################
if doSkin:
# eyelid vertex rows
totalLoops = rigidLoops + falloffLoops
vertexLoopList = meshNavigation.getConcentricVertexLoop(vertexList,
totalLoops)
vertexRowList = meshNavigation.getVertexRowsFromLoops(vertexLoopList)
# we set the first value 100% for the first initial loop
skinPercList = [1.0]
# we expect to have a regular grid topology
for r in range(rigidLoops):
for rr in range(2):
skinPercList.append(1.0)
increment = 1.0 / float(falloffLoops)
# we invert to smooth out from 100 to 0
inv = 1.0 - increment
for r in range(falloffLoops):
for rr in range(2):
if inv < 0.0:
inv = 0.0
skinPercList.append(inv)
inv -= increment
# this loop add an extra 0.0 indices to avoid errors
for r in range(10):
for rr in range(2):
skinPercList.append(0.0)
# base skin
geo = pm.listRelatives(edgeLoopList[0], parent=True)[0]
# Check if the object has a skinCluster
objName = pm.listRelatives(geo, parent=True)[0]
skinCluster = skin.getSkinCluster(objName)
if not skinCluster:
skinCluster = pm.skinCluster(headJnt,
geo,
tsb=True,
nw=2,
n='skinClsEyelid')
eyelidJoints = upperEyelid_jnt + lowerEyelid_jnt
pm.progressWindow(title='Auto skinning process',
progress=0,
max=len(eyelidJoints))
firstBoundary = False
for jnt in eyelidJoints:
pm.progressWindow(e=True, step=1, status='\nSkinning %s' % jnt)
skinCluster.addInfluence(jnt, weight=0)
v = meshNavigation.getClosestVertexFromTransform(geo, jnt)
for row in vertexRowList:
if v in row:
it = 0 # iterator
inc = 1 # increment
for i, rv in enumerate(row):
try:
perc = skinPercList[it]
t_val = [(jnt, perc), (headJnt, 1.0 - perc)]
pm.skinPercent(skinCluster,
rv,
transformValue=t_val)
if rv.isOnBoundary():
# we need to compare with the first boundary
# to check if the row have inverted direction
# and offset the value
if not firstBoundary:
firstBoundary = True
firstBoundaryValue = it
else:
if it < firstBoundaryValue:
it -= 1
elif it > firstBoundaryValue:
it += 1
inc = 2
except IndexError:
continue
it = it + inc
pm.progressWindow(e=True, endProgress=True)
# Eye Mesh skinning
skinCluster = skin.getSkinCluster(eyeMesh)
if not skinCluster:
skinCluster = pm.skinCluster(eyeCenter_jnt,
eyeMesh,
tsb=True,
nw=1,
n='skinClsEye')
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)
### FK NEUTRAL POSE IS DIFFERENT
self.fk0_npo = pri.addTransform(self.root, self.getName("fk0_npo"), t)
self.fk0_ctl = self.addCtl(self.fk0_npo, "fk0_ctl", t, self.color_fk, "cube", w=self.length0, h=self.size*.1, d=self.size*.1, po=dt.Vector(.5*self.length0*self.n_factor,0,0))
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", w=self.length1, h=self.size*.1, d=self.size*.1, po=dt.Vector(.5*self.length1*self.n_factor,0,0))
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", w=self.length2, h=self.size*.1, d=self.size*.1, po=dt.Vector(.5*self.length2*self.n_factor,0,0))
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl]
# IK Controlers -----------------------------------
self.ik_cns = pri.addTransformFromPos(self.root, self.getName("ik_cns"), self.guide.pos["wrist"])
self.ikcns_ctl = self.addCtl(self.ik_cns, "ikcns_ctl", tra.getTransformFromPos(self.guide.pos["wrist"]), self.color_ik, "null", w=self.size*.12)
### IK CONTROLER POSE IS DIFFERENT
m = tra.getTransformLookingAt(self.guide.pos["wrist"], self.guide.pos["eff"], self.normal, "xz", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl, "ik_ctl", m, self.color_ik, "cube", w=self.size*.12, h=self.size*.12, d=self.size*.12)
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size*.5
v += self.guide.apos[1]
self.upv_cns = pri.addTransformFromPos(self.root, self.getName("upv_cns"), v)
self.upv_ctl = self.addCtl(self.upv_cns, "upv_ctl", tra.getTransform(self.upv_cns), self.color_ik, "diamond", w=self.size*.12)
att.setKeyableAttributes(self.upv_ctl, self.t_params)
# References --------------------------------------
self.ik_ref = pri.addTransform(self.ik_ctl, self.getName("ik_ref"), tra.getTransform(self.ik_ctl))
self.fk_ref = pri.addTransform(self.fk_ctl[2], self.getName("fk_ref"), tra.getTransform(self.ik_ctl))
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = pri.addLocator(self.root, self.getName("0_jnt"), tra.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor*.5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = pri.addLocator(self.root, self.getName("1_jnt"), tra.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor*.5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
self.ctrn_loc = pri.addTransformFromPos(self.root, self.getName("ctrn_loc"), self.guide.apos[1])
self.eff_loc = pri.addTransformFromPos(self.root, self.getName("eff_loc"), self.guide.apos[2])
# Mid Controler ------------------------------------
self.mid_ctl = self.addCtl(self.ctrn_loc, "mid_ctl", tra.getTransform(self.ctrn_loc), self.color_ik, "sphere", w=self.size*.2)
# Twist references ---------------------------------
x = dt.Vector(0,-1,0)
x = x * tra.getTransform(self.eff_loc)
z = dt.Vector(self.normal.x,self.normal.y,self.normal.z)
z = z * tra.getTransform(self.eff_loc)
m = tra.getRotationFromAxis(x, z, "xz", self.negate)
m = tra.setMatrixPosition(m, tra.getTranslation(self.ik_ctl))
self.tws0_loc = pri.addTransform(self.root, self.getName("tws0_loc"), tra.getTransform(self.fk_ctl[0]))
self.tws0_rot = pri.addTransform(self.tws0_loc, self.getName("tws0_rot"), tra.getTransform(self.fk_ctl[0]))
self.tws1_loc = pri.addTransform(self.ctrn_loc, self.getName("tws1_loc"), tra.getTransform(self.ctrn_loc))
self.tws1_rot = pri.addTransform(self.tws1_loc, self.getName("tws1_rot"), tra.getTransform(self.ctrn_loc))
self.tws2_loc = pri.addTransform(self.root, self.getName("tws2_loc"), tra.getTransform(self.fk_ctl[2]))
self.tws2_rot = pri.addTransform(self.tws2_loc, self.getName("tws2_rot"), tra.getTransform(self.fk_ctl[2]))
self.tws2_rot.setAttr("sx", .001)
# 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.addTransform(self.root, self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.addShadow(div_cns, i)
# End reference ------------------------------------
# To help the deformation on the wrist
self.end_ref = pri.addTransform(self.tws2_rot, self.getName("end_ref"), m)
self.addShadow(self.end_ref, "end")
def addObjects(self):
self.normal = self.getNormalFromPos(self.guide.apos)
self.binormal = self.getBiNormalFromPos(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 -----------------------------------
# *ms* set npo @ Tpose, to make the fk rotation work best with rot order"yzx"
self.fk_cns = pri.addTransformFromPos(self.root,
self.getName("fk_cns"),
self.guide.apos[0])
tpv = self.guide.apos[0] + (
(self.guide.apos[1] - self.guide.apos[0]) * [1, 0, 0])
t = tra.getTransformLookingAt(self.guide.apos[0], tpv, self.normal,
"xz", self.negate)
# *ms* add FK isolation
self.fk0_npo = pri.addTransform(self.fk_cns, self.getName("fk0_npo"),
t)
t = tra.getTransformLookingAt(self.guide.apos[0], self.guide.apos[1],
