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OMR.py
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OMR.py
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import maya.cmds as mc
import maya.OpenMaya as OpenMaya
import numpy as np
import math as math
class OMR() :
def __init__(self, targetList, endEffectorList, srcEndEffectorList):
self.targetList = targetList
self.endEffectorList = endEffectorList
self.jntList, self.effectiveJntDic = self.getJntListAndEffectiveJntDic(self.endEffectorList)
self.srcJntList, self.srcEffectiveJntDic = self.getJntListAndEffectiveJntDic(srcEndEffectorList)
self.PI = 3.1415926535897932384626433832795
self.prevTargetPosList = None
self.prevJntAngleList = None
self.prevSrcJntAngleList = None
return
def getLocalAxes(self, eulerRotAngle, isEulerAngle=True):
axisX = OpenMaya.MVector(1,0,0)
axisY = OpenMaya.MVector(0,1,0)
axisZ = OpenMaya.MVector(0,0,1)
if(isEulerAngle==True):
for i in range(3):
eulerRotAngle[i]=eulerRotAngle[i]*(self.PI/180.0)
rot = OpenMaya.MEulerRotation(eulerRotAngle[0],eulerRotAngle[1],eulerRotAngle[2],OpenMaya.MEulerRotation.kXYZ)
axisX = axisX.rotateBy(rot)
axisY = axisY.rotateBy(rot)
axisZ = axisZ.rotateBy(rot)
tempAxis = [[0.,0.,0.],[0.,0.,0.],[0.,0.,0.]]
for i in range(3):
tempAxis[0][i] = axisX[i]
tempAxis[1][i] = axisY[i]
tempAxis[2][i] = axisZ[i]
return tempAxis
def parentJnts(self, endEffector):
old = endEffector
parentJntList = []
currentParent = mc.pickWalk(endEffector, d='up')
assert(len(currentParent)==1)
while(old != currentParent[0]):
parentJntList.append(currentParent[0])
old=currentParent[0]
currentParent = mc.pickWalk(currentParent[0], d='up')
assert(len(currentParent)==1)
mc.select(cl=True)
return parentJntList
def getJntListAndEffectiveJntDic(self, endEffectorList):
assert(len(self.targetList)==len(endEffectorList))
jntList=[]
effectiveJntDic={}
for i in range(len(endEffectorList)):
effectiveJntDic[endEffectorList[i]] = (self.parentJnts(endEffectorList[i]))
jntList.extend(self.parentJnts(endEffectorList[i]))
jntList = list(set(jntList))
return jntList, effectiveJntDic
def clampMagDiscrete(self):
return
def clampMag(self, posDisplace, Dmax):
if (sum(posDisplace*posDisplace)**0.5 <= Dmax ) :
result = posDisplace
else :
result = Dmax*(posDisplace/(sum(posDisplace*posDisplace)**0.5))
return result
def getJacobian(self, jntPosList, jntLocalAxesMat, endEffectorPosList):
J = np.zeros((len(self.endEffectorList)*3, len(self.jntList)*3))
for i in range(len(self.endEffectorList)):
for j in range(len(self.jntList)):
if self.jntList[j] in self.effectiveJntDic[self.endEffectorList[i]]:
for k in range(3) :
element = np.cross(jntLocalAxesMat[j][k], endEffectorPosList[i] - jntPosList[j])
J[3*i+0][3*j+k] = element[0]
J[3*i+1][3*j+k] = element[1]
J[3*i+2][3*j+k] = element[2]
else :
for k in range(3):
J[3*i+0][3*j+k] = 0
J[3*i+1][3*j+k] = 0
J[3*i+2][3*j+k] = 0
return J
def getDisplaceError(self, targetPosList, endEffectorPosList, D=0.0, Dmax=2.0):
e = np.zeros((len(self.endEffectorList)*3))
for i in range(len(self.endEffectorList)):
posDisplace = targetPosList[i] - endEffectorPosList[i]
posDisplace = self.clampMag(posDisplace, Dmax)
e[3*i + 0] = posDisplace[0]
e[3*i + 1] = posDisplace[1]
e[3*i + 2] = posDisplace[2]
return e
def DampedLeastSquare(self, Jacobian, D=0.0, Dmax=2.0, dampingConstant=3.0):
J = Jacobian
