rigify/rigs/limbs/paw.py

   1 # SPDX-License-Identifier: GPL-2.0-or-later
   2
   3 import bpy
   4
   5 from ...utils.bones import compute_chain_x_axis, align_bone_x_axis, align_bone_z_axis
   6 from ...utils.bones import align_bone_to_axis, flip_bone
   7 from ...utils.naming import make_derived_name
   8 from ...utils.widgets_basic import create_circle_widget, create_limb_widget
   9
  10 from ..widgets import create_foot_widget, create_ball_socket_widget
  11
  12 from ...base_rig import stage
  13
  14 from .limb_rigs import BaseLimbRig
  15
  16
  17 class Rig(BaseLimbRig):
  18     """Paw rig with an optional second heel control."""
  19
  20     segmented_orgs = 3
  21     min_valid_orgs = 4
  22     max_valid_orgs = 5
  23     toe_bone_index = 3
  24
  25     use_heel2: bool
  26
  27     def initialize(self):
  28         self.use_heel2 = len(self.bones.org.main) > 4
  29
  30         if self.use_heel2:
  31             self.toe_bone_index = 4
  32             self.fk_name_suffix_cutoff = 3
  33             self.fk_ik_layer_cutoff = 4
  34
  35         super().initialize()
  36
  37     def prepare_bones(self):
  38         orgs = self.bones.org.main
  39
  40         foot_x = self.vector_without_z(self.get_bone(orgs[2]).y_axis).cross((0, 0, 1))
  41
  42         if self.params.rotation_axis == 'automatic':
  43             axis = compute_chain_x_axis(self.obj, orgs[0:2])
  44
  45             for bone in orgs:
  46                 align_bone_x_axis(self.obj, bone, axis)
  47
  48         elif self.params.auto_align_extremity:
  49             if self.main_axis == 'x':
  50                 align_bone_x_axis(self.obj, orgs[2], foot_x)
  51                 align_bone_x_axis(self.obj, orgs[3], -foot_x)
  52             else:
  53                 align_bone_z_axis(self.obj, orgs[2], foot_x)
  54                 align_bone_z_axis(self.obj, orgs[3], -foot_x)
  55
  56     ####################################################
  57     # Utilities
  58
  59     def align_ik_control_bone(self, name: str):
  60         if self.params.rotation_axis == 'automatic' or self.params.auto_align_extremity:
  61             align_bone_to_axis(self.obj, name, 'y', flip=True)
  62
  63         else:
  64             flip_bone(self.obj, name)
  65
  66             bone = self.get_bone(name)
  67             bone.tail[2] = bone.head[2]
  68             bone.roll = 0
  69
  70     ####################################################
  71     # EXTRA BONES
  72
  73     class CtrlBones(BaseLimbRig.CtrlBones):
  74         heel: str                      # Foot heel control
  75         heel2: str                     # Second foot heel control (optional)
  76
  77     class MchBones(BaseLimbRig.MchBones):
  78         toe_socket: str                # IK toe orientation bone
  79         ik_heel2: str                  # Final position of heel2 in the IK output
  80
  81     bones: BaseLimbRig.ToplevelBones[
  82         BaseLimbRig.OrgBones,
  83         'Rig.CtrlBones',
  84         'Rig.MchBones',
  85         list[str]
  86     ]
  87
  88     ####################################################
  89     # IK controls
  90
  91     def get_middle_ik_controls(self):
  92         return [self.bones.ctrl.heel] if self.use_heel2 else []
  93
  94     def get_extra_ik_controls(self):
  95         extra = [self.bones.ctrl.heel2] if self.use_heel2 else [self.bones.ctrl.heel]
  96         return super().get_extra_ik_controls() + extra
  97
  98     def make_ik_control_bone(self, orgs: list[str]):
  99         return self.make_paw_ik_control_bone(orgs[-2], orgs[-1], orgs[2])