self.normal, "xz", self.negate)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0 * .55,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.35 * self.length0 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk0_ctl)
# *ms* add fk roll control Simage style
self.fk0_roll_ctl = self.addCtl(self.fk0_ctl,
"fk0_roll_ctl",
t,
self.color_fk,
"cube",
w=self.length0 * .45,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.85 * self.length0 * self.n_factor,
0, 0))
att.setKeyableAttributes(self.fk0_roll_ctl)
t = tra.getTransformLookingAt(self.guide.apos[1], self.guide.apos[2],
self.normal, "xz", self.negate)
self.fk1_npo = pri.addTransform(self.fk0_roll_ctl,
self.getName("fk1_npo"), t)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length1 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk1_ctl)
t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3],
self.normal, "xz", self.negate)
# *ms* buffer object to feed into ikfk solver for hand seperation
self.fk2_mtx = pri.addTransform(self.fk1_ctl, self.getName("fk2_mtx"),
t)
# fk2_npo is need to take the effector position
self.fk2_npo = pri.addTransform(self.fk1_ctl, self.getName("fk2_npo"),
t)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length2 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_roll_ctl, self.fk1_ctl, self.fk2_ctl]
for x in self.fk_ctl:
att.setInvertMirror(x, ["tx", "ty", "tz"])
# IK Controlers -----------------------------------
self.ik_cns = pri.addTransformFromPos(self.root,
self.getName("ik_cns"),
self.guide.pos["wrist"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
tra.getTransformFromPos(
self.guide.pos["wrist"]),
self.color_ik,
"null",
w=self.size * .12)
att.setInvertMirror(self.ikcns_ctl, ["tx", "ty", "tz"])
if self.negate:
m = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"], self.normal,
"x-y", True)
else:
m = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"], self.normal,
"xy", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
m,
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12)
att.setKeyableAttributes(self.ik_ctl)
att.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
# *ms* auto up vector ------------------------------
self.upv_cns = pri.addTransformFromPos(self.root,
self.getName("upv_cns"),
self.guide.apos[0])
self.upv_auv = pri.addTransformFromPos(self.upv_cns,
self.getName("upv_auv"),
self.guide.apos[0])
self.upv_mtx = pri.addTransformFromPos(self.upv_cns,
self.getName("upv_mtx"),
self.guide.apos[0])
self.upv_npo = pri.addTransformFromPos(self.upv_mtx,
self.getName("upv_npo"), v)
self.upv_ctl = self.addCtl(self.upv_npo,
"upv_ctl",
tra.getTransform(self.upv_npo),
self.color_ik,
"diamond",
w=self.size * .12)
att.setKeyableAttributes(self.upv_ctl, self.t_params)
att.setInvertMirror(self.upv_ctl, ["tx"])
# References --------------------------------------
# Calculate again the transfor for the IK ref. This way align with FK
trnIK_ref = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal, "xz", self.negate)
self.ik_ref = pri.addTransform(self.ik_ctl, self.getName("ik_ref"),
trnIK_ref)
self.fk_ref = pri.addTransform(self.fk_ctl[2], self.getName("fk_ref"),
trnIK_ref)
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = pri.addLocator(self.root, self.getName("0_bone"),
tra.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = pri.addLocator(self.root, self.getName("1_bone"),
tra.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
self.ctrn_loc = pri.addTransformFromPos(self.root,
self.getName("ctrn_loc"),
self.guide.apos[1])
self.eff_npo = pri.addTransformFromPos(self.root,
self.getName("eff_npo"),
self.guide.apos[2])
self.eff_loc = pri.addTransformFromPos(self.eff_npo,
self.getName("eff_loc"),
self.guide.apos[2])
# Mid Controler ------------------------------------
self.mid_ctl = self.addCtl(self.ctrn_loc,
"mid_ctl",
tra.getTransform(self.ctrn_loc),
self.color_ik,
"sphere",
w=self.size * .2)
att.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
# *ms* add elbow thickness
# # Twist references ---------------------------------
# x = dt.Vector(0,-1,0)
# x = x * tra.getTransform(self.eff_loc)
# z = dt.Vector(self.normal.x,self.normal.y,self.normal.z)
# z = z * tra.getTransform(self.eff_loc)
# m = tra.getRotationFromAxis(x, z, "xz", self.negate)
# m = tra.setMatrixPosition(m, tra.getTranslation(self.ik_ctl))
#Roll join ref
#self.rollRef = pri.add2DChain(self.root, self.getName("rollChain"), self.guide.apos[:2], self.normal, self.negate)
#for x in self.rollRef:
# x.setAttr("visibility", False)
self.tws0_npo = pri.addTransform(self.root, self.getName("tws0_npo"),
tra.getTransform(self.fk_ctl[0]))
self.tws0_loc = pri.addTransform(self.tws0_npo,
self.getName("tws0_loc"),
tra.getTransform(self.fk_ctl[0]))
self.tws0_rot = pri.addTransform(self.tws0_loc,
self.getName("tws0_rot"),
tra.getTransform(self.fk_ctl[0]))
self.tws1_npo = pri.addTransform(self.ctrn_loc,
self.getName("tws1_npo"),
tra.getTransform(self.ctrn_loc))
self.tws1_loc = pri.addTransform(self.tws1_npo,
self.getName("tws1_loc"),
tra.getTransform(self.ctrn_loc))
self.tws1_rot = pri.addTransform(self.tws1_loc,
self.getName("tws1_rot"),
tra.getTransform(self.ctrn_loc))
self.tws2_npo = pri.addTransform(self.root, self.getName("tws2_npo"),
tra.getTransform(self.fk_ctl[2]))
self.tws2_loc = pri.addTransform(self.tws2_npo,
self.getName("tws2_loc"),
tra.getTransform(self.fk_ctl[2]))
self.tws2_rot = pri.addTransform(self.tws2_loc,
self.getName("tws2_rot"),
tra.getTransform(self.fk_ctl[2]))
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the elbow. + 2 for elbow angle control
self.divisions = self.settings["div0"] + self.settings["div1"] + 3 + 2
self.div_cns = []
for i in range(self.divisions):
div_cns = pri.addTransform(self.root,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the wrist
self.jnt_pos.append([self.eff_loc, 'end'])
# self.end_ref = pri.addTransform(self.eff_loc, self.getName("end_ref"), m)
# for a in "xyz":
# self.end_ref.attr("s%s"%a).set(1.0)
# self.end_ref.attr("r%s"%a).set(0.0)
# self.jnt_pos.append([self.end_ref, 'end'])
#match IK FK references
self.match_fk0_off = pri.addTransform(self.root,
self.getName("matchFk0_npo"),
tra.getTransform(self.fk_ctl[1]))
# self.match_fk0_off.attr("tx").set(1.0)
self.match_fk0 = pri.addTransform(self.match_fk0_off,
self.getName("fk0_mth"),
tra.getTransform(self.fk_ctl[0]))
self.match_fk1_off = pri.addTransform(self.root,
self.getName("matchFk1_npo"),
tra.getTransform(self.fk_ctl[2]))
# self.match_fk1_off.attr("tx").set(1.0)
self.match_fk1 = pri.addTransform(self.match_fk1_off,
self.getName("fk1_mth"),
tra.getTransform(self.fk_ctl[1]))
self.match_fk2 = pri.addTransform(self.ik_ctl, self.getName("fk2_mth"),
tra.getTransform(self.fk_ctl[2]))
self.match_ik = pri.addTransform(self.fk2_ctl, self.getName("ik_mth"),
tra.getTransform(self.ik_ctl))
self.match_ikUpv = pri.addTransform(self.fk0_ctl,
self.getName("upv_mth"),
tra.getTransform(self.upv_ctl))
def addObjects(self):
"""Add all the objects needed to create the component."""
