rigify/rigs/limbs/front_paw.py

   1 # SPDX-License-Identifier: GPL-2.0-or-later
   2
   3 # <pep8 compliant>
   4
   5 import bpy
   6
   7 from ...utils.bones import align_bone_roll, put_bone, copy_bone_position, flip_bone
   8 from ...utils.naming import make_derived_name
   9 from ...utils.misc import map_list
  10
  11 from itertools import count
  12
  13 from ...base_rig import stage
  14
  15 from .limb_rigs import BaseLimbRig
  16 from .paw import Rig as pawRig
  17
  18
  19 class Rig(pawRig):
  20     """Front paw rig with special IK automation."""
  21
  22     ####################################################
  23     # EXTRA BONES
  24     #
  25     # mch:
  26     #   ik2_chain[2]
  27     #     Second IK system (pre-driving heel)
  28     #   heel_track
  29     #     Bone tracking IK2 to rotate heel
  30     #   heel_parent
  31     #     Parent of the heel control
  32     #
  33     ####################################################
  34
  35     ####################################################
  36     # IK controls
  37
  38     def get_middle_ik_controls(self):
  39         return [self.bones.ctrl.heel]
  40
  41     def get_ik_fk_position_chains(self):
  42         ik_chain, tail_chain, fk_chain = super().get_ik_fk_position_chains()
  43         assert not tail_chain
  44         if not self.use_heel2:
  45             return [*ik_chain, ik_chain[-1]], [*fk_chain, fk_chain[-1]]
  46         return ik_chain, tail_chain, fk_chain
  47
  48     def get_extra_ik_controls(self):
  49         extra = [self.bones.ctrl.heel2] if self.use_heel2 else []
  50         return BaseLimbRig.get_extra_ik_controls(self) + extra
  51
  52     def get_ik_pole_parents(self):
  53         return [(self.get_ik2_target_bone(), self.bones.ctrl.ik)]
  54
  55
  56     ####################################################
  57     # Second IK system (pre-driving heel)
  58
  59     use_mch_ik_base = True
  60
  61     def get_ik2_target_bone(self):
  62         return self.bones.mch.ik2_target if self.use_heel2 else self.bones.mch.toe_socket
  63
  64     @stage.generate_bones
  65     def make_ik2_mch_chain(self):
  66         orgs = self.bones.org.main
  67         chain = map_list(self.make_ik2_mch_bone, count(0), orgs[0:2])
  68         self.bones.mch.ik2_chain = chain
  69
  70         if self.use_heel2:
  71             self.bones.mch.ik2_target = self.make_ik2_mch_target_bone(orgs)
  72
  73         # Connect the chain end to the target
  74         self.get_bone(chain[1]).tail = self.get_bone(orgs[2]).tail
  75         align_bone_roll(self.obj, chain[1], orgs[1])
  76
  77     def make_ik2_mch_target_bone(self, orgs):
  78         return self.copy_bone(orgs[3], make_derived_name(orgs[0], 'mch', '_ik2_target'), scale=1/2)
  79
  80     def make_ik2_mch_bone(self, i, org):
  81         return self.copy_bone(org, make_derived_name(org, 'mch', '_ik2'))
  82
  83     @stage.parent_bones
  84     def parent_ik2_mch_chain(self):
  85         mch = self.bones.mch
  86         if self.use_heel2:
  87             self.set_bone_parent(mch.ik2_target, self.bones.ctrl.heel2)
  88         self.set_bone_parent(mch.ik2_chain[0], self.bones.ctrl.ik_base, inherit_scale='AVERAGE')
  89         self.parent_bone_chain(mch.ik2_chain, use_connect=True)
  90
  91     @stage.configure_bones
  92     def configure_ik2_mch_chain(self):
  93         for i, mch in enumerate(self.bones.mch.ik2_chain):
  94             self.configure_ik2_mch_bone(i, mch)
  95
  96     def configure_ik2_mch_bone(self, i, mch):
  97         bone = self.get_bone(mch)
  98         bone.ik_stretch = 0.1
  99         if i == 1:
 100             bone.lock_ik_x = bone.lock_ik_y = bone.lock_ik_z = True
 101             setattr(bone, 'lock_ik_' + self.main_axis, False)
 102
 103     @stage.rig_bones
 104     def rig_ik2_mch_chain(self):
 105         target_bone = self.get_ik2_target_bone()
 106         self.rig_ik_mch_end_bone(self.bones.mch.ik2_chain[-1], target_bone, self.bones.ctrl.ik_pole)
 107
 108
 109     ####################################################
 110     # Heel tracking from IK2
 111
 112     @stage.generate_bones
 113     def make_heel_track_bones(self):
 114         orgs = self.bones.org.main
 115         mch = self.bones.mch
 116         mch.heel_track = self.copy_bone(orgs[2], make_derived_name(orgs[2], 'mch', '_track'))
 117         mch.heel_parent = self.copy_bone(orgs[2], make_derived_name(orgs[2], 'mch', '_parent'))
 118
 119         # This two bone setup is used to move the damped track singularity out
 120         # of the way to a forbidden zone of the rig, and thus avoid flipping.