temp = np.dot(J,J.T)+(dampingConstant*dampingConstant)*np.identity(len(self.endEffectorList)*3,float)
J_inverse = np.dot(J.T, np.linalg.inv(temp))
return J_inverse
def ikSolver(self, currentTime):
targetPosMat = np.zeros((len(self.targetList), 3))
endEffectorPosMat = np.zeros((len(self.targetList), 3))
jntPosMat = np.zeros((len(self.jntList), 3))
jntAngleMat = np.zeros((len(self.jntList), 3))
for i in range(len(self.targetList)):
targetPosMat[i] = np.array(mc.xform(self.targetList[i], q=True, ws=True, t=True))
endEffectorPosMat[i] = np.array(mc.xform(self.endEffectorList[i], q=True, ws=True, t=True))
for i in range(len(self.jntList)):
jntPosMat[i] = np.array(mc.xform(self.jntList[i], q=True, ws=True, t=True))
jntAngleMat[i] = np.array(mc.xform(self.jntList[i], q=True, ws=True, ro=True))
jntLocalAxesMat = np.zeros((len(self.jntList),3, 3))
for i in range(len(self.jntList)):
jntLocalAxesMat[i] = self.getLocalAxes(jntAngleMat[i])
J = self.getJacobian(jntPosMat, jntLocalAxesMat, endEffectorPosMat)
J_inverse = self.DampedLeastSquare(J)
if currentTime == 1 :
self.prevTargetPosList = targetPosMat
displaceTargetPos = self.getDisplaceError(targetPosMat, endEffectorPosMat)
else :
displaceTargetPos = self.getDisplaceError(self.prevTargetPosList, targetPosMat)
jntAngles = np.dot(J_inverse, displaceTargetPos)
#to get fk funtion value f(theta). we need proper way.
degX = jntAngles[3*i]*(180/self.PI)
degY = jntAngles[3*i+1]*(180/self.PI)
degZ = jntAngles[3*i+2]*(180/self.PI)
mc.xform(self.jntList[i], eu=True, r=True, ro=[degX, degY, degZ])
tempTargetPosMat = np.zeros((len(self.targetList), 3))
for i in range(len(self.targetList)):
tempTargetPosMat[i] = np.array(mc.xform(self.endEffectorList[i], q=True, ws=True, t=True))
e = self.getDisplaceError(targetPosMat, tempTargetPosMat)
displaceTargetPos = displaceTargetPos+e
mc.xform(self.jntList[i], eu=True, r=True, ro=[-degX, -degY, -degZ])
self.prevTargetPosList = targetPosMat
#source joint list problem - should match src-target jnt list
self.srcJntList = [u'joint4', u'joint5', u'joint2', u'joint3', u'joint1']
srcJntAngles = np.zeros((len(self.srcJntList*3)))
for i in range(len(self.srcJntList)):
rot = mc.xform(self.srcJntList[i], eu=True, ro=True, r=True, q=True)
srcJntAngles[3*i] = rot[0]*(self.PI/180.0)
srcJntAngles[3*i+1] = rot[1]*(self.PI/180.0)
srcJntAngles[3*i+2] = rot[2]*(self.PI/180.0)
if self.prevSrcJntAngleList == None:
displaceSrcJntAngle = np.zeros(len(self.jntList)*3)
else :
displaceSrcJntAngle = srcJntAngles - self.prevSrcJntAngleList
tempMat = np.identity(len(self.jntList)*3,float) - np.dot(J_inverse, J)
secondaryJntAngles = np.dot(tempMat, displaceSrcJntAngle)
jntAngles = np.dot(J_inverse, displaceTargetPos) + secondaryJntAngles
self.prevJntAngleList = jntAngles
self.prevSrcJntAngleList = srcJntAngles
for i in range(len(self.jntList)):
degX = jntAngles[3*i]*(180.0/self.PI)
degY = jntAngles[3*i+1]*(180.0/self.PI)
degZ = jntAngles[3*i+2]*(180.0/self.PI)
mc.xform(self.jntList[i], eu=True, r=True, ro=[degX, degY, degZ])
mc.setKeyframe(['joint7','joint8','joint9','joint10','joint11','joint12'])
a = OMR(['locator1'],['joint12'], ['joint6'])
#a = OMR(['locator1','locator2','locator3','locator4'],['joint5','joint9','joint13','joint17'])
#a.ikSolver(['pSphere1', 'pSphere2'], [])
for i in range(200):
mc.currentTime(i+1)
a.ikSolver(mc.currentTime(q=True))