Fixed build_ik...the start joint was actually never being respected f…

…rom the start if you don't set the flag... Fixed the duplicate condition for Foot building and hopefully fixed the build_ik_toe chain builds. Removed the toeEnd joint so retargetted all the test builds to the toe. Added a foot with leg test skeleton file to test integration with a preexisting leg setup.
AndresMWeber · Feb 8, 2018 · 9751758 · 9751758
1 parent 0c96a14
commit 9751758
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Showing 8 changed files with 161 additions and 200 deletions.
diff --git a/anvil/sub_rig_templates/base.py b/anvil/sub_rig_templates/base.py
@@ -11,11 +11,13 @@ class SubRigTemplate(nt.SubRig):
     BUILT_IN_ATTRIBUTES = nt.SubRig.BUILT_IN_ATTRIBUTES.merge({cfg.IKFK_BLEND: at.ZERO_TO_ONE_KWARGS}, new=True)
     DEFAULT_FK_SHAPE = cfg.DEFAULT_FK_SHAPE
 
-    def build_ik(self, hierarchy, solver=cfg.IK_RP_SOLVER, parent=None, **kwargs):
-        kwargs.update({'endEffector': str(hierarchy.tail), 'solver': solver})
-        handle, effector = rt.dcc.rigging.ik_handle(str(hierarchy.head), **kwargs)
+    @classmethod
+    def build_ik(cls, hierarchy, solver=cfg.IK_RP_SOLVER, sticky=True, parent=None, **kwargs):
+        kwargs.update({'startJoint': str(hierarchy.head), 'endEffector': str(hierarchy.tail), 'solver': solver})
+        handle, effector = rt.dcc.rigging.ik_handle(**kwargs)
         if parent:
             rt.dcc.scene.parent(handle, parent)
+        handle.stickiness.set(sticky)
         return {cfg.NODE_TYPE: [anvil.factory(handle, **kwargs), anvil.factory(effector, **kwargs)]}
 
     def build_blend_chain(self, layout_joints, source_chains, duplicate=True, **kwargs):

diff --git a/anvil/sub_rig_templates/biped_foot.py b/anvil/sub_rig_templates/biped_foot.py
@@ -24,7 +24,7 @@ class BipedFoot(SubRigTemplate):
                       cfg.RIGHT: '_'.join([cfg.LEFT, cfg.RIGHT])},
     }
 
-    def __init__(self, heel=None, outsole=None, insole=None, has_ik=False, leg_ik=None, *args, **kwargs):
+    def __init__(self, heel=None, outsole=None, insole=None, has_ik=True, leg_ik=None, *args, **kwargs):
         super(BipedFoot, self).__init__(*args, **kwargs)
         self.ankle, self.ball, self.toe = self.layout_joints
         self.heel = heel
@@ -46,14 +46,16 @@ def get_control_shape(self, label):
 
     def build(self, duplicate=True, **kwargs):
         super(BipedFoot, self).build(**kwargs)
-        joints = self.layout_joints[0].duplicate(all_children=True)
+        if duplicate:
+            self.ankle, self.ball, self.toe = nt.HierarchyChain(self.layout_joints[0].duplicate(all_children=True))
 
-        last = self.build_node(nt.Control, '%s_%s' % (cfg.CONTROL_TYPE, self.ANKLE_TOKEN),
-                               shape=self.get_control_shape(self.ANKLE_TOKEN),
-                               reference_object=self.ankle,
-                               parent=self.group_controls,
-                               rotate=False,
-                               name_tokens={cfg.PURPOSE: self.ANKLE_TOKEN})
+        ankle_control = self.build_node(nt.Control, '%s_%s' % (cfg.CONTROL_TYPE, self.ANKLE_TOKEN),
+                                        shape=self.get_control_shape(self.ANKLE_TOKEN),
+                                        reference_object=self.ankle,
+                                        parent=self.group_controls,
+                                        rotate=False,
+                                        name_tokens={cfg.PURPOSE: self.ANKLE_TOKEN})
+        last = ankle_control.connection_group
 
