Python cmds.orientConstraint函数代码示例

def makeRoll(firstJoint, lastJoint, rollJoint):
    # place root group under its rig group
    if "elbow" in firstJoint:
        rigGroup = nameLib.groupNames.leftArmRigGroup["name"]
        if "right" in firstJoint:
            rigGroup = nameLib.groupNames.rightArmRigGroup["name"]
    else:
        rigGroup = nameLib.groupNames.leftLegRigGroup["name"]
        if "right" in firstJoint:
            rigGroup = nameLib.groupNames.rightLegRigGroup["name"]

    rollSuffix = "_roll_null"

    rootGroup = makeGroup.MakeGroup(name=rollJoint + "_rig" + nameLib.prefixNames.groupSuffix, snapTo=firstJoint, parent=rigGroup)

    firstJointNull = makeGroup.MakeGroup(name=firstJoint + rollSuffix, snapTo= firstJoint, parent=rootGroup.groupName)
    rollJointNull = makeGroup.MakeGroup(name=rollJoint + rollSuffix, snapTo= rollJoint, parent=rootGroup.groupName)
    lastJointNull = makeGroup.MakeGroup(name=lastJoint + rollSuffix, snapTo= lastJoint, parent=rootGroup.groupName)

    # make constraint setup
    mc.parentConstraint(firstJoint, rootGroup.groupName, maintainOffset=True)
    mc.parentConstraint(lastJoint, lastJointNull.groupName)

    mc.orientConstraint(firstJointNull.groupName, rollJointNull.groupName, maintainOffset=True)
    mc.orientConstraint(lastJointNull.groupName, rollJointNull.groupName, maintainOffset=True)

    rollConstraint = mc.orientConstraint(rollJointNull.groupName, rollJoint, skip=["y", "z"])[0]
    mc.setAttr(rollConstraint + ".interpType", 2)

    def setupSw(self):
        for joint in self._joints:
            name = joint.replace(nameLib.prefixNames.jointSuffix, "") + nameLib.prefixNames.locator

            # create locators
            worldLocator = mc.spaceLocator(name="world_" + name)
            localLocator = mc.spaceLocator(name="local_" + name)

            # group for locators
            rootGroup = utils.makeGroup.MakeGroup(name=name + nameLib.prefixNames.offsetGroup)
            mc.parent(worldLocator, rootGroup.groupName)
            mc.parent(localLocator, rootGroup.groupName)

            # snap locators to posittion
            mc.delete(mc.parentConstraint(joint, rootGroup.groupName))

            # put them into root group
            mc.parent(rootGroup.groupName, self._parent)

            # orient constrain from global control
            mc.orientConstraint(nameLib.prefixNames.globalControl + nameLib.prefixNames.controlSuffix, worldLocator, maintainOffset=True)

            # constraint from parent
            parent = mc.listRelatives(joint, parent=True)[0].replace(nameLib.prefixNames.jointSuffix, "")
            parentControl = nameLib.prefixNames.fkPrefix + parent + nameLib.prefixNames.controlSuffix
            mc.parentConstraint(parentControl, rootGroup.groupName, maintainOffset=True)

            # create constraint for cotroller's driven group
            drivenGroup = nameLib.prefixNames.fkPrefix + name.replace(nameLib.prefixNames.locator, "") + nameLib.prefixNames.controlSuffix + nameLib.prefixNames.drivenGroup
            localWorldConstraint = mc.parentConstraint(worldLocator, drivenGroup)
            localWorldConstraint = mc.parentConstraint(localLocator, drivenGroup)

            # create connections from controller
            weightList = [worldLocator[0] + "W0", localLocator[0] + "W1"]
            self.connectSW(localWorldConstraint[0], parentControl, weightList)

