Merge branch 'dev'

README.md

@@ -34,7 +34,7 @@ Let's move the current frame to 1 or later and move the root. The joint-chain sh
 > Joint chain must meet the requirements [here](#Requirements-for-Joint).
 
 > 💡**Sample Script**  
-> [basic_usage.py](scripts/basic_usage.py) is a script to connect bonedynamicsNode to any joint chain. Please select and execute them in order from the root of the joint to the tip of the joint.  
+> [basic_usage.py](sample_scripts/basic_usage.py) is a script to connect bonedynamicsNode to any joint chain. Please select and execute them in order from the root of the joint to the tip of the joint.  
 
 ### Attributes to Check
 - `Enable` : Turning it off disables all calculations.  
@@ -55,7 +55,7 @@ Select the joint and execute "Bake Simulation" from the "Key" menu. Then delete
 ### Requirements for Joint
 - Rotate should be [0,0,0], with only the Joint Orient having a value.
 - Do not edit rotatePivot, rotatePivotTranslate, scalePivot, or scalePivotTranslate.  
-- Rotate Oeder is only available for xyz.  
+- Rotate Order is only available for xyz.  
 - Rotate Axis should remain [0,0,0].  
 - Leave Inherits Transform checked.  
 - Leave Offset Parent Matrix at its default value.  
@@ -136,7 +136,7 @@ Branching is possible, but good results are obtained with joints like the one on
 ![branching_skeleton](.images/branching_skeleton.png)
 
 > 💡**Sample Script**  
-> [advanced_usage.py](scripts/advanced_usage.py) is a script to connect bonedynamicsNode to any joint chain. Please select and execute them in order from the root of the joint to the tip of the joint.  
+> [advanced_usage.py](sample_scripts/advanced_usage.py) is a script to connect bonedynamicsNode to any joint chain. Please select and execute them in order from the root of the joint to the tip of the joint.  
 > - Enable per-section scaling.  
 > - If place the collider created by expcol as a child of 'collider_grp', to be connected.  
 > - If duplicate the joint-chain to be simulated and add '_target' to the end of the name, to allow manipulation of the target posture.  
@@ -170,3 +170,7 @@ cmake --build build_2024
 ## TODO
 - [ ] Additional Force  
 - [ ] Stretchable
+
+## Links
+- [Maya用お手軽ボーンダイナミクスノード「boneDynamicsNode」詳細解説 - Qiita](https://qiita.com/akasaki1211/items/ddae66ec2d89d21bb2f4)
+- [boneDynamicsNode Demo - Example of integration into FK rig - YouTube](https://www.youtube.com/watch?v=O5cpcMI_Jz0)

scripts/advanced_usage.py → sample_scripts/advanced_usage.py

@@ -103,7 +103,7 @@ def create_dynamics_node(
             capsule_col_idx += 1
 
         elif colliderType == 'infinitePlane':
-            cmds.connectAttr(col + ".worldMatrix[0]", boneDynamicsNode + ".infinitePlaneCollider[{}].infinitePlaneColMatrix".format(sphere_col_idx), f=True)
+            cmds.connectAttr(col + ".worldMatrix[0]", boneDynamicsNode + ".infinitePlaneCollider[{}].infinitePlaneColMatrix".format(iplane_col_cidx), f=True)
             iplane_col_cidx += 1
 
     return boneDynamicsNode

src/boneDynamicsNode.cpp

@@ -1,17 +1,5 @@
 #include "boneDynamicsNode.h"
 
-#include <maya/MFnNumericAttribute.h>
-#include <maya/MFnCompoundAttribute.h>
-#include <maya/MFnMatrixAttribute.h>
-#include <maya/MFnUnitAttribute.h>
-#include <maya/MTime.h>
-#include <maya/MVector.h>
-#include <maya/MPoint.h>
-#include <maya/MMatrix.h>
-#include <maya/MTransformationMatrix.h>
-#include <maya/MQuaternion.h>
-#include <maya/MEulerRotation.h>
-
 MTypeId boneDynamicsNode::s_id(0x7b001);
 
 MObject boneDynamicsNode::s_enable;
@@ -426,9 +414,10 @@ void boneDynamicsNode::angleLimit(const MVector& pivot, const MVector& a, MVecto
     }
 }
 
-MVector boneDynamicsNode::distanceConstraint(const MVector& pivot, const MVector& point, double distance)
+void boneDynamicsNode::distanceConstraint(const MVector& pivot, MVector& point, double distance)
 {
-    return pivot + ((point - pivot).normal() * distance);
+    // update point
+    point = pivot + ((point - pivot).normal() * distance);
 }
 
 MStatus boneDynamicsNode::compute(const MPlug& plug, MDataBlock& data)
@@ -470,7 +459,7 @@ MStatus boneDynamicsNode::compute(const MPlug& plug, MDataBlock& data)
     const MVector& rotationOffset = data.inputValue(s_rotationOffset).asVector();
 