 100
 101     def make_paw_ik_control_bone(self, org_one: str, org_two: str, org_name: str):
 102         name = self.copy_bone(org_two, make_derived_name(org_name, 'ctrl', '_ik'))
 103
 104         self.align_ik_control_bone(name)
 105
 106         vec = self.get_bone(org_two).tail - self.get_bone(org_one).head
 107         self.get_bone(name).length = self.vector_without_z(vec).length
 108
 109         return name
 110
 111     def register_switch_parents(self, pbuilder):
 112         super().register_switch_parents(pbuilder)
 113
 114         pbuilder.register_parent(self, self.bones.org.main[3], exclude_self=True, tags={'limb_end'})
 115
 116     def make_ik_ctrl_widget(self, ctrl):
 117         create_foot_widget(self.obj, ctrl)
 118
 119     ####################################################
 120     # Heel control
 121
 122     @stage.generate_bones
 123     def make_heel_control_bone(self):
 124         org = self.bones.org.main[2]
 125         name = self.copy_bone(org, make_derived_name(org, 'ctrl', '_heel_ik'))
 126         self.bones.ctrl.heel = name
 127
 128         flip_bone(self.obj, name)
 129
 130     @stage.parent_bones
 131     def parent_heel_control_bone(self):
 132         if self.use_heel2:
 133             self.set_bone_parent(self.bones.ctrl.heel, self.bones.ctrl.heel2)
 134         else:
 135             self.set_bone_parent(self.bones.ctrl.heel, self.get_ik_control_output())
 136
 137     @stage.configure_bones
 138     def configure_heel_control_bone(self):
 139         bone = self.get_bone(self.bones.ctrl.heel)
 140         bone.lock_location = True, True, True
 141
 142     @stage.generate_widgets
 143     def generate_heel_control_widget(self):
 144         create_ball_socket_widget(self.obj, self.bones.ctrl.heel)
 145
 146     ####################################################
 147     # Second Heel control
 148
 149     @stage.generate_bones
 150     def make_heel2_control_bone(self):
 151         if self.use_heel2:
 152             org = self.bones.org.main[3]
 153             name = self.copy_bone(org, make_derived_name(org, 'ctrl', '_ik'))
 154             self.bones.ctrl.heel2 = name
 155
 156             flip_bone(self.obj, name)
 157
 158     @stage.parent_bones
 159     def parent_heel2_control_bone(self):
 160         if self.use_heel2:
 161             self.set_bone_parent(self.bones.ctrl.heel2, self.get_ik_control_output())
 162
 163     @stage.configure_bones
 164     def configure_heel2_control_bone(self):
 165         if self.use_heel2:
 166             bone = self.get_bone(self.bones.ctrl.heel2)
 167             bone.lock_location = True, True, True
 168
 169     @stage.generate_widgets
 170     def generate_heel2_control_widget(self):
 171         if self.use_heel2:
 172             create_ball_socket_widget(self.obj, self.bones.ctrl.heel2)
 173
 174     ####################################################
 175     # FK control chain
 176
 177     def make_fk_control_widget(self, i, ctrl):
 178         if i < self.toe_bone_index - 1:
 179             create_limb_widget(self.obj, ctrl)
 180         elif i == self.toe_bone_index - 1:
 181             create_circle_widget(self.obj, ctrl, radius=0.4, head_tail=0.0)
 182         else:
 183             create_circle_widget(self.obj, ctrl, radius=0.4, head_tail=0.5)
 184
 185     ####################################################
 186     # FK parents MCH chain
 187
 188     @stage.generate_bones
 189     def make_toe_socket_bone(self):
 190         org = self.bones.org.main[self.toe_bone_index]
 191         self.bones.mch.toe_socket = self.copy_bone(org, make_derived_name(org, 'mch', '_ik_socket'))