self.normal = self.guide.blades["blade"].z * -1
self.binormal = self.guide.blades["blade"].x
self.isFk = self.settings["mode"] != 1
self.isIk = self.settings["mode"] != 0
self.isFkIk = self.settings["mode"] == 2
self.WIP = self.options["mode"]
# FK controllers ------------------------------------
if self.isFk:
self.fk_npo = []
self.fk_ctl = []
self.fk_ref = []
self.fk_off = []
t = self.guide.tra["root"]
self.ik_cns = primitive.addTransform(self.root,
self.getName("ik_cns"), t)
parent = self.ik_cns
tOld = False
fk_ctl = None
self.previusTag = self.parentCtlTag
for i, t in enumerate(
transform.getChainTransform(self.guide.apos, self.normal,
self.negate)):
dist = vector.getDistance(self.guide.apos[i],
self.guide.apos[i + 1])
if self.settings["neutralpose"] or not tOld:
tnpo = t
else:
tnpo = transform.setMatrixPosition(
tOld, transform.getPositionFromMatrix(t))
if i:
tref = transform.setMatrixPosition(
tOld, transform.getPositionFromMatrix(t))
fk_ref = primitive.addTransform(
fk_ctl, self.getName("fk%s_ref" % i), tref)
self.fk_ref.append(fk_ref)
else:
tref = t
fk_off = primitive.addTransform(parent,
self.getName("fk%s_off" % i),
tref)
fk_npo = primitive.addTransform(fk_off,
self.getName("fk%s_npo" % i),
tnpo)
fk_ctl = self.addCtl(fk_npo,
"fk%s_ctl" % i,
t,
self.color_fk,
"cube",
w=dist,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
dist * .5 * self.n_factor, 0, 0),
tp=self.previusTag)
self.fk_off.append(fk_off)
self.fk_npo.append(fk_npo)
self.fk_ctl.append(fk_ctl)
tOld = t
self.previusTag = fk_ctl
# IK controllers ------------------------------------
if self.isIk:
normal = vector.getTransposedVector(
self.normal, [self.guide.apos[0], self.guide.apos[1]],
[self.guide.apos[-2], self.guide.apos[-1]])
t = transform.getTransformLookingAt(self.guide.apos[-2],
self.guide.apos[-1], normal,
"xy", self.negate)
t = transform.setMatrixPosition(t, self.guide.apos[-1])
self.ik_cns = primitive.addTransform(self.root,
self.getName("ik_cns"), t)
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
t,
self.color_ik,
"null",
w=self.size,
tp=self.parentCtlTag)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
t,
self.color_ik,
"cube",
w=self.size * .3,
h=self.size * .3,
d=self.size * .3,
tp=self.ikcns_ctl)
attribute.setKeyableAttributes(self.ik_ctl, self.t_params)
v = self.guide.apos[-1] - self.guide.apos[0]
v = v ^ self.normal
v.normalize()
v *= self.size
v += self.guide.apos[1]
self.upv_cns = primitive.addTransformFromPos(
self.root, self.getName("upv_cns"), v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
transform.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .1,
tp=self.parentCtlTag)
attribute.setKeyableAttributes(self.upv_ctl, self.t_params)
# Chain
self.chain = primitive.add2DChain(self.root, self.getName("chain"),
self.guide.apos, self.normal,
self.negate)
self.chain[0].attr("visibility").set(self.WIP)
# Chain of deformers -------------------------------
self.loc = []
parent = self.root
for i, t in enumerate(
transform.getChainTransform(self.guide.apos, self.normal,
self.negate)):
loc = primitive.addTransform(parent, self.getName("%s_loc" % i), t)
self.loc.append(loc)
self.jnt_pos.append([loc, i, None, False])
def addObjects(self):
"""Add all the objects needed to create the component."""
self.setup = primitive.addTransformFromPos(self.setupWS,
self.getName("WS"))
attribute.lockAttribute(self.setup)
self.WIP = self.options["mode"]
self.normal = self.getNormalFromPos(self.guide.apos)
self.length0 = vector.getDistance(self.guide.apos[0],
self.guide.apos[1])
self.length1 = vector.getDistance(self.guide.apos[1],
self.guide.apos[2])
self.length2 = vector.getDistance(self.guide.apos[2],
self.guide.apos[3])
self.length3 = vector.getDistance(self.guide.apos[3],
self.guide.apos[4])
# 3bones chain
self.chain3bones = primitive.add2DChain(
self.setup, self.getName("chain3bones%s_jnt"),
self.guide.apos[0:4], self.normal, False, self.WIP)
# 2bones chain
self.chain2bones = primitive.add2DChain(
self.setup, self.getName("chain2bones%s_jnt"),
self.guide.apos[0:3], self.normal, False, self.WIP)
# Leg chain
self.legBones = primitive.add2DChain(self.root,
self.getName("legBones%s_jnt"),
self.guide.apos[0:4], self.normal,
False, self.WIP)
# Leg chain FK ref
self.legBonesFK = primitive.add2DChain(self.root,
self.getName("legFK%s_jnt"),
self.guide.apos[0:4],
self.normal, False, self.WIP)
# Leg chain IK ref
self.legBonesIK = primitive.add2DChain(self.root,
self.getName("legIK%s_jnt"),
self.guide.apos[0:4],
self.normal, False, self.WIP)
# 1 bone chain for upv ref
self.legChainUpvRef = primitive.add2DChain(
self.root, self.getName("legUpvRef%s_jnt"),
[self.guide.apos[0], self.guide.apos[3]], self.normal, False,
self.WIP)
# mid joints
self.mid1_jnt = primitive.addJoint(
self.legBones[0], self.getName("mid1_jnt"),
self.legBones[1].getMatrix(worldSpace=True), self.WIP)
self.mid1_jnt.attr("radius").set(3)
self.mid1_jnt.setAttr("jointOrient", 0, 0, 0)
self.mid2_jnt = primitive.addJoint(
self.legBones[1], self.getName("mid2_jnt"),
self.legBones[2].getMatrix(worldSpace=True), self.WIP)
self.mid2_jnt.attr("radius").set(3)
self.mid2_jnt.setAttr("jointOrient", 0, 0, 0)
# base Controlers -----------------------------------
t = transform.getTransformFromPos(self.guide.apos[0])
self.root_npo = primitive.addTransform(self.root,
self.getName("root_npo"), t)
self.root_ctl = self.addCtl(self.root_npo,
"root_ctl",
t,
self.color_fk,
"circle",
w=self.length0 / 6,
tp=self.parentCtlTag)
attribute.lockAttribute(self.root_ctl, ["sx", "sy", "sz", "v"])
# FK Controlers -----------------------------------
t = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1], self.normal,
"xz", self.negate)
self.fk0_npo = primitive.addTransform(self.root_ctl,
self.getName("fk0_npo"), t)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length0 * self.n_factor, 0,
0),
tp=self.root_ctl)
attribute.setKeyableAttributes(self.fk0_ctl)
t = transform.getTransformLookingAt(self.guide.apos[1],
self.guide.apos[2], self.normal,
"xz", self.negate)
self.fk1_npo = primitive.addTransform(self.fk0_ctl,
self.getName("fk1_npo"), t)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length1 * self.n_factor, 0,
0),
tp=self.fk0_ctl)
attribute.setKeyableAttributes(self.fk1_ctl)
t = transform.getTransformLookingAt(self.guide.apos[2],
self.guide.apos[3], self.normal,
"xz", self.negate)
self.fk2_npo = primitive.addTransform(self.fk1_ctl,
self.getName("fk2_npo"), t)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length2 * self.n_factor, 0,
0),
tp=self.fk1_ctl)
attribute.setKeyableAttributes(self.fk2_ctl)
t = transform.getTransformLookingAt(self.guide.apos[3],
self.guide.apos[4], self.normal,
"xz", self.negate)
self.fk3_npo = primitive.addTransform(self.fk2_ctl,
self.getName("fk3_npo"), t)
self.fk3_ctl = self.addCtl(self.fk3_npo,
"fk3_ctl",
t,
self.color_fk,
"cube",
w=self.length3,
h=self.size * .1,
d=self.size * .1,
po=datatypes.Vector(
.5 * self.length3 * self.n_factor, 0,
0),
tp=self.fk2_ctl)
attribute.setKeyableAttributes(self.fk3_ctl)
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl, self.fk3_ctl]
for x in self.fk_ctl:
attribute.setInvertMirror(x, ["tx", "ty", "tz"])
# Mid Controlers ------------------------------------
self.knee_lvl = primitive.addTransform(
self.root, self.getName("knee_lvl"),
transform.getTransform(self.mid1_jnt))
self.knee_ctl = self.addCtl(self.knee_lvl,
"knee_ctl",
transform.getTransform(self.mid1_jnt),
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.root_ctl)
attribute.setInvertMirror(self.knee_ctl, ["tx", "ty", "tz"])
attribute.lockAttribute(self.knee_ctl, ["sx", "sy", "sz", "v"])
self.ankle_lvl = primitive.addTransform(
self.root, self.getName("ankle_lvl"),
transform.getTransform(self.mid2_jnt))
self.ankle_ctl = self.addCtl(self.ankle_lvl,
"ankle_ctl",
transform.getTransform(self.mid2_jnt),
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.knee_ctl)
attribute.setInvertMirror(self.ankle_ctl, ["tx", "ty", "tz"])
attribute.lockAttribute(self.ankle_ctl, ["sx", "sy", "sz", "v"])
# IK controls --------------------------------------------------------
# foot IK
if self.settings["ikOri"]:
t = transform.getTransformLookingAt(self.guide.pos["foot"],
self.guide.pos["eff"],
self.x_axis, "zx", False)
else:
t = transform.getTransformLookingAt(self.guide.apos[3],
self.guide.apos[4],
self.normal, "z-x", False)
self.ik_cns = primitive.addTransform(self.root_ctl,
self.getName("ik_cns"), t)
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
t,
self.color_ik,
"null",
w=self.size * .12,