 121         # The bones are aligned to the center of the valid transformation zone.
 122         self.align_ik_control_bone(mch.heel_track)
 123         put_bone(self.obj, mch.heel_track, self.get_bone(orgs[2]).tail, scale=1/3)
 124         copy_bone_position(self.obj, mch.heel_track, mch.heel_parent, scale=3/4)
 125
 126     @stage.parent_bones
 127     def parent_heel_control_bone(self):
 128         self.set_bone_parent(self.bones.ctrl.heel, self.bones.mch.heel_parent)
 129
 130     @stage.parent_bones
 131     def parent_heel_track_bones(self):
 132         # Parenting heel_parent deferred to apply_bones.
 133         self.set_bone_parent(self.bones.mch.heel_track, self.get_ik2_target_bone())
 134
 135     @stage.configure_bones
 136     def prerig_heel_track_bones(self):
 137         # Assign the constraint before the apply stage.
 138         self.make_constraint(
 139             self.bones.mch.heel_track, 'DAMPED_TRACK', self.bones.mch.ik2_chain[1],
 140             influence=self.params.front_paw_heel_influence
 141         )
 142
 143     @stage.preapply_bones
 144     def preapply_heel_track_bones(self):
 145         # Assign local transform negating the effect of the constraint at rest.
 146         track_bone = self.get_bone(self.bones.mch.heel_track)
 147         bone = self.get_bone(self.bones.mch.heel_parent)
 148         bone.matrix_basis = track_bone.matrix.inverted() @ bone.matrix
 149
 150     @stage.apply_bones
 151     def apply_heel_track_bones(self):
 152         # Complete the parent chain.
 153         self.set_bone_parent(self.bones.mch.heel_parent, self.bones.mch.heel_track)
 154
 155
 156     ####################################################
 157     # Settings
 158
 159     @classmethod
 160     def add_parameters(self, params):
 161         super().add_parameters(params)
 162
 163         params.front_paw_heel_influence = bpy.props.FloatProperty(
 164             name        = 'Heel IK Influence',
 165             default     = 0.8,
 166             min         = 0,
 167             max         = 1,
 168             description = 'Influence of the secondary IK on the heel control rotation'
 169         )
 170
 171     @classmethod
 172     def parameters_ui(self, layout, params):
 173         r = layout.row()
 174         r.prop(params, "front_paw_heel_influence", slider=True)
 175
 176         super().parameters_ui(layout, params)
 177
 178
 179 def create_sample(obj):
 180     # generated by rigify.utils.write_metarig
 181     bpy.ops.object.mode_set(mode='EDIT')
 182     arm = obj.data
 183
 184     bones = {}
 185
 186     bone = arm.edit_bones.new('front_thigh.L')
 187     bone.head = 0.0000, 0.0000, 0.6902
 188     bone.tail = 0.0000, 0.0916, 0.4418
 189     bone.roll = 0.0000
 190     bone.use_connect = False
 191     bones['front_thigh.L'] = bone.name
 192     bone = arm.edit_bones.new('front_shin.L')
 193     bone.head = 0.0000, 0.0916, 0.4418
 194     bone.tail = 0.0000, 0.1014, 0.1698
 195     bone.roll = 0.0000
 196     bone.use_connect = True
 197     bone.parent = arm.edit_bones[bones['front_thigh.L']]
 198     bones['front_shin.L'] = bone.name
 199     bone = arm.edit_bones.new('front_foot.L')