     // get rotation offset matrix
-    const MEulerRotation rotationOffsetEuler(rotationOffset, MEulerRotation::RotationOrder::kXYZ); // Specified xyz
+    const MEulerRotation rotationOffsetEuler(rotationOffset, ROTATION_ORDER);
     const MMatrix roMatrix = rotationOffsetEuler.asMatrix();
     MMatrix roInverseMatrix;
     if (!roMatrix.isEquivalent(MMatrix::identity))
@@ -479,7 +468,7 @@ MStatus boneDynamicsNode::compute(const MPlug& plug, MDataBlock& data)
     }
 
     // get joint orient matrix
-    const MEulerRotation boneJointOrientEuler(boneJointOrient, MEulerRotation::RotationOrder::kXYZ); // Specified xyz
+    const MEulerRotation boneJointOrientEuler(boneJointOrient, ROTATION_ORDER);
     const MMatrix joMatrix = boneJointOrientEuler.asMatrix();
     MMatrix joInverseMatrix;
     if (!joMatrix.isEquivalent(MMatrix::identity))
@@ -607,11 +596,11 @@ MStatus boneDynamicsNode::compute(const MPlug& plug, MDataBlock& data)
     for (int i = 0; i < iter; i++)
     {
         // distance constraint
-        nextPosition = distanceConstraint(boneWorldTranslate, nextPosition, distance);
+        distanceConstraint(boneWorldTranslate, nextPosition, distance);
 
         //sphere collision
         for (unsigned int i = 0; i < scCount; i++) {
-            sphereColArrayHandle.jumpToElement(i);
+            sphereColArrayHandle.jumpToArrayElement(i);
             MDataHandle& sphereCollider = sphereColArrayHandle.inputValue();
             sphereCol_m = sphereCollider.child(s_sphereColMtx).asMatrix();
             sphereCol_p = sphereCol_m.getTranslation(MSpace::kWorld);
@@ -628,7 +617,7 @@ MStatus boneDynamicsNode::compute(const MPlug& plug, MDataBlock& data)
 
         //capsule collision
         for (unsigned int i = 0; i < ccCount; i++) {
-            capsuleColArrayHandle.jumpToElement(i);
+            capsuleColArrayHandle.jumpToArrayElement(i);
             MDataHandle& capsuleCollider = capsuleColArrayHandle.inputValue();
             capsuleCol_mA = capsuleCollider.child(s_capsuleColMtxA).asMatrix();
             capsuleCol_pA = capsuleCol_mA.getTranslation(MSpace::kWorld);
@@ -675,7 +664,7 @@ MStatus boneDynamicsNode::compute(const MPlug& plug, MDataBlock& data)
 
         //infinite plane collision
         for (unsigned int i = 0; i < pcCount; i++) {
-            iPlaneColArrayHandle.jumpToElement(i);
+            iPlaneColArrayHandle.jumpToArrayElement(i);
             MDataHandle& iPlaneCollider = iPlaneColArrayHandle.inputValue();
             iPlaneCol_m = iPlaneCollider.child(s_iPlaneColMtx).asMatrix();
             iPlaneCol_p = iPlaneCol_m.getTranslation(MSpace::kWorld);
@@ -721,7 +710,7 @@ MStatus boneDynamicsNode::compute(const MPlug& plug, MDataBlock& data)
     }
 
     // distance constraint
-    nextPosition = distanceConstraint(boneWorldTranslate, nextPosition, distance);
+    distanceConstraint(boneWorldTranslate, nextPosition, distance);
 
     // update velocity
     m_velocity = (nextPosition - m_position) / dt;

src/boneDynamicsNode.h

@@ -2,8 +2,17 @@
 
 #include <maya/MPxNode.h>
 #include <maya/MTypeId.h>
+#include <maya/MFnNumericAttribute.h>
+#include <maya/MFnCompoundAttribute.h>
+#include <maya/MFnMatrixAttribute.h>
+#include <maya/MFnUnitAttribute.h>
+#include <maya/MTime.h>
 #include <maya/MVector.h>
+#include <maya/MPoint.h>
 #include <maya/MMatrix.h>
+#include <maya/MTransformationMatrix.h>
+#include <maya/MQuaternion.h>
+#include <maya/MEulerRotation.h>
 
 class boneDynamicsNode : public MPxNode
 {
@@ -84,7 +93,9 @@ class boneDynamicsNode : public MPxNode
     //static double getFPS();
     double degToRad(double deg);
     void angleLimit(const MVector& pivot, const MVector& a, MVector& b, const double limitAngle);
-    MVector distanceConstraint(const MVector& pivot, const MVector& point, double distance);
+    void distanceConstraint(const MVector& pivot, MVector& point, double distance);
+
+    static const MEulerRotation::RotationOrder ROTATION_ORDER = MEulerRotation::RotationOrder::kXYZ;
 
     bool m_init;
     MMatrix m_prevOffsetMatrix;

src/pluginMain.cpp

@@ -7,7 +7,7 @@
 MStatus initializePlugin(MObject obj)
 {
     MStatus status;
-    MFnPlugin plugin(obj, "Hiroyuki Akasaki", "0.2.0", "Any");
+    MFnPlugin plugin(obj, "Hiroyuki Akasaki", "0.2.1", "Any");
 
     status = plugin.registerNode(boneDynamicsNodeName, boneDynamicsNode::s_id, boneDynamicsNode::creator, boneDynamicsNode::initialize);
     if (!status) {