lab/procwalk/walk.py

import hou
import math


# /////////////////////////////////////// utils
def lerp(t, a, b):
    return a + t * (b - a)


def roundVec(v, fac, seed):
    #seed = random.random()*0.1
    seed = 0.1 * seed - 0.05 * seed
    x = (round(v[0] * fac + seed)) / fac
    y = (round(v[1] * fac + seed)) / fac
    z = (round(v[2] * fac + seed)) / fac
    return hou.Vector3(x, y, z)


def find_nearest(v, node, maxdist=3):
    # TODO probably take the nearest topmost point
    geo = node.displayNode().geometry()
    nearest = [maxdist, v]
    for p in geo.points():
        dist = p.position().distanceTo(v)
        if dist < nearest[0]:
            nearest[0] = dist
            nearest[1] = p.position()
    return nearest[1]


# /////////////////////////////////////// setup
def leg_capturepos(leg):
    p = leg.capture_pos
    t = hou.hmath.buildTranslate(p[0], p[1], p[2])
    return t * PARENT_WT


def place_legs():
    for no, leg in enumerate(LEGS):
        # print leg.name(), no
        p = leg_capturepos(leg)
        leg.restpos = p.extractTranslates()


def move_legs_gnd():
    # distribute_legs()
    place_legs()

    for no, leg in enumerate(LEGS):
        lt = hou.Vector3(leg.parmTuple("t").eval())
        next_p = find_nearest(lt, GROUND)
        dist = next_p.distanceTo(leg.restpos)
        if dist > COMFORT_LENGTH:
            # print 'setting', leg
            next_restp = find_nearest(leg.restpos, GROUND)
            t = hou.hmath.buildTranslate(
                next_restp[0], next_restp[1], next_restp[2])
            leg.setParmTransform(t)
        else:
            pass
            #t = hou.hmath.buildTranslate(next_p[0], next_p[1], next_p[2])
            # leg.setParmTransform(t)


def remove_keyframes():
    if hou.frame() == 1:
        """
        delete all keyframes if rewound
        (@ frame 1)
        """
        for leg in LEGS:
            parm = leg.parmTuple("t")
            parm.deleteAllKeyframes()


def set_keys():
    """
    Set keyframe for all legs
    """
    frame = hou.frame()

    if frame == CAPTURE_FRAME:
        return

    for leg in LEGS:
        pos = hou.Vector3(leg.parmTuple("t").eval())
        kfx = hou.Keyframe()
        kfx.setFrame(frame)
        kfx.setValue(pos[0])
        kfy = hou.Keyframe()
        kfy.setFrame(frame)
        kfy.setValue(pos[1])
        kfz = hou.Keyframe()
        kfz.setFrame(frame)
        kfz.setValue(pos[2])
        tchanx = hou.parm('../' + leg.name() + '/tx')
        tchany = hou.parm('../' + leg.name() + '/ty')
        tchanz = hou.parm('../' + leg.name() + '/tz')
        tchanx.setKeyframe(kfx)
        tchany.setKeyframe(kfy)
        tchanz.setKeyframe(kfz)


# /////////////////////////////////////// globals
THIS_NODE = hou.pwd()
PARENT = THIS_NODE.inputs()[0]
LEGS = hou.node('../l_parents').outputs()
GROUND = hou.node('../ground')
CAPTURE_FRAME = 1
PARENT_WT = PARENT.worldTransform()
COMFORT_LENGTH = 1


def main():
    # This is our 'capture' frame

    if hou.frame() == CAPTURE_FRAME:
        """
        Basically, do nothing in the capture frame.
        Just store the actual leg position in the up vector
        to access it in any other frame as the capture position.
        """
        for leg in LEGS:
            # we use the up vector to store the capture pose per leg
            pos = hou.Vector3(leg.parmTuple("t").eval())
            leg.parmTuple('up').set(pos)
            print leg, pos
            leg.capture_pos = pos
        # move_legs_gnd()
    else:
        # do the dance
        for leg in LEGS:
            p = hou.Vector3(leg.parmTuple("up").eval())
            leg.capture_pos = p
        move_legs_gnd()
        set_keys()


main()