tp=self.ankle_ctl)
attribute.setInvertMirror(self.ikcns_ctl, ["tx"])
attribute.lockAttribute(self.ikcns_ctl, ["sx", "sy", "sz", "v"])
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
t,
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12,
tp=self.ikcns_ctl)
attribute.setKeyableAttributes(self.ik_ctl)
attribute.setRotOrder(self.ik_ctl, "XZY")
attribute.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
attribute.lockAttribute(self.ik_ctl, ["sx", "sy", "sz", "v"])
# 2 bones ik layer
self.ik2b_ikCtl_ref = primitive.addTransform(
self.ik_ctl, self.getName("ik2B_A_ref"), t)
self.ik2b_bone_ref = primitive.addTransform(self.chain3bones[3],
self.getName("ik2B_B_ref"),
t)
self.ik2b_blend = primitive.addTransform(self.ik_ctl,
self.getName("ik2B_blend"), t)
self.roll_ctl = self.addCtl(self.ik2b_blend,
"roll_ctl",
t,
self.color_ik,
"crossarrow",
w=self.length2 * .5 * self.n_factor,
tp=self.ik_ctl)
self.ik2b_ik_npo = primitive.addTransform(
self.roll_ctl, self.getName("ik2B_ik_npo"),
transform.getTransform(self.chain3bones[-1]))
self.ik2b_ik_ref = primitive.addTransformFromPos(
self.ik2b_ik_npo, self.getName("ik2B_ik_ref"),
self.guide.pos["ankle"])
attribute.lockAttribute(self.roll_ctl,
["tx", "ty", "tz", "sx", "sy", "sz", "v"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
self.upv_lvl = primitive.addTransformFromPos(self.root,
self.getName("upv_lvl"),
v)
self.upv_cns = primitive.addTransformFromPos(self.upv_lvl,
self.getName("upv_cns"),
v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
transform.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .12,
tp=self.ik_ctl)
attribute.setInvertMirror(self.upv_ctl, ["tx"])
attribute.setKeyableAttributes(self.upv_ctl, ["tx", "ty", "tz"])
# Soft IK objects 3 bones chain --------------------------------
t = transform.getTransformLookingAt(self.guide.pos["root"],
self.guide.pos["foot"],
self.x_axis, "zx", False)
self.aim_tra = primitive.addTransform(self.root_ctl,
self.getName("aimSoftIK"), t)
t = transform.getTransformFromPos(self.guide.pos["foot"])
self.wristSoftIK = primitive.addTransform(self.aim_tra,
self.getName("wristSoftIK"),
t)
self.softblendLoc = primitive.addTransform(
self.root, self.getName("softblendLoc"), t)
# Soft IK objects 2 Bones chain ----------------------------
t = transform.getTransformLookingAt(self.guide.pos["root"],
self.guide.pos["ankle"],
self.x_axis, "zx", False)
self.aim_tra2 = primitive.addTransform(self.root_ctl,
self.getName("aimSoftIK2"), t)
t = transform.getTransformFromPos(self.guide.pos["ankle"])
self.ankleSoftIK = primitive.addTransform(self.aim_tra2,
self.getName("ankleSoftIK"),
t)
self.softblendLoc2 = primitive.addTransform(
self.root, self.getName("softblendLoc2"), t)
# References --------------------------------------
self.ik_ref = primitive.addTransform(
self.ik_ctl, self.getName("ik_ref"),
transform.getTransform(self.ik_ctl))
self.fk_ref = primitive.addTransform(
self.fk_ctl[3], self.getName("fk_ref"),
transform.getTransform(self.ik_ctl))
# twist references --------------------------------------
self.rollRef = primitive.add2DChain(self.root,
self.getName("rollChain"),
self.guide.apos[:2], self.normal,
False, self.WIP)
self.tws0_loc = primitive.addTransform(
self.rollRef[0], self.getName("tws0_loc"),
transform.getTransform(self.legBones[0]))
self.tws0_rot = primitive.addTransform(
self.tws0_loc, self.getName("tws0_rot"),
transform.getTransform(self.legBones[0]))
self.tws0_rot.setAttr("sx", .001)
self.tws1_loc = primitive.addTransform(
self.mid1_jnt, self.getName("tws1_loc"),
transform.getTransform(self.mid1_jnt))
self.tws1_rot = primitive.addTransform(
self.tws1_loc, self.getName("tws1_rot"),
transform.getTransform(self.mid1_jnt))
self.tws1_rot.setAttr("sx", .001)
self.tws2_loc = primitive.addTransform(
self.mid2_jnt, self.getName("tws2_loc"),
transform.getTransform(self.mid2_jnt))
self.tws2_rot = primitive.addTransform(
self.tws2_loc, self.getName("tws2_rot"),
transform.getTransform(self.mid2_jnt))
self.tws2_rot.setAttr("sx", .001)
self.tws3_loc = primitive.addTransform(
self.legBones[3], self.getName("tws3_loc"),
transform.getTransform(self.legBones[3]))
self.tws3_rot = primitive.addTransform(
self.tws3_loc, self.getName("tws3_rot"),
transform.getTransform(self.legBones[3]))
self.tws3_rot.setAttr("sx", .001)
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for
# the knee and one ankle
o_set = self.settings
self.divisions = o_set["div0"] + o_set["div1"] + o_set["div2"] + 4
self.div_cns = []
for i in range(self.divisions):
div_cns = primitive.addTransform(self.root_ctl,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the foot
self.end_ref = primitive.addTransform(
self.tws3_rot, self.getName("end_ref"),
transform.getTransform(self.legBones[3]))
self.jnt_pos.append([self.end_ref, 'end'])
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)
### FK NEUTRAL POSE IS DIFFERENT
self.fk0_npo = pri.addTransform(self.root, self.getName("fk0_npo"), t)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length0 * self.n_factor, 0,
0))
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",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length1 * self.n_factor, 0,
0))
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",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length2 * self.n_factor, 0,
0))
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl]
# IK Controlers -----------------------------------
self.ik_cns = pri.addTransformFromPos(self.root,
self.getName("ik_cns"),
self.guide.pos["wrist"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
tra.getTransformFromPos(
self.guide.pos["wrist"]),
self.color_ik,
"null",
w=self.size * .12)
### IK CONTROLER POSE IS DIFFERENT
m = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"], self.normal, "xz",
False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
m,
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12)
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
self.upv_cns = pri.addTransformFromPos(self.root,
self.getName("upv_cns"), v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
tra.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .12)
att.setKeyableAttributes(self.upv_ctl, self.t_params)
# References --------------------------------------
self.ik_ref = pri.addTransform(self.ik_ctl, self.getName("ik_ref"),
tra.getTransform(self.ik_ctl))
self.fk_ref = pri.addTransform(self.fk_ctl[2], self.getName("fk_ref"),
tra.getTransform(self.ik_ctl))
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = pri.addLocator(self.root, self.getName("0_jnt"),
tra.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = pri.addLocator(self.root, self.getName("1_jnt"),
tra.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
self.ctrn_loc = pri.addTransformFromPos(self.root,
self.getName("ctrn_loc"),
self.guide.apos[1])
self.eff_loc = pri.addTransformFromPos(self.root,
self.getName("eff_loc"),
self.guide.apos[2])
# Mid Controler ------------------------------------
self.mid_ctl = self.addCtl(self.ctrn_loc,
"mid_ctl",
tra.getTransform(self.ctrn_loc),
self.color_ik,
"sphere",
w=self.size * .2)
# Twist references ---------------------------------
x = dt.Vector(0, -1, 0)
x = x * tra.getTransform(self.eff_loc)
z = dt.Vector(self.normal.x, self.normal.y, self.normal.z)
z = z * tra.getTransform(self.eff_loc)
m = tra.getRotationFromAxis(x, z, "xz", self.negate)
m = tra.setMatrixPosition(m, tra.getTranslation(self.ik_ctl))
self.tws0_loc = pri.addTransform(self.root, self.getName("tws0_loc"),
tra.getTransform(self.fk_ctl[0]))
self.tws0_rot = pri.addTransform(self.tws0_loc,
self.getName("tws0_rot"),
tra.getTransform(self.fk_ctl[0]))
self.tws1_loc = pri.addTransform(self.ctrn_loc,
self.getName("tws1_loc"),
tra.getTransform(self.ctrn_loc))
self.tws1_rot = pri.addTransform(self.tws1_loc,
self.getName("tws1_rot"),
tra.getTransform(self.ctrn_loc))
self.tws2_loc = pri.addTransform(self.root, self.getName("tws2_loc"),
tra.getTransform(self.fk_ctl[2]))
self.tws2_rot = pri.addTransform(self.tws2_loc,
self.getName("tws2_rot"),
tra.getTransform(self.fk_ctl[2]))
self.tws2_rot.setAttr("sx", .001)
# 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.addTransform(self.root,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.addShadow(div_cns, i)
# End reference ------------------------------------
# To help the deformation on the wrist
self.end_ref = pri.addTransform(self.tws2_rot, self.getName("end_ref"),
m)
self.addShadow(self.end_ref, "end")
def addObjects(self):
"""Add all the objects needed to create the component."""