         for reference_object, label in zip([self.heel, self.toe, self.ball],
                                            [self.HEEL_TOKEN, self.TOE_TOKEN, self.BALL_TOKEN]):
@@ -75,13 +77,22 @@ def build(self, duplicate=True, **kwargs):
         self.rename()
 
     def build_ik_toe(self):
-        toe_ball_chain = nt.HierarchyChain(self.toe, node_filter=cfg.JOINT_TYPE)
-        result = self.build_ik(toe_ball_chain, solver=cfg.IK_SC_SOLVER, parent=self.group_nodes)
-        handle, effector = result[cfg.NODE_TYPE]
+        foot_ball_result = self.build_ik(nt.HierarchyChain(self.ankle, self.ball, node_filter=cfg.JOINT_TYPE),
+                                         solver=cfg.IK_SC_SOLVER, parent=self.control_ball.connection_group)
+        handle, effector = foot_ball_result[cfg.NODE_TYPE]
+        self.register_node('%s_%s' % (self.name_tokens.name, cfg.IK_HANDLE), handle,
+                           name_tokens={cfg.NAME: self.ANKLE_TOKEN, cfg.TYPE: cfg.IK_HANDLE})
+        self.register_node('%s_%s' % (self.name_tokens.name, cfg.IK_EFFECTOR), effector,
+                           name_tokens={cfg.NAME: self.ANKLE_TOKEN, cfg.TYPE: cfg.IK_EFFECTOR})
+
+        ball_toe_result = self.build_ik(nt.HierarchyChain(self.ball, self.toe, node_filter=cfg.JOINT_TYPE),
+                                        solver=cfg.IK_SC_SOLVER, parent=self.control_toe.connection_group)
+        handle, effector = ball_toe_result[cfg.NODE_TYPE]
         self.register_node('%s_%s' % (self.name_tokens.name, cfg.IK_HANDLE), handle,
                            name_tokens={cfg.NAME: self.BALL_TOKEN, cfg.TYPE: cfg.IK_HANDLE})
         self.register_node('%s_%s' % (self.name_tokens.name, cfg.IK_EFFECTOR), effector,
                            name_tokens={cfg.NAME: self.BALL_TOKEN, cfg.TYPE: cfg.IK_EFFECTOR})
+
         if self.leg_ik:
             self.leg_ik.parent(self.ball)
 
@@ -91,4 +102,4 @@ def build_fk_toe(self):
                                 name_tokens={cfg.PURPOSE: 'cancel',
                                              cfg.TYPE: cfg.MULT_DIV_TYPE,
                                              'protected': cfg.TYPE})
-        #md.input1D.connect()
+        # md.input1D.connect()
diff --git a/tests/acceptance/test_biped.py b/tests/acceptance/test_biped.py
@@ -19,9 +19,9 @@ def from_template_file(cls, template_file, **kwargs):
             cfg.RIGHT + '_' + cfg.ARM: {cfg.LAYOUT: nt.HierarchyChain('r_armA_JNT', 'r_armC_JNT')},
             cfg.LEFT + '_' + cfg.LEG: {cfg.LAYOUT: nt.HierarchyChain('l_legA_JNT', 'l_legC_JNT')},
             cfg.RIGHT + '_' + cfg.LEG: {cfg.LAYOUT: nt.HierarchyChain('r_legA_JNT', 'r_legC_JNT')},
-            cfg.LEFT + '_' + cfg.FOOT: {cfg.LAYOUT: nt.HierarchyChain('l_legC_JNT', 'l_foot_toeEnd_JNT'),
+            cfg.LEFT + '_' + cfg.FOOT: {cfg.LAYOUT: nt.HierarchyChain('l_legC_JNT', 'l_foot_toe_JNT'),
                                         'heel': 'l_foot_heel_JNT'},
-            cfg.RIGHT + '_' + cfg.FOOT: {cfg.LAYOUT: nt.HierarchyChain('r_legC_JNT', 'r_foot_toeEnd_JNT'),
+            cfg.RIGHT + '_' + cfg.FOOT: {cfg.LAYOUT: nt.HierarchyChain('r_legC_JNT', 'r_foot_toe_JNT'),
                                          'heel': 'r_foot_heel_JNT'},
             cfg.SPINE: nt.HierarchyChain('spineA_JNT', 'spineE_JNT'),
             cfg.NECK: nt.HierarchyChain('neckA_JNT', 'neckEnd_JNT'),

