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Added option to swap axes orientation on rider constraint #42

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Added option to swap axes orientation on rider constraint #42

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6 changes: 5 additions & 1 deletion scripts/AEriderConstraintTemplate.mel
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Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,14 @@ global proc AEriderConstraintTemplate( string $nodeName ) {
editorTemplate -beginScrollLayout;

editorTemplate -beginLayout "Global Attributes" -collapse 0;
editorTemplate -label "Inverse Forward" -addControl "inverseForward";
editorTemplate -label "Inverse Up" -addControl "inverseUp";
editorTemplate -label "Forward Axis" -addControl "forwardAxis";
editorTemplate -label "Up Axis" -addControl "upAxis";
editorTemplate -label "Rotate Order" -addControl "rotateOrder";
editorTemplate -label "Global Offset" -addControl "globalOffset";
editorTemplate -label "Global Spread" -addControl "globalSpread";
editorTemplate -label "Scale Compensation" -addControl "scaleCompensation";
editorTemplate -label "Rotate Order" -addControl "rotateOrder";
editorTemplate -label "Use Cycle" -addControl "useCycle";
editorTemplate -label "Normalize" -addControl "normalize";
editorTemplate -label "Norm Value" -addControl "normValue";
Expand Down
1 change: 1 addition & 0 deletions scripts/twistSplineBuilder.py
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Original file line number Diff line number Diff line change
Expand Up @@ -761,6 +761,7 @@ def buildRiders(pfx, spline, master, numJoints, closed=False):
)
cmds.connectAttr(f"{cnst}.outputs[{i}].rotate", f"{jPars[i]}.rotate")
cmds.connectAttr(f"{cnst}.outputs[{i}].scale", f"{jPars[i]}.scale")
cmds.connectAttr(f"{cnst}.rotateOrder", f"{jPars[i]}.rotateOrder")

return jPars, joints, jointsGrp, cnst

Expand Down
229 changes: 223 additions & 6 deletions src/riderConstraint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,10 +54,18 @@ SOFTWARE.
#define ROTATE_ORDER_YXZ 4
#define ROTATE_ORDER_ZYX 5

#define X_AXIS 0
#define Y_AXIS 1
#define Z_AXIS 2

#define CHECKSTAT(m) if (!status) {status.perror(m); return status;};

MTypeId riderConstraint::id(0x001226FC);

MObject riderConstraint::aForwardAxis;
MObject riderConstraint::aForwardAxisInverse;
MObject riderConstraint::aUpAxis;
MObject riderConstraint::aUpAxisInverse;
MObject riderConstraint::aRotateOrder;
MObject riderConstraint::aGlobalOffset;
MObject riderConstraint::aGlobalSpread;
Expand Down Expand Up @@ -102,6 +110,7 @@ MObject riderConstraint::aOutputs;
MObject riderConstraint::aScaleX;
MObject riderConstraint::aScaleY;
MObject riderConstraint::aScaleZ;
MObject riderConstraint::aOutputMatrix;

MStatus riderConstraint::initialize() {
MStatus status;
Expand All @@ -112,7 +121,47 @@ MStatus riderConstraint::initialize() {
MFnEnumAttribute eAttr;
MFnCompoundAttribute cAttr;

aForwardAxisInverse = nAttr.create("inverseForward", "invfwd", MFnNumericData::kBoolean, false, &status);
CHECKSTAT("aForwardAxisInverse");
nAttr.setKeyable(false);
nAttr.setChannelBox(true);
status = addAttribute(aForwardAxisInverse);
CHECKSTAT("aForwardAxisInverse");

aUpAxisInverse = nAttr.create("inverseUp", "invup", MFnNumericData::kBoolean, false, &status);
CHECKSTAT("aUpAxisInverse");
nAttr.setKeyable(false);
nAttr.setChannelBox(true);
status = addAttribute(aUpAxisInverse);
CHECKSTAT("aUpAxisInverse");