self.WIP = self.options["mode"]
self.normal = self.getNormalFromPos(self.guide.apos)
self.binormal = self.getBiNormalFromPos(self.guide.apos)
self.length0 = vector.getDistance(self.guide.apos[0],
self.guide.apos[1])
self.length1 = vector.getDistance(self.guide.apos[1],
self.guide.apos[2])
self.length2 = vector.getDistance(self.guide.apos[2],
self.guide.apos[3])
# 1 bone chain for upv ref
self.armChainUpvRef = primitive.add2DChain(
self.root,
self.getName("armUpvRef%s_jnt"),
[self.guide.apos[0], self.guide.apos[2]],
self.normal, False, self.WIP)
negateOri = self.armChainUpvRef[1].getAttr("jointOrientZ") * -1
self.armChainUpvRef[1].setAttr("jointOrientZ", negateOri)
# FK Controlers -----------------------------------
t = transform.getTransformLookingAt(self.guide.apos[0],
self.guide.apos[1],
self.normal, "xz",
self.negate)
self.fk0_npo = primitive.addTransform(self.root,
self.getName("fk0_npo"),
t)
vec_po = datatypes.Vector(.5 * self.length0 * self.n_factor, 0, 0)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=vec_po,
tp=self.parentCtlTag)
attribute.setKeyableAttributes(
self.fk0_ctl,
["tx", "ty", "tz", "ro", "rx", "ry", "rz", "sx"])
t = transform.getTransformLookingAt(self.guide.apos[1],
self.guide.apos[2],
self.normal,
"xz",
self.negate)
self.fk1_npo = primitive.addTransform(self.fk0_ctl,
self.getName("fk1_npo"),
t)
vec_po = datatypes.Vector(.5 * self.length1 * self.n_factor, 0, 0)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=vec_po,
tp=self.fk0_ctl)
attribute.setKeyableAttributes(
self.fk1_ctl,
["tx", "ty", "tz", "ro", "rx", "ry", "rz", "sx"])
t = transform.getTransformLookingAt(self.guide.apos[2],
self.guide.apos[3],
self.normal,
"xz",
self.negate)
self.fk2_npo = primitive.addTransform(self.fk1_ctl,
self.getName("fk2_npo"),
t)
vec_po = datatypes.Vector(.5 * self.length2 * self.n_factor, 0, 0)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=vec_po,
tp=self.fk1_ctl)
attribute.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl]
for x in self.fk_ctl:
attribute.setInvertMirror(x, ["tx", "ty", "tz"])
# IK upv ---------------------------------
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
self.upv_cns = primitive.addTransformFromPos(self.root,
self.getName("upv_cns"),
v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
transform.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .12,
tp=self.parentCtlTag)
if self.settings["mirrorMid"]:
if self.negate:
self.upv_cns.rz.set(180)
self.upv_cns.sy.set(-1)
else:
attribute.setInvertMirror(self.upv_ctl, ["tx"])
attribute.setKeyableAttributes(self.upv_ctl, self.t_params)
# IK Controlers -----------------------------------
self.ik_cns = primitive.addTransformFromPos(
self.root, self.getName("ik_cns"), self.guide.pos["wrist"])
t = transform.getTransformFromPos(self.guide.pos["wrist"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
t,
self.color_ik,
"null",
w=self.size * .12,
tp=self.parentCtlTag)
attribute.setInvertMirror(self.ikcns_ctl, ["tx", "ty", "tz"])
if self.negate:
m = transform.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal,
"x-y",
True)
else:
m = transform.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal,
"xy",
False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
m,
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12,
tp=self.upv_ctl)
if self.settings["mirrorIK"]:
if self.negate:
self.ik_cns.sx.set(-1)
self.ik_ctl.rz.set(self.ik_ctl.rz.get() * -1)
else:
attribute.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
attribute.setKeyableAttributes(self.ik_ctl)
self.ik_ctl_ref = primitive.addTransform(self.ik_ctl,
self.getName("ikCtl_ref"),
m)
# IK rotation controls
if self.settings["ikTR"]:
self.ikRot_npo = primitive.addTransform(self.root,
self.getName("ikRot_npo"),
m)
self.ikRot_cns = primitive.addTransform(self.ikRot_npo,
self.getName("ikRot_cns"),
m)
self.ikRot_ctl = self.addCtl(self.ikRot_cns,
"ikRot_ctl",
m,
self.color_ik,
"sphere",
w=self.size * .12,
tp=self.ik_ctl)
attribute.setKeyableAttributes(self.ikRot_ctl, self.r_params)
# References --------------------------------------
# Calculate again the transfor for the IK ref. This way align with FK
trnIK_ref = transform.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal,
"xz",
self.negate)
self.ik_ref = primitive.addTransform(self.ik_ctl_ref,
self.getName("ik_ref"),
trnIK_ref)
self.fk_ref = primitive.addTransform(self.fk_ctl[2],
self.getName("fk_ref"),
trnIK_ref)
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = primitive.addLocator(
self.root,
self.getName("0_bone"),
transform.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = primitive.addLocator(
self.root,
self.getName("1_bone"),
transform.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
self.ctrn_loc = primitive.addTransformFromPos(self.root,
self.getName("ctrn_loc"),
self.guide.apos[1])
self.eff_loc = primitive.addTransformFromPos(self.root,
self.getName("eff_loc"),
self.guide.apos[2])
# Mid Controler ------------------------------------
t = transform.getTransform(self.ctrn_loc)
self.mid_cns = primitive.addTransform(self.ctrn_loc,
self.getName("mid_cns"),
t)
self.mid_ctl = self.addCtl(self.mid_cns,
"mid_ctl",
t,
self.color_ik,
"sphere",
w=self.size * .2,
tp=self.parentCtlTag)
attribute.setKeyableAttributes(self.mid_ctl,
params=["tx", "ty", "tz",
"ro", "rx", "ry", "rz",
"sx"])
if self.settings["mirrorMid"]:
if self.negate:
self.mid_cns.rz.set(180)
self.mid_cns.sz.set(-1)
self.mid_ctl_twst_npo = primitive.addTransform(
self.mid_ctl,
self.getName("mid_twst_npo"),
t)
self.mid_ctl_twst_ref = primitive.addTransform(
self.mid_ctl_twst_npo,
self.getName("mid_twst_ref"),
t)
else:
self.mid_ctl_twst_ref = self.mid_ctl
attribute.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
# Roll join ref
self.rollRef = primitive.add2DChain(self.root, self.getName(
"rollChain"), self.guide.apos[:2], self.normal, self.negate)
for x in self.rollRef:
x.setAttr("visibility", False)
self.tws0_loc = primitive.addTransform(
self.rollRef[0],
self.getName("tws0_loc"),
transform.getTransform(self.fk_ctl[0]))
self.tws0_rot = primitive.addTransform(
self.tws0_loc,
self.getName("tws0_rot"),
transform.getTransform(self.fk_ctl[0]))
self.tws1_npo = primitive.addTransform(
self.ctrn_loc,
self.getName("tws1_npo"),
transform.getTransform(self.ctrn_loc))
self.tws1_loc = primitive.addTransform(
self.tws1_npo,
self.getName("tws1_loc"),
transform.getTransform(self.ctrn_loc))
self.tws1_rot = primitive.addTransform(
self.tws1_loc,
self.getName("tws1_rot"),
transform.getTransform(self.ctrn_loc))
self.tws2_npo = primitive.addTransform(
self.root,
self.getName("tws2_npo"),
transform.getTransform(self.fk_ctl[2]))
self.tws2_loc = primitive.addTransform(
self.tws2_npo,
self.getName("tws2_loc"),
transform.getTransform(self.fk_ctl[2]))
self.tws2_rot = primitive.addTransform(
self.tws2_loc,
self.getName("tws2_rot"),
transform.getTransform(self.fk_ctl[2]))
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the
# elbow. + 2 for elbow angle control
self.divisions = self.settings["div0"] + self.settings["div1"] + 3 + 2