 192
 193     @stage.parent_bones
 194     def parent_toe_socket_bone(self):
 195         self.set_bone_parent(self.bones.mch.toe_socket, self.get_ik_control_output())
 196
 197     def parent_fk_parent_bone(self, i, parent_mch, prev_ctrl, org, prev_org):
 198         if i == self.toe_bone_index:
 199             self.set_bone_parent(parent_mch, prev_org, use_connect=True, inherit_scale='ALIGNED')
 200
 201         else:
 202             super().parent_fk_parent_bone(i, parent_mch, prev_ctrl, org, prev_org)
 203
 204     def rig_fk_parent_bone(self, i, parent_mch, org):
 205         if i == self.toe_bone_index:
 206             con = self.make_constraint(parent_mch, 'COPY_TRANSFORMS', self.bones.mch.toe_socket)
 207
 208             self.make_driver(con, 'influence', variables=[(self.prop_bone, 'IK_FK')], polynomial=[1.0, -1.0])
 209
 210         else:
 211             super().rig_fk_parent_bone(i, parent_mch, org)
 212
 213     ####################################################
 214     # IK system MCH
 215
 216     ik_input_head_tail = 1.0
 217
 218     def get_ik_input_bone(self):
 219         return self.bones.ctrl.heel
 220
 221     @stage.parent_bones
 222     def parent_ik_mch_chain(self):
 223         super().parent_ik_mch_chain()
 224
 225         self.set_bone_parent(self.bones.mch.ik_target, self.bones.ctrl.heel)
 226
 227     ####################################################
 228     # IK heel2 output
 229
 230     def get_ik_output_chain(self):
 231         tail = [self.bones.mch.ik_heel2] if self.use_heel2 else []
 232         return super().get_ik_output_chain() + tail
 233
 234     @stage.generate_bones
 235     def make_ik_heel2_bone(self):
 236         if self.use_heel2:
 237             orgs = self.bones.org.main
 238             self.bones.mch.ik_heel2 = self.copy_bone(orgs[3], make_derived_name(orgs[3], 'mch', '_ik_out'))
 239
 240     @stage.parent_bones
 241     def parent_ik_heel2_bone(self):
 242         if self.use_heel2:
 243             self.set_bone_parent(self.bones.mch.ik_heel2, self.bones.ctrl.heel2)
 244
 245     @stage.rig_bones
 246     def rig_ik_heel2_bone(self):
 247         if self.use_heel2:
 248             self.make_constraint(self.bones.mch.ik_heel2, 'COPY_LOCATION', self.bones.mch.ik_target, head_tail=1)
 249
 250     ####################################################
 251     # Deform chain
 252
 253     def rig_deform_bone(self, i, deform, entry, next_entry, tweak, next_tweak):
 254         super().rig_deform_bone(i, deform, entry, next_entry, tweak, next_tweak)
 255
 256         if tweak and not (next_tweak or next_entry):
 257             self.make_constraint(deform, 'STRETCH_TO', entry.org, head_tail=1.0, keep_axis='SWING_Y')
 258
 259     ####################################################
 260     # Settings
 261
 262     @classmethod
 263     def parameters_ui(cls, layout, params, end='Claw'):
 264         super().parameters_ui(layout, params, end)
 265
 266
 267 def create_sample(obj):
 268     # generated by rigify.utils.write_metarig
 269     bpy.ops.object.mode_set(mode='EDIT')
 270     arm = obj.data
 271
 272     bones = {}
 273
 274     bone = arm.edit_bones.new('thigh.L')
 275     bone.head[:] = 0.0000, 0.0017, 0.7379
 276     bone.tail[:] = 0.0000, -0.0690, 0.4731
 277     bone.roll = 0.0000
 278     bone.use_connect = False
 279     bones['thigh.L'] = bone.name
 280     bone = arm.edit_bones.new('shin.L')
 281     bone.head[:] = 0.0000, -0.0690, 0.4731
 282     bone.tail[:] = 0.0000, 0.1364, 0.2473
 283     bone.roll = 0.0000
 284     bone.use_connect = True