// Single inputs
aForwardAxis = eAttr.create("forwardAxis", "frax", X_AXIS, &status);
CHECKSTAT("aForwardAxis");
eAttr.setKeyable(false);
eAttr.setChannelBox(true);
status = eAttr.addField("X", X_AXIS);
CHECKSTAT("aForwardAxis");
status = eAttr.addField("Y", Y_AXIS);
CHECKSTAT("aForwardAxis");
status = eAttr.addField("Z", Z_AXIS);
CHECKSTAT("aForwardAxis");
status = addAttribute(aForwardAxis);
CHECKSTAT("aForwardAxis");

aUpAxis = eAttr.create("upAxis", "upax", Y_AXIS, &status);
CHECKSTAT("aUpAxis");
eAttr.setKeyable(false);
eAttr.setChannelBox(true);
status = eAttr.addField("X", X_AXIS);
CHECKSTAT("aUpAxis");
status = eAttr.addField("Y", Y_AXIS);
CHECKSTAT("aUpAxis");
status = eAttr.addField("Z", Z_AXIS);
CHECKSTAT("aUpAxis");
status = addAttribute(aUpAxis);
CHECKSTAT("aUpAxis");

aRotateOrder = eAttr.create("rotateOrder", "ro", ROTATE_ORDER_XYZ, &status);
CHECKSTAT("aRotateOrder");
eAttr.setKeyable(true);
Expand Down Expand Up @@ -333,11 +382,16 @@ MStatus riderConstraint::initialize() {
nAttr.setWritable(false);
nAttr.setStorable(false);

aOutputMatrix = mAttr.create("outputMatrix", "omat", MFnMatrixAttribute::kDouble, &status);
CHECKSTAT("aParentInverseMatrix");
mAttr.setHidden(true);

aOutputs = cAttr.create("outputs", "out", &status);
CHECKSTAT("aOutputs");
cAttr.setHidden(true);
cAttr.setArray(true);
cAttr.setUsesArrayDataBuilder(true);
cAttr.addChild(aOutputMatrix);
cAttr.addChild(aTranslate);
cAttr.addChild(aRotate);
cAttr.addChild(aScale);
Expand All @@ -354,11 +408,13 @@ MStatus riderConstraint::initialize() {
&aInputSplines, &aSpline, &aSplineLength, &aEndParam, &aWeight, &aParams, &aParam,
&aParentInverseMatrix, &aGlobalOffset, &aUseCycle, &aGlobalSpread, &aNormalize,
&aNormValue, &aUseMin, &aMinParam, &aUseMax, &aMaxParam,
&aUseGlobalMin, &aMinGlobalParam, &aUseGlobalMax, &aMaxGlobalParam, &aScaleCompensation
&aUseGlobalMin, &aMinGlobalParam, &aUseGlobalMax, &aMaxGlobalParam, &aScaleCompensation,
&aForwardAxis, &aForwardAxisInverse,
&aUpAxis, &aUpAxisInverse
};

std::vector<MObject *> oobjs = {
&aOutputs, &aTranslate, &aRotate, &aScale, &aTranslateX, &aRotateX, &aScaleX,
&aOutputs, &aOutputMatrix, &aTranslate, &aRotate, &aScale, &aTranslateX, &aRotateX, &aScaleX,
&aTranslateY, &aRotateY, &aScaleY, &aTranslateZ, &aRotateZ, &aScaleZ
};

Expand All @@ -373,6 +429,7 @@ MStatus riderConstraint::initialize() {

MStatus riderConstraint::compute(const MPlug& plug, MDataBlock& data) {
if (plug == aOutputs ||
plug == aOutputMatrix ||
plug == aScale || plug == aScaleX || plug == aScaleY || plug == aScaleZ ||
plug == aRotate || plug == aRotateX || plug == aRotateY || plug == aRotateZ ||
plug == aTranslate || plug == aTranslateX || plug == aTranslateY || plug == aTranslateZ
Expand Down Expand Up @@ -494,6 +551,11 @@ MStatus riderConstraint::compute(const MPlug& plug, MDataBlock& data) {
inPAH.next();
}

MDataHandle fwdAxisH = data.inputValue(aForwardAxis);
MDataHandle fwdAxisInvH = data.inputValue(aForwardAxisInverse);
MDataHandle upAxisH = data.inputValue(aUpAxis);
MDataHandle upAxisInvH = data.inputValue(aUpAxisInverse);

// Deal with cycling and the global offset
MDataHandle gOffsetH = data.inputValue(aGlobalOffset);
MDataHandle gSpreadH = data.inputValue(aGlobalSpread);
Expand All @@ -508,6 +570,13 @@ MStatus riderConstraint::compute(const MPlug& plug, MDataBlock& data) {
MDataHandle normalizeH = data.inputValue(aNormalize);
MDataHandle normValueH = data.inputValue(aNormValue);

// Get the forward and up axes so the rotation matrix can be reshuffled to match
// them
short fwdAxis = fwdAxisH.asShort();
bool fwdAxisInv = fwdAxisInvH.asBool();
short upAxis = upAxisH.asShort();
bool upAxisInv = upAxisInvH.asBool();