self.div_cns = []
if self.settings["extraTweak"]:
tagP = self.parentCtlTag
self.tweak_ctl = []
for i in range(self.divisions):
div_cns = primitive.addTransform(self.root,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
if self.settings["extraTweak"]:
t = transform.getTransform(div_cns)
tweak_ctl = self.addCtl(div_cns,
"tweak%s_ctl" % i,
t,
self.color_fk,
"square",
w=self.size * .15,
d=self.size * .15,
ro=datatypes.Vector([0, 0, 1.5708]),
tp=tagP)
attribute.setKeyableAttributes(tweak_ctl)
tagP = tweak_ctl
self.tweak_ctl.append(tweak_ctl)
self.jnt_pos.append([tweak_ctl, i, None, False])
else:
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the wrist
self.jnt_pos.append([self.eff_loc, 'end'])
# match IK FK references
self.match_fk0_off = primitive.addTransform(
self.root,
self.getName("matchFk0_npo"),
transform.getTransform(self.fk_ctl[1]))
self.match_fk0 = primitive.addTransform(
self.match_fk0_off,
self.getName("fk0_mth"),
transform.getTransform(self.fk_ctl[0]))
self.match_fk1_off = primitive.addTransform(
self.root, self.getName(
"matchFk1_npo"), transform.getTransform(self.fk_ctl[2]))
self.match_fk1 = primitive.addTransform(
self.match_fk1_off,
self.getName("fk1_mth"),
transform.getTransform(self.fk_ctl[1]))
if self.settings["ikTR"]:
reference = self.ikRot_ctl
self.match_ikRot = primitive.addTransform(
self.fk2_ctl,
self.getName("ikRot_mth"),
transform.getTransform(self.ikRot_ctl))
else:
reference = self.ik_ctl
self.match_fk2 = primitive.addTransform(
reference,
self.getName("fk2_mth"),
transform.getTransform(self.fk_ctl[2]))
self.match_ik = primitive.addTransform(
self.fk2_ctl,
self.getName("ik_mth"),
transform.getTransform(self.ik_ctl))
self.match_ikUpv = primitive.addTransform(
self.fk0_ctl,
self.getName("upv_mth"),
transform.getTransform(self.upv_ctl))
def addObjects(self):
"""
"""
self.WIP = self.options["mode"]
self.normal = self.getNormalFromPos(self.guide.apos)
self.binormal = self.getBiNormalFromPos(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])
# 1 bone chain for upv ref
self.armChainUpvRef = pri.add2DChain(
self.root, self.getName("armUpvRef%s_jnt"),
[self.guide.apos[0], self.guide.apos[2]], self.normal, False,
self.WIP)
self.armChainUpvRef[1].setAttr(
"jointOrientZ",
self.armChainUpvRef[1].getAttr("jointOrientZ") * -1)
# FK Controlers -----------------------------------
t = tra.getTransformLookingAt(self.guide.apos[0], self.guide.apos[1],
self.normal, "xz", self.negate)
self.fk0_npo = pri.addTransform(self.root, self.getName("fk0_npo"), t)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length0 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk0_ctl)
t = tra.getTransformLookingAt(self.guide.apos[1], self.guide.apos[2],
self.normal, "xz", self.negate)
self.fk1_npo = pri.addTransform(self.fk0_ctl, self.getName("fk1_npo"),
t)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length1 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk1_ctl)
t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3],
self.normal, "xz", self.negate)
self.fk2_npo = pri.addTransform(self.fk1_ctl, self.getName("fk2_npo"),
t)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length2 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl]
for x in self.fk_ctl:
att.setInvertMirror(x, ["tx", "ty", "tz"])
# IK Controlers -----------------------------------
self.ik_cns = pri.addTransformFromPos(self.root,
self.getName("ik_cns"),
self.guide.pos["wrist"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
tra.getTransformFromPos(
self.guide.pos["wrist"]),
self.color_ik,
"null",
w=self.size * .12)
att.setInvertMirror(self.ikcns_ctl, ["tx", "ty", "tz"])
if self.negate:
m = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"], self.normal,
"x-y", True)
else:
m = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"], self.normal,
"xy", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
m,
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12)
att.setKeyableAttributes(self.ik_ctl)
att.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
self.upv_cns = pri.addTransformFromPos(self.root,
self.getName("upv_cns"), v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
tra.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .12)
att.setKeyableAttributes(self.upv_ctl, self.t_params)
att.setInvertMirror(self.upv_ctl, ["tx"])
#IK rotation controls
if self.settings["ikTR"]:
self.ikRot_npo = pri.addTransform(self.root,
self.getName("ikRot_npo"), m)
self.ikRot_cns = pri.addTransform(self.ikRot_npo,
self.getName("ikRot_cns"), m)
self.ikRot_ctl = self.addCtl(self.ikRot_cns,
"ikRot_ctl",
m,
self.color_ik,
"sphere",
w=self.size * .12)
att.setKeyableAttributes(self.ikRot_ctl, ["rx", "ry", "rz"])
# References --------------------------------------
# Calculate again the transfor for the IK ref. This way align with FK
trnIK_ref = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal, "xz", self.negate)
self.ik_ref = pri.addTransform(self.ik_ctl, self.getName("ik_ref"),
trnIK_ref)
self.fk_ref = pri.addTransform(self.fk_ctl[2], self.getName("fk_ref"),
trnIK_ref)
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = pri.addLocator(self.root, self.getName("0_bone"),
tra.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
self.bone0.setAttr("visibility", False)
self.bone1 = pri.addLocator(self.root, self.getName("1_bone"),
tra.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
self.bone1.setAttr("visibility", False)
self.ctrn_loc = pri.addTransformFromPos(self.root,
self.getName("ctrn_loc"),
self.guide.apos[1])
self.eff_loc = pri.addTransformFromPos(self.root,
self.getName("eff_loc"),
self.guide.apos[2])
# Mid Controler ------------------------------------
self.mid_ctl = self.addCtl(self.ctrn_loc,
"mid_ctl",
tra.getTransform(self.ctrn_loc),
self.color_ik,
"sphere",
w=self.size * .2)
att.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
#Roll join ref
self.rollRef = pri.add2DChain(self.root, self.getName("rollChain"),
self.guide.apos[:2], self.normal,
self.negate)
for x in self.rollRef:
x.setAttr("visibility", False)
self.tws0_loc = pri.addTransform(self.rollRef[0],
self.getName("tws0_loc"),
tra.getTransform(self.fk_ctl[0]))
self.tws0_rot = pri.addTransform(self.tws0_loc,
self.getName("tws0_rot"),
tra.getTransform(self.fk_ctl[0]))
self.tws1_npo = pri.addTransform(self.ctrn_loc,
self.getName("tws1_npo"),
tra.getTransform(self.ctrn_loc))
self.tws1_loc = pri.addTransform(self.tws1_npo,
self.getName("tws1_loc"),
tra.getTransform(self.ctrn_loc))
self.tws1_rot = pri.addTransform(self.tws1_loc,
self.getName("tws1_rot"),
tra.getTransform(self.ctrn_loc))
self.tws2_npo = pri.addTransform(self.root, self.getName("tws2_npo"),
tra.getTransform(self.fk_ctl[2]))
self.tws2_loc = pri.addTransform(self.tws2_npo,
self.getName("tws2_loc"),
tra.getTransform(self.fk_ctl[2]))
self.tws2_rot = pri.addTransform(self.tws2_loc,
self.getName("tws2_rot"),
tra.getTransform(self.fk_ctl[2]))
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the elbow. + 2 for elbow angle control
self.divisions = self.settings["div0"] + self.settings["div1"] + 3 + 2