	def __init__(self, objs = [], vertices = []):
		self.objs = objs
		self.vertices = vertices
		#lattice  -divisions 2 3 2 -objectCentered true  -ol 1;
		#mc.select( self.objs, self.vertices )
		#CREATION
		grp = mn.Node( mc.group( n = "head_toon_GRP", em = True ) )
		deGrp = mn.Node( mc.group( n = "head_toon_deformer_GRP", em = True ) )
		deGrp.parent = grp
		deGrp.a.v.v = False
		deGrp.a.v.locked = True
		latNods = mc.lattice( self.objs, self.vertices, divisions = [ 2,3,2], objectCentered = True, ol = 1, n = 'head_toon_LAT' )
		latBase = mn.Node( latNods[2] )
		latBase.parent = deGrp
		lat = mn.Node( latNods[1] )
		lat.parent = deGrp
		#mc.select( lat + ".pt[0:1][2][0]", lat + ".pt[0:1][2][1]" )
		topClus = mn.Node( mc.cluster(  lat.shape.name + ".pt[0:1][2][0]", lat.shape.name + ".pt[0:1][2][1]", n = 'top_face_toon_CLU' )[1] )
		topClus.a.v.v = False
		topClus.a.v.locked = True
		#mc.select( lat + ".pt[0:1][1][0]", lat + ".pt[0:1][1][1]" )
		midClus = mn.Node( mc.cluster(  lat.shape.name + ".pt[0:1][1][0]", lat.shape.name + ".pt[0:1][1][1]", n = 'mid_face_toon_CLU' )[1] )
		#mc.select( lat + ".pt[0:1][0][0]", lat + ".pt[0:1][0][1]" )
		lowClus = mn.Node( mc.cluster(  lat.shape.name + ".pt[0:1][0][0]", lat.shape.name + ".pt[0:1][0][1]", n = 'low_face_toon_CLU' )[1] )
		ctl = crv.Curve( "head_toon_CTL" )
		ctl = ctl.create( "sphere" )
		ctl.a.t.v = topClus.worldPosition
		mc.makeIdentity( ctl.name, apply = True, t = 1, r = 1, s = 1, n = 2 )
		topClus.parent = ctl
		midClus.parent = deGrp
		lowClus.parent = deGrp
		ctl.parent = grp
		#CONSTRAINS
		midClus.a.r >> topClus.a.r
		mc.pointConstraint( topClus.name, lowClus.name, midClus.name, mo = True )
		#SCALE FOR MID CLUSTER
		dist = mn.createNode( 'distanceBetween', n = 'head_toon_DIS' )
		ctl.a.worldMatrix >> dist.a.inMatrix1
		ctl.a.rp >> dist.a.point1
		lowClus.a.worldMatrix >> dist.a.inMatrix2
		lowClus.a.rp >> dist.a.point2
		mul = mn.createNode( 'multiplyDivide', n = 'head_toon_scale_MUL' )
		mul.a.input1.v = [dist.a.distance.v]*3
		mul.a.operation.v = 2
		dist.a.distance >> mul.a.input2X
		dist.a.distance >> mul.a.input2Y
		dist.a.distance >> mul.a.input2Z
		mul.a.output >> midClus.a.s
		#AIM CONSTRAINT
		upLocGrp = mn.Node( mc.group( n = "head_upVector_GRP", em = True ) )
		upLocGrp.a.t.v = midClus.worldPosition
		mc.makeIdentity( upLocGrp.name, apply = True, t = 1, r = 1, s = 1, n = 2 )
		upLocGrp.parent = deGrp
		mc.orientConstraint( ctl.name, lowClus.name, upLocGrp.name, mo = True )
		upLoc = mn.Node( mc.spaceLocator( n = 'head_upVector_LOC' )[0] )
		upLoc.a.t.v = midClus.worldPosition
		upLoc.a.tz.v = upLoc.a.tz.v + 5
		mc.aimConstraint( topClus.name, midClus.name, mo = True, weight = 1, aimVector = [1, 0, 0], upVector = [0, 1, 0], worldUpType = "object", worldUpObject = upLoc.name )
		upLoc.parent = upLocGrp
		mc.pointConstraint( topClus.name, lowClus.name, upLoc.name, mo = True )

    def create_ik_setup(self):
        """Creates the IK setup."""
        ik = cmds.ikHandle(sj=self.result_jnts[0], ee=self.result_jnts[-1], sol='ikSplineSolver', ns=1)
        cmds.rename(ik[1], '%s_%s_%s' % (self.side, 'neck', self.nc.effector))
        curve = cmds.rename(ik[2], '%s_%s_%s' % (self.side, 'neck', self.nc.curve))
        cmds.setAttr('%s.inheritsTransform' % curve, 0)
        ik = cmds.rename(ik[0], '%s_%s_%s' % (self.side, 'neck', self.nc.ikhandle))
        cmds.select(self.additional_jnts, curve)
        cmds.skinCluster(tsb=True)
        cmds.parent(ik, self.top_grp)

        cmds.setAttr('%s.dTwistControlEnable' % ik, 1)
        cmds.setAttr('%s.dWorldUpType' % ik, 4)
        cmds.setAttr('%s.dWorldUpAxis' % ik, 4)
        cmds.setAttr('%s.dWorldUpVectorY' % ik, -1)
        cmds.setAttr('%s.dWorldUpVectorEndY' % ik, 1)
        cmds.setAttr('%s.dWorldUpVectorEndZ' % ik, -1)
        cmds.connectAttr('%s.worldMatrix[0]' % self.additional_jnts[0], '%s.dWorldUpMatrix' % ik, f=True)
        cmds.connectAttr('%s.worldMatrix[0]' % self.additional_jnts[1], '%s.dWorldUpMatrixEnd' % ik, f=True)
        self.head_grp = cmds.group(self.controls['head'])
        self.head_grp = cmds.rename(self.head_grp, '%s_head_CTL_%s' % (self.side, self.nc.group))
        cmds.parent(self.head_grp, self.top_grp)
        self.c.move_pivot_to(self.guides['neckEnd'][0], self.guides['neckEnd'][1], self.guides['neckEnd'][2], self.head_grp)
        cmds.parentConstraint(self.controls['head'], self.additional_jnts[-1], mo=True, weight=1)
        cmds.orientConstraint(self.controls['head_rot'], self.result_jnts[-1], mo=True, weight=1)