// Both the normalized value and the globalSpread have to be scaled up
// when the global rig scales.
double doNorm = normalizeH.asDouble();
Expand Down Expand Up @@ -651,6 +720,7 @@ MStatus riderConstraint::compute(const MPlug& plug, MDataBlock& data) {
for (size_t pIdx = 0; pIdx < params.size(); ++pIdx) {

MDataHandle outH = builder.addElement(static_cast<unsigned>(pIdx));
MDataHandle matH = outH.child(aOutputMatrix);
MDataHandle tranH = outH.child(aTranslate);
MDataHandle rotH = outH.child(aRotate);
MDataHandle sclH = outH.child(aScale);
Expand All @@ -660,12 +730,41 @@ MStatus riderConstraint::compute(const MPlug& plug, MDataBlock& data) {
MMatrix qmat = oquats[pIdx].asMatrix() * invPar;
MPoint &scale = oscales[pIdx];

// Ugh, the only way to convert to quat to euler *with a given rot order*
// is expanding to matrix and decomposing
MEulerRotation meu = MEulerRotation::decompose(qmat, (MEulerRotation::RotationOrder)order);
// Certain API classes expose rotations orders from 0 to 5, while some
// other from 1 to 6. The MTransformationMatrix one uses the latter, so
// the constants have to be remapped to it
MTransformationMatrix::RotationOrder rotOrder;
switch (order) {
case ROTATE_ORDER_XYZ:
rotOrder = MTransformationMatrix::kXYZ; break;
case ROTATE_ORDER_YZX:
rotOrder = MTransformationMatrix::kYZX; break;
case ROTATE_ORDER_ZXY:
rotOrder = MTransformationMatrix::kZXY; break;
case ROTATE_ORDER_XZY:
rotOrder = MTransformationMatrix::kXZY; break;
case ROTATE_ORDER_YXZ:
rotOrder = MTransformationMatrix::kYXZ; break;
case ROTATE_ORDER_ZYX:
rotOrder = MTransformationMatrix::kZYX; break;
default:
rotOrder = MTransformationMatrix::kInvalid; break;
}

// Compose the output matrix
MTransformationMatrix tfmat =
riderConstraint::recomputeRotationMatrix(
qmat, fwdAxis, upAxis, fwdAxisInv, upAxisInv, rotOrder);
tfmat.setTranslation(tran, MSpace::kWorld);
double rot[3];
tfmat.getRotation(rot, rotOrder);
double dscale[4];
scale.get(dscale);
tfmat.setScale(dscale, MSpace::kWorld);

matH.setMMatrix(tfmat.asMatrix());
tranH.set3Double(tran[0], tran[1], tran[2]);
rotH.set3Double(meu.x, meu.y, meu.z);
rotH.set3Double(rot[0], rot[1], rot[2]);
sclH.set3Double(scale[0], scale[1], scale[2]);
}
outHandle.set(builder);
Expand All @@ -683,3 +782,121 @@ void riderConstraint::postConstructor() {
MFnDependencyNode nodeFn(thisMObject());
nodeFn.setIcon("riderConstraint.png");
}

MTransformationMatrix riderConstraint::recomputeRotationMatrix(
const MMatrix& matrix,
const short& forwardAxisIdx,
const short& upAxisIdx,
const bool& inverseForward,
const bool& inverseUp,
const MTransformationMatrix::RotationOrder& order) {
/*
Populate different permutation and inverse matrices depending on the
axes chosen. It's easier to deal with split inversion of forward and
up vectors from a rotation (radians) perspective, as each one will just
require one axis to rotate by PI. The resulting matrix will be composed
as following, and all rotations will be reordered to the given order:

inversion matrix * permutation matrix * input matrix
*/

if (forwardAxisIdx == upAxisIdx) {
MGlobal::displayWarning("Forward and up axis cannot be the same!");
}

MTransformationMatrix result;
MMatrix permutation;
MTransformationMatrix inversion;
double rotations[3] = {0.0, 0.0, 0.0};

// -- Defaults (X forward, Y up)
if (forwardAxisIdx == X_AXIS && upAxisIdx == Y_AXIS) {
rotations[1] = inverseForward ? M_PI : 0.0;
rotations[0] = inverseUp ? M_PI : 0.0;
}