self.div_cns = []
for i in range(self.divisions):
div_cns = pri.addTransform(self.root,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the wrist
self.jnt_pos.append([self.eff_loc, 'end'])
#match IK FK references
self.match_fk0_off = pri.addTransform(self.root,
self.getName("matchFk0_npo"),
tra.getTransform(self.fk_ctl[1]))
# self.match_fk0_off.attr("tx").set(1.0)
self.match_fk0 = pri.addTransform(self.match_fk0_off,
self.getName("fk0_mth"),
tra.getTransform(self.fk_ctl[0]))
self.match_fk1_off = pri.addTransform(self.root,
self.getName("matchFk1_npo"),
tra.getTransform(self.fk_ctl[2]))
# self.match_fk1_off.attr("tx").set(1.0)
self.match_fk1 = pri.addTransform(self.match_fk1_off,
self.getName("fk1_mth"),
tra.getTransform(self.fk_ctl[1]))
self.match_fk2 = pri.addTransform(self.ik_ctl, self.getName("fk2_mth"),
tra.getTransform(self.fk_ctl[2]))
self.match_ik = pri.addTransform(self.fk2_ctl, self.getName("ik_mth"),
tra.getTransform(self.ik_ctl))
self.match_ikUpv = pri.addTransform(self.fk0_ctl,
self.getName("upv_mth"),
tra.getTransform(self.upv_ctl))
def addObjects(self):
self.WIP = self.options["mode"]
self.normal = self.getNormalFromPos(self.guide.apos)
self.binormal = self.getBiNormalFromPos(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_npo = pri.addTransform(self.root, self.getName("fk0_npo"), t)
self.fk0_ctl = self.addCtl(self.fk0_npo,
"fk0_ctl",
t,
self.color_fk,
"cube",
w=self.length0,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length0 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk0_ctl)
t = tra.getTransformLookingAt(self.guide.apos[1], self.guide.apos[2],
self.normal, "xz", self.negate)
self.fk1_npo = pri.addTransform(self.fk0_ctl, self.getName("fk1_npo"),
t)
self.fk1_ctl = self.addCtl(self.fk1_npo,
"fk1_ctl",
t,
self.color_fk,
"cube",
w=self.length1,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length1 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk1_ctl)
t = tra.getTransformLookingAt(self.guide.apos[2], self.guide.apos[3],
self.normal, "xz", self.negate)
self.fk2_npo = pri.addTransform(self.fk1_ctl, self.getName("fk2_npo"),
t)
self.fk2_ctl = self.addCtl(self.fk2_npo,
"fk2_ctl",
t,
self.color_fk,
"cube",
w=self.length2,
h=self.size * .1,
d=self.size * .1,
po=dt.Vector(
.5 * self.length2 * self.n_factor, 0,
0))
att.setKeyableAttributes(self.fk2_ctl)
self.fk_ctl = [self.fk0_ctl, self.fk1_ctl, self.fk2_ctl]
for x in self.fk_ctl:
att.setInvertMirror(x, ["tx", "ty", "tz"])
# IK Controlers -----------------------------------
self.ik_cns = pri.addTransformFromPos(self.root,
self.getName("ik_cns"),
self.guide.pos["wrist"])
self.ikcns_ctl = self.addCtl(self.ik_cns,
"ikcns_ctl",
tra.getTransformFromPos(
self.guide.pos["wrist"]),
self.color_ik,
"null",
w=self.size * .12)
att.setInvertMirror(self.ikcns_ctl, ["tx", "ty", "tz"])
if self.negate:
m = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"], self.normal,
"x-y", True)
else:
m = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"], self.normal,
"xy", False)
self.ik_ctl = self.addCtl(self.ikcns_ctl,
"ik_ctl",
m,
self.color_ik,
"cube",
w=self.size * .12,
h=self.size * .12,
d=self.size * .12)
att.setKeyableAttributes(self.ik_ctl)
att.setInvertMirror(self.ik_ctl, ["tx", "ry", "rz"])
# upv
v = self.guide.apos[2] - self.guide.apos[0]
v = self.normal ^ v
v.normalize()
v *= self.size * .5
v += self.guide.apos[1]
self.upv_cns = pri.addTransformFromPos(self.root,
self.getName("upv_cns"), v)
self.upv_ctl = self.addCtl(self.upv_cns,
"upv_ctl",
tra.getTransform(self.upv_cns),
self.color_ik,
"diamond",
w=self.size * .12)
att.setInvertMirror(self.upv_ctl, ["tx"])
# References --------------------------------------
# Calculate again the transfor for the IK ref. This way align with FK
trnIK_ref = tra.getTransformLookingAt(self.guide.pos["wrist"],
self.guide.pos["eff"],
self.normal, "xz", self.negate)
self.ik_ref = pri.addTransform(self.ik_ctl, self.getName("ik_ref"),
trnIK_ref)
self.fk_ref = pri.addTransform(self.fk_ctl[2], self.getName("fk_ref"),
trnIK_ref)
# Chain --------------------------------------------
# The outputs of the ikfk2bone solver
self.bone0 = pri.addLocator(self.root, self.getName("0_bone"),
tra.getTransform(self.fk_ctl[0]))
self.bone0_shp = self.bone0.getShape()
self.bone0_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone0_shp.setAttr("localScale", .5, 0, 0)
self.bone0.setAttr("sx", self.length0)
bShape = self.bone0.getShape()
bShape.setAttr("visibility", False)
self.bone1 = pri.addLocator(self.root, self.getName("1_bone"),
tra.getTransform(self.fk_ctl[1]))
self.bone1_shp = self.bone1.getShape()
self.bone1_shp.setAttr("localPositionX", self.n_factor * .5)
self.bone1_shp.setAttr("localScale", .5, 0, 0)
self.bone1.setAttr("sx", self.length1)
bShape = self.bone1.getShape()
bShape.setAttr("visibility", False)
#Elbow control
tA = tra.getTransformLookingAt(self.guide.apos[0], self.guide.apos[1],
self.normal, "xz", self.negate)
tA = tra.setMatrixPosition(tA, self.guide.apos[1])
tB = tra.getTransformLookingAt(self.guide.apos[1], self.guide.apos[2],
self.normal, "xz", self.negate)
t = tra.getInterpolateTransformMatrix(tA, tB)
self.ctrn_loc = pri.addTransform(self.root, self.getName("ctrn_loc"),
t)
#match IK FK references
self.match_fk0_off = pri.addTransform(self.root,
self.getName("matchFk0_npo"),
tra.getTransform(self.fk_ctl[1]))
# self.match_fk0_off.attr("tx").set(1.0)
self.match_fk0 = pri.addTransform(self.match_fk0_off,
self.getName("fk0_mth"),
tra.getTransform(self.fk_ctl[0]))
self.match_fk1_off = pri.addTransform(self.root,
self.getName("matchFk1_npo"),
tra.getTransform(self.fk_ctl[2]))
# self.match_fk1_off.attr("tx").set(1.0)
self.match_fk1 = pri.addTransform(self.match_fk1_off,
self.getName("fk1_mth"),
tra.getTransform(self.fk_ctl[1]))
self.match_fk2 = pri.addTransform(self.ik_ctl, self.getName("fk2_mth"),
tra.getTransform(self.fk_ctl[2]))
self.match_ik = pri.addTransform(self.fk2_ctl, self.getName("ik_mth"),
tra.getTransform(self.ik_ctl))
self.match_ikUpv = pri.addTransform(self.fk0_ctl,
self.getName("upv_mth"),
tra.getTransform(self.upv_ctl))
# Eff locator
self.eff_loc = pri.addTransformFromPos(self.root,
self.getName("eff_loc"),
self.guide.apos[2])
# Mid Controler ------------------------------------
self.mid_ctl = self.addCtl(self.ctrn_loc,
"mid_ctl",
tra.getTransform(self.ctrn_loc),
self.color_ik,
"sphere",
w=self.size * .2)
att.setInvertMirror(self.mid_ctl, ["tx", "ty", "tz"])
#Roll join ref---------------------------------
self.tws0_loc = pri.addTransform(self.root, self.getName("tws0_loc"),
tra.getTransform(self.fk_ctl[0]))
self.tws1_npo = pri.addTransform(self.ctrn_loc,
self.getName("tws1_npo"),
tra.getTransform(self.ctrn_loc))
self.tws1_loc = pri.addTransform(self.tws1_npo,
self.getName("tws1_loc"),
tra.getTransform(self.ctrn_loc))
self.tws1A_npo = pri.addTransform(self.mid_ctl,
self.getName("tws1A_npo"), tA)
self.tws1A_loc = pri.addTransform(self.tws1A_npo,
self.getName("tws1A_loc"), tA)
self.tws1B_npo = pri.addTransform(self.mid_ctl,
self.getName("tws1B_npo"), tB)