diff --git a/tests/acceptance/test_biped_foot.py b/tests/acceptance/test_biped_foot.py
@@ -2,20 +2,22 @@
 import anvil.node_types as nt
 from anvil.sub_rig_templates import BipedFoot
 from tests.base_test import TestBase, cleanup_nodes
+import anvil.config as cfg
 
 
 class TestBaseTemplateRigs(TestBase):
     name_tokens = {'name': 'eye', 'purpose': 'mvp'}
     test_rig = None
-    TEMPLATE_CLASS = None
+    TEMPLATE_CLASS = BipedFoot
 
 
 class TestBuildBipedFoot(TestBaseTemplateRigs):
     @classmethod
-    def from_template_file(cls, template_file, **kwargs):
-        cls.import_template_files(template_file)
-        rig_instance = BipedFoot(layout_joints=[nt.Transform(n) for n in ['foot', 'ball', 'toe', 'end']],
-                                 heel=nt.Transform('heel'))
+    def from_template_file(cls, template_file, skip_import=False, **kwargs):
+        if not skip_import:
+            cls.import_template_files(template_file)
+        rig_instance = cls.TEMPLATE_CLASS(layout_joints=[nt.Transform(n) for n in ['foot', 'ball', 'toe']],
+                                          heel=nt.Transform('heel'))
         rig_instance.build(**kwargs)
         return rig_instance
 
@@ -29,6 +31,17 @@ def test_build_with_parent(self):
             rig_instance = self.from_template_file(self.FOOT, parent=parent)
             self.assertEqual(str(rig_instance.root.get_parent()), str(parent))
 
+    def test_build_with_leg_ik(self):
+        with cleanup_nodes():
+            parent = nt.Transform.build(name='test')
+            self.import_template_files(self.FOOT_WITH_LEG)
+            foot_ball_result = self.TEMPLATE_CLASS.build_ik(
+                nt.HierarchyChain('hip', 'foot', node_filter=cfg.JOINT_TYPE),
+                solver=cfg.IK_RP_SOLVER)
+            handle, effector = foot_ball_result[cfg.NODE_TYPE]
+            rig_instance = self.from_template_file(None, leg_ik=handle, skip_import=True, parent=parent)
+            self.assertEqual(str(rig_instance.root.get_parent()), str(parent))
+
 
 class TestBuildBipedFootHierarchy(TestBaseTemplateRigs):
     @classmethod
@@ -40,7 +53,10 @@ def test_number_of_controls(self):
             len(list([node for key, node in iteritems(self.rig.hierarchy) if isinstance(node, nt.Control)])), 4)
 
     def test_control_positions_match(self):
-        components = [BipedFoot.TOE_TOKEN, BipedFoot.BALL_TOKEN, BipedFoot.ANKLE_TOKEN, BipedFoot.HEEL_TOKEN]
+        components = [self.TEMPLATE_CLASS.TOE_TOKEN,
+                      self.TEMPLATE_CLASS.BALL_TOKEN,
+                      self.TEMPLATE_CLASS.ANKLE_TOKEN,
+                      self.TEMPLATE_CLASS.HEEL_TOKEN]
         for component in components:
             control = getattr(self.rig, 'control_%s' % component)
             joint = getattr(self.rig, component)