// Create a permutation matrix and only modify the axes needed for a specific
// operation
// -- X forward
if (forwardAxisIdx == X_AXIS && upAxisIdx == Z_AXIS) {
/*
X forward, Z up
[1, 0, 0, 0]
[0, 0, -1, 0]
[0, 1, 0, 0]
[0, 0, 0, 1]
*/
permutation[1][1] = 0.0; permutation[1][2] = -1.0;
permutation[2][1] = 1.0; permutation[2][2] = 0.0;
rotations[Z_AXIS] = inverseForward ? M_PI : 0.0;
rotations[X_AXIS] = inverseUp ? M_PI : 0.0;
}

// -- Y forward
if (forwardAxisIdx == Y_AXIS && upAxisIdx == X_AXIS) {
/*
Y forward, X up
[0, 1, 0, 0]
[1, 0, 0, 0]
[0, 0, -1, 0]
[0, 0, 0, 1]
*/
permutation[0][0] = 0.0; permutation[0][1] = 1.0;
permutation[1][0] = 1.0; permutation[1][1] = 0.0;
permutation[2][2] = -1.0;
rotations[X_AXIS] = inverseForward ? M_PI : 0.0;
rotations[Y_AXIS] = inverseUp ? M_PI : 0.0;
}

if (forwardAxisIdx == Y_AXIS && upAxisIdx == Z_AXIS) {
/*
Y forward, Z up
[0, 0, 1, 0]
[1, 0, 0, 0]
[0, 1, 0, 0]
[0, 0, 0, 1]
*/
permutation[0][0] = 0.0; permutation[0][2] = 1.0;
permutation[1][0] = 1.0; permutation[1][1] = 0.0;
permutation[2][1] = 1.0; permutation[2][2] = 0.0;
rotations[Z_AXIS] = inverseForward ? M_PI : 0.0;
rotations[Y_AXIS] = inverseUp ? M_PI : 0.0;
}

// -- Z forward
if (forwardAxisIdx == Z_AXIS && upAxisIdx == X_AXIS) {
/*
Z forward, X up
[0, 1, 0, 0]
[0, 0, 1, 0]
[1, 0, 0, 0]
[0, 0, 0, 1]
*/
permutation[0][0] = 0.0; permutation[0][1] = 1.0;
permutation[1][1] = 0.0; permutation[1][2] = 1.0;
permutation[2][0] = 1.0; permutation[2][2] = 0.0;
rotations[X_AXIS] = inverseForward ? M_PI : 0.0;
rotations[Z_AXIS] = inverseUp ? M_PI : 0.0;
}

if (forwardAxisIdx == Z_AXIS && upAxisIdx == Y_AXIS) {
/*
Z forward, Y up
[0, 0, -1, 1]
[0, 1, 0, 1]
[1, 0, 0, 1]
[0, 0, 0, 1]
*/
permutation[0][0] = 0.0; permutation[0][2] = -1.0;
permutation[2][0] = 1.0; permutation[2][2] = 0.0;
rotations[Y_AXIS] = inverseForward ? M_PI : 0.0;
rotations[Z_AXIS] = inverseUp ? M_PI : 0.0;
}

inversion.setRotation(rotations, MTransformationMatrix::RotationOrder::kXYZ);

result = inversion.asMatrix() * permutation * matrix;
result.reorderRotation(order);

return result;
}
17 changes: 15 additions & 2 deletions src/riderConstraint.h
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Expand Up @@ -23,8 +23,10 @@ SOFTWARE.
*/

#pragma once
#include <maya/MGlobal.h>
#include <maya/MPxNode.h>
#include <maya/MFnDependencyNode.h>
#include "math.h"

class riderConstraint : public MPxNode {
public:
Expand All @@ -38,6 +40,10 @@ class riderConstraint : public MPxNode {

public:
// inputs
static MObject aForwardAxis;
static MObject aForwardAxisInverse;
static MObject aUpAxis;
static MObject aUpAxisInverse;
static MObject aRotateOrder;
static MObject aGlobalOffset;
static MObject aGlobalSpread;
Expand Down Expand Up @@ -69,7 +75,7 @@ class riderConstraint : public MPxNode {

// output
static MObject aOutputs;
static MObject aOutMat;
static MObject aOutputMatrix;
static MObject aTranslate;
static MObject aTranslateX;
static MObject aTranslateY;
Expand All @@ -84,5 +90,12 @@ class riderConstraint : public MPxNode {
static MObject aScaleZ;

static MTypeId id;
};

static MTransformationMatrix recomputeRotationMatrix(
const MMatrix& matrix,
const short& forwardAxisIdx,
const short& upAxisIdx,
const bool& inverseForward,
const bool& inverseUp,
const MTransformationMatrix::RotationOrder& order);
};