 285     bone.parent = arm.edit_bones[bones['thigh.L']]
 286     bones['shin.L'] = bone.name
 287     bone = arm.edit_bones.new('foot.L')
 288     bone.head[:] = 0.0000, 0.1364, 0.2473
 289     bone.tail[:] = 0.0000, 0.0736, 0.0411
 290     bone.roll = -0.0002
 291     bone.use_connect = True
 292     bone.parent = arm.edit_bones[bones['shin.L']]
 293     bones['foot.L'] = bone.name
 294     bone = arm.edit_bones.new('toe.L')
 295     bone.head[:] = 0.0000, 0.0736, 0.0411
 296     bone.tail[:] = 0.0000, -0.0594, 0.0000
 297     bone.roll = -3.1416
 298     bone.use_connect = True
 299     bone.parent = arm.edit_bones[bones['foot.L']]
 300     bones['toe.L'] = bone.name
 301
 302     bpy.ops.object.mode_set(mode='OBJECT')
 303     pbone = obj.pose.bones[bones['thigh.L']]
 304     pbone.rigify_type = 'limbs.paw'
 305     pbone.lock_location = (False, False, False)
 306     pbone.lock_rotation = (False, False, False)
 307     pbone.lock_rotation_w = False
 308     pbone.lock_scale = (False, False, False)
 309     pbone.rotation_mode = 'QUATERNION'
 310     try:
 311         pbone.rigify_parameters.fk_layers = [
 312             False, False, False, False, False, False, False, False, False, False, False, False,
 313             False, False, False, False, False, True, False, False, False, False, False, False,
 314             False, False, False, False, False, False, False, False]
 315     except AttributeError:
 316         pass
 317     try:
 318         pbone.rigify_parameters.tweak_layers = [
 319             False, False, False, False, False, False, False, False, False, False, False, False,
 320             False, False, False, False, False, False, True, False, False, False, False, False,
 321             False, False, False, False, False, False, False, False]
 322     except AttributeError:
 323         pass
 324     try:
 325         pbone.rigify_parameters.limb_type = "paw"
 326     except AttributeError:
 327         pass
 328     try:
 329         pbone.rigify_parameters.ik_local_location = False
 330     except AttributeError:
 331         pass
 332     pbone = obj.pose.bones[bones['shin.L']]
 333     pbone.rigify_type = ''
 334     pbone.lock_location = (False, False, False)
 335     pbone.lock_rotation = (False, False, False)
 336     pbone.lock_rotation_w = False
 337     pbone.lock_scale = (False, False, False)
 338     pbone.rotation_mode = 'QUATERNION'
 339     pbone = obj.pose.bones[bones['foot.L']]
 340     pbone.rigify_type = ''
 341     pbone.lock_location = (False, False, False)
 342     pbone.lock_rotation = (False, False, False)
 343     pbone.lock_rotation_w = False
 344     pbone.lock_scale = (False, False, False)
 345     pbone.rotation_mode = 'QUATERNION'
 346     pbone = obj.pose.bones[bones['toe.L']]
 347     pbone.rigify_type = ''
 348     pbone.lock_location = (False, False, False)
 349     pbone.lock_rotation = (False, False, False)
 350     pbone.lock_rotation_w = False
 351     pbone.lock_scale = (False, False, False)
 352     pbone.rotation_mode = 'QUATERNION'
 353     try:
 354         pbone.rigify_parameters.limb_type = "paw"
 355     except AttributeError:
 356         pass
 357
 358     bpy.ops.object.mode_set(mode='EDIT')
 359     for bone in arm.edit_bones:
 360         bone.select = False
 361         bone.select_head = False
 362         bone.select_tail = False
 363     for b in bones:
 364         bone = arm.edit_bones[bones[b]]
 365         bone.select = True
 366         bone.select_head = True
 367         bone.select_tail = True
 368         arm.edit_bones.active = bone
 369
 370     return bones