self.tws1B_loc = pri.addTransform(self.tws1B_npo,
self.getName("tws1B_loc"), tB)
self.tws2_npo = pri.addTransform(self.root, self.getName("tws2_npo"),
tra.getTransform(self.fk_ctl[2]))
self.tws2_loc = pri.addTransform(self.tws2_npo,
self.getName("tws2_loc"),
tra.getTransform(self.fk_ctl[2]))
# Roll twist chain ---------------------------------
#Arm
self.armChainPos = []
ii = 1.0 / (self.settings["div0"] + 1)
i = 0.0
for p in range(self.settings["div0"] + 2):
self.armChainPos.append(
vec.linearlyInterpolate(self.guide.pos["root"],
self.guide.pos["elbow"],
blend=i))
i = i + ii
self.armTwistChain = pri.add2DChain(self.root,
self.getName("armTwist%s_jnt"),
self.armChainPos, self.normal,
False, self.WIP)
#Forearm
self.forearmChainPos = []
ii = 1.0 / (self.settings["div1"] + 1)
i = 0.0
for p in range(self.settings["div1"] + 2):
self.forearmChainPos.append(
vec.linearlyInterpolate(self.guide.pos["elbow"],
self.guide.pos["wrist"],
blend=i))
i = i + ii
self.forearmTwistChain = pri.add2DChain(
self.root, self.getName("forearmTwist%s_jnt"),
self.forearmChainPos, self.normal, False, self.WIP)
pm.parent(self.forearmTwistChain[0], self.mid_ctl)
#Hand Aux chain and nonroll
self.auxChainPos = []
ii = .5
i = 0.0
for p in range(3):
self.auxChainPos.append(
vec.linearlyInterpolate(self.guide.pos["wrist"],
self.guide.pos["eff"],
blend=i))
i = i + ii
t = self.root.getMatrix(worldSpace=True)
self.aux_npo = pri.addTransform(self.root, self.getName("aux_npo"), t)
self.auxTwistChain = pri.add2DChain(self.aux_npo,
self.getName("auxTwist%s_jnt"),
self.auxChainPos, self.normal,
False, self.WIP)
#Non Roll join ref ---------------------------------
self.armRollRef = pri.add2DChain(self.root,
self.getName("armRollRef%s_jnt"),
self.armChainPos[:2], self.normal,
False, self.WIP)
self.forearmRollRef = pri.add2DChain(
self.aux_npo, self.getName("forearmRollRef%s_jnt"),
self.auxChainPos[:2], self.normal, False, self.WIP)
# Divisions ----------------------------------------
# We have at least one division at the start, the end and one for the elbow. + 2 for elbow angle control
self.divisions = self.settings["div0"] + self.settings["div1"] + 4
self.div_cns = []
for i in range(self.divisions):
div_cns = pri.addTransform(self.root,
self.getName("div%s_loc" % i))
self.div_cns.append(div_cns)
self.jnt_pos.append([div_cns, i])
# End reference ------------------------------------
# To help the deformation on the wrist
self.end_ref = pri.addTransform(self.eff_loc, self.getName("end_ref"),
tra.getTransform(self.eff_loc))
if self.negate:
self.end_ref.attr("rz").set(180.0)
self.jnt_pos.append([self.end_ref, "end"])
# Tangent controls
t = tra.getInterpolateTransformMatrix(self.fk_ctl[0], self.tws1A_npo,
.3333)
self.armTangentA_loc = pri.addTransform(
self.root, self.getName("armTangentA_loc"),
self.fk_ctl[0].getMatrix(worldSpace=True))
self.armTangentA_npo = pri.addTransform(
self.armTangentA_loc, self.getName("armTangentA_npo"), t)
self.armTangentA_ctl = self.addCtl(self.armTangentA_npo,
"armTangentA_ctl",
t,
self.color_ik,
"circle",
w=self.size * .2,
ro=dt.Vector(0, 0, 1.570796))
t = tra.getInterpolateTransformMatrix(self.fk_ctl[0], self.tws1A_npo,
.6666)
self.armTangentB_npo = pri.addTransform(
self.tws1A_loc, self.getName("armTangentB_npo"), t)
self.armTangentB_ctl = self.addCtl(self.armTangentB_npo,
"armTangentB_ctl",
t,
self.color_ik,
"circle",
w=self.size * .2,
ro=dt.Vector(0, 0, 1.570796))
tC = self.tws1B_npo.getMatrix(worldSpace=True)
tC = tra.setMatrixPosition(tC, self.guide.apos[2])
t = tra.getInterpolateTransformMatrix(self.tws1B_npo, tC, .3333)
self.forearmTangentA_npo = pri.addTransform(
self.tws1B_loc, self.getName("forearmTangentA_npo"), t)
self.forearmTangentA_ctl = self.addCtl(self.forearmTangentA_npo,
"forearmTangentA_ctl",
t,
self.color_ik,
"circle",
w=self.size * .2,
ro=dt.Vector(0, 0, 1.570796))
t = tra.getInterpolateTransformMatrix(self.tws1B_npo, tC, .6666)
self.forearmTangentB_loc = pri.addTransform(
self.root, self.getName("forearmTangentB_loc"), tC)
self.forearmTangentB_npo = pri.addTransform(
self.forearmTangentB_loc, self.getName("forearmTangentB_npo"), t)
self.forearmTangentB_ctl = self.addCtl(self.forearmTangentB_npo,
"forearmTangentB_ctl",
t,
self.color_ik,
"circle",
w=self.size * .2,
ro=dt.Vector(0, 0, 1.570796))
t = self.mid_ctl.getMatrix(worldSpace=True)
self.elbowTangent_npo = pri.addTransform(
self.mid_ctl, self.getName("elbowTangent_npo"), t)
self.elbowTangent_ctl = self.addCtl(self.elbowTangent_npo,
"elbowTangent_ctl",
t,
self.color_fk,
"circle",
w=self.size * .25,
ro=dt.Vector(0, 0, 1.570796))
def addObjects(self):
self.normal = self.guide.blades["blade"].z*-1
self.binormal = self.guide.blades["blade"].x
self.isFk = self.settings["mode"] != 1
self.isIk = self.settings["mode"] != 0
self.isFkIk = self.settings["mode"] == 2
self.WIP = self.options["mode"]
# FK controllers ------------------------------------
if self.isFk:
self.fk_npo = []
self.fk_ctl = []
t = self.guide.tra["root"]
self.ik_cns = pri.addTransform(self.root, self.getName("ik_cns"), t)
parent = self.ik_cns
tOld = False
for i, t in enumerate(tra.getChainTransform(self.guide.apos, self.normal, self.negate)):
dist = vec.getDistance(self.guide.apos[i], self.guide.apos[i+1])
if self.settings["neutralpose"] or not tOld:
tnpo = t
else:
tnpo = tra.setMatrixPosition(tOld, tra.getPositionFromMatrix(t))
fk_npo = pri.addTransform(parent, self.getName("fk%s_npo"%i), tnpo)
fk_ctl = self.addCtl(fk_npo, "fk%s_ctl"%i, t, self.color_fk, "cube", w=dist, h=self.size*.1, d=self.size*.1, po=dt.Vector(dist*.5*self.n_factor,0,0))
parent = fk_ctl
self.fk_npo.append(fk_npo)
self.fk_ctl.append(fk_ctl)
tOld = t
# IK controllers ------------------------------------
if self.isIk:
normal = vec.getTransposedVector(self.normal, [self.guide.apos[0], self.guide.apos[1]], [self.guide.apos[-2], self.guide.apos[-1]])
t = tra.getTransformLookingAt(self.guide.apos[-2], self.guide.apos[-1], normal, "xy", self.negate)
t = tra.setMatrixPosition(t, self.guide.apos[-1])
self.ik_cns = pri.addTransform(self.root, self.getName("ik_cns"), t)
self.ikcns_ctl = self.addCtl(self.ik_cns, "ikcns_ctl", t, self.color_ik, "null", w=self.size)
self.ik_ctl = self.addCtl(self.ikcns_ctl, "ik_ctl", t, self.color_ik, "cube", w=self.size*.3, h=self.size*.3, d=self.size*.3)
v = self.guide.apos[-1] - self.guide.apos[0]
v = v ^ self.normal
v.normalize()
v *= self.size
v += self.guide.apos[1]
self.upv_cns = pri.addTransformFromPos(self.root, self.getName("upv_cns"), v)
self.upv_ctl = self.addCtl(self.upv_cns, "upv_ctl", tra.getTransform(self.upv_cns), self.color_ik, "diamond", w=self.size*.1)
# Chain
self.chain = pri.add2DChain(self.root, self.getName("chain"), self.guide.apos, self.normal, self.negate)
self.chain[0].attr("visibility").set(self.WIP)
# Chain of deformers -------------------------------
self.loc = []
parent = self.root
for i, t in enumerate(tra.getChainTransform(self.guide.apos, self.normal, self.negate)):
loc = pri.addTransform(parent, self.getName("%s_loc"%i), t)
self.loc.append(loc)
self.jnt_pos.append([loc, i])
parent = loc