 200     bone.head = 0.0000, 0.1014, 0.1698
 201     bone.tail = 0.0000, 0.0699, 0.0411
 202     bone.roll = 0.0000
 203     bone.use_connect = True
 204     bone.parent = arm.edit_bones[bones['front_shin.L']]
 205     bones['front_foot.L'] = bone.name
 206     bone = arm.edit_bones.new('front_toe.L')
 207     bone.head = 0.0000, 0.0699, 0.0411
 208     bone.tail = 0.0000, -0.0540, 0.0000
 209     bone.roll = 3.1416
 210     bone.use_connect = True
 211     bone.parent = arm.edit_bones[bones['front_foot.L']]
 212     bones['front_toe.L'] = bone.name
 213
 214     bpy.ops.object.mode_set(mode='OBJECT')
 215     pbone = obj.pose.bones[bones['front_thigh.L']]
 216     pbone.rigify_type = 'limbs.front_paw'
 217     pbone.lock_location = (False, False, False)
 218     pbone.lock_rotation = (False, False, False)
 219     pbone.lock_rotation_w = False
 220     pbone.lock_scale = (False, False, False)
 221     pbone.rotation_mode = 'QUATERNION'
 222     try:
 223         pbone.rigify_parameters.limb_type = "paw"
 224     except AttributeError:
 225         pass
 226     try:
 227         pbone.rigify_parameters.fk_layers = [False, False, False, False, False, False, False, False, True, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False]
 228     except AttributeError:
 229         pass
 230     try:
 231         pbone.rigify_parameters.tweak_layers = [False, False, False, False, False, False, False, False, False, True, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False, False]
 232     except AttributeError:
 233         pass
 234     pbone = obj.pose.bones[bones['front_shin.L']]
 235     pbone.rigify_type = ''
 236     pbone.lock_location = (False, False, False)
 237     pbone.lock_rotation = (False, False, False)
 238     pbone.lock_rotation_w = False
 239     pbone.lock_scale = (False, False, False)
 240     pbone.rotation_mode = 'QUATERNION'
 241     pbone = obj.pose.bones[bones['front_foot.L']]
 242     pbone.rigify_type = ''
 243     pbone.lock_location = (False, False, False)
 244     pbone.lock_rotation = (False, False, False)
 245     pbone.lock_rotation_w = False
 246     pbone.lock_scale = (False, False, False)
 247     pbone.rotation_mode = 'QUATERNION'
 248     pbone = obj.pose.bones[bones['front_toe.L']]
 249     pbone.rigify_type = ''
 250     pbone.lock_location = (False, False, False)
 251     pbone.lock_rotation = (False, False, False)
 252     pbone.lock_rotation_w = False
 253     pbone.lock_scale = (False, False, False)
 254     pbone.rotation_mode = 'QUATERNION'
 255     try:
 256         pbone.rigify_parameters.limb_type = "paw"
 257     except AttributeError:
 258         pass
 259
 260     bpy.ops.object.mode_set(mode='EDIT')
 261     for bone in arm.edit_bones:
 262         bone.select = False
 263         bone.select_head = False
 264         bone.select_tail = False
 265     for b in bones:
 266         bone = arm.edit_bones[bones[b]]
 267         bone.select = True
 268         bone.select_head = True
 269         bone.select_tail = True
 270         bone.bbone_x = bone.bbone_z = bone.length * 0.05
 271         arm.edit_bones.active = bone
 272
 273     return bones