 def fkFingerSetup(self):
     """
     #- fk finger setup
     """
     
     cmds.select(cl = True)
     for fingerElement in self.allfingers:
         for lr in self.lrPrefix:
             for elem in fingerElement[0:-1]:
                 if lr == self.left:
                         ctlColor = 6
                 else:
                         ctlColor = 12
                 ctl = controller.circleController('%s%s_ctl' %(lr, elem), 'yz', 0.5, ctlColor, ['tr', 'sc', 'vi'], doublePadding = True)
                 cmds.select('%s%s_jnt' %(lr, elem), r = True)
                 cmds.select('%s_grp' %ctl, tgl = True)
                 cmds.pointConstraint(mo = False, weight = 1)
                 cmds.orientConstraint(mo = False, weight = 1)
                 cmds.delete('%s_grp_pointConstraint1' %ctl)
                 cmds.delete('%s_grp_orientConstraint1' %ctl)            
         
                 #- constrain joints
                 cmds.select(ctl, r = True)
                 cmds.select('%s%s_jnt' %(lr, elem), tgl = True)
                 cmds.orientConstraint(mo = False, weight = 1)
             
             fingerElementTmp = fingerElement[:-1]
             fingerElementTmp.reverse()
             for i in range(len(fingerElementTmp)-1):
                 self.util.parent('%s%s_ctl_grp' %(lr, fingerElementTmp[i]), '%s%s_ctl' %(lr, fingerElementTmp[i+1]))

def create_joints():
	'''Subelements: vertecies, faces, edges should be selected'''
	# Get selected object name
	selection_list = cmds.ls(selection=True)
	for selection in selection_list:
		selected_object = selection.split('.')[0]
		break
	old_loc_list = cmds.ls('*LOC*', flatten=True)
	#Create locators constrained to subelements
	HZrivet.UI.HZrivet_finalCC()
	current_loc_list = cmds.ls('*LOC*', flatten=True)
	#Filter created locators
	new_loc_list = [loc for loc in current_loc_list if loc not in old_loc_list]
	# Get list of locators names and apply it as a prefix to a joint name
	loc_list = [loc for loc in new_loc_list if 'Shape' not in loc]
	root_joint = 'root'
	if not cmds.objExists(root_joint):
	    cmds.select(clear=True)
	    cmds.joint(name=root_joint)
	    root_p_constraint = cmds.pointConstraint(selected_object, root_joint)
	    root_o_constraint = cmds.orientConstraint(selected_object, root_joint)
	    cmds.delete(root_p_constraint, root_o_constraint)
	for loc in loc_list:
	    joint_prefix = re.sub("\D", "", loc)
	    joint_name = 'JNT_' + joint_prefix
	    cmds.select(clear=True)
	    cmds.joint(name=joint_name)
	    cmds.pointConstraint(loc, joint_name)
	    cmds.orientConstraint(loc, joint_name)
	    cmds.parent(joint_name, 'root') 

	def Neck_Control(*args, **kwargs):
		NeckJt = "Neck_Jt"
		NeckCtrl = [mc.curve(name="Neck_Ctrl",degree=3,point=[(-0.801407, 0, 0.00716748),(-0.802768, 0.023587, -0.220859), (-0.805489, 0.0707609, -0.676912),
						   (0.761595, -0.283043, -0.667253), (1.045492, -0.194522, -0.0218101), (1.046678, -0.194804, 0.0403576),(0.758039, -0.282198, 0.63974),
						   (-0.806291, 0.0676615, 0.650803),(-0.803035, 0.0225538, 0.221713),(-0.801407, 0, 0.00716748)]),
						   mc.setAttr("Neck_Ctrl.overrideColor",18),mc.setAttr("Neck_Ctrl.overrideEnabled",1)]
		mc.scale(2.1,3.16,2.8)
		mc.makeIdentity( 'Neck_Ctrl', apply=True, translate=True,scale=True)
		lockScaling = mc.setAttr("Neck_Ctrl.scale",lock=True)
		
		# xform translation
		valNeck = mc.xform(NeckJt,ws=True,query=True,translation=True)
		mc.xform(NeckCtrl,ws=1,t = (valNeck[0],valNeck[1],valNeck[2]))
		
		mc.orientConstraint("Neck_Ctrl", NeckJt)
		mc.pointConstraint("Neck_Ctrl", NeckJt)
		grpNeck = mc.group("Neck_Ctrl", name="GRP_Neck")
		
		mc.parent("GRP_Neck","Front_Spine_Ctrl")
		
		#Lock translation for curve
		lockTranslation = mc.setAttr("Neck_Ctrl.translate",lock=True)
		

		return NeckCtrl,NeckJt

	def Jaw_Control(*args,**kwargs):
	    prefix = "_"
	    JawJt = "Lower_Jaw_Jt"
	    JawCtrl = [mc.curve(name="Jaw"+prefix+"Ctrl",d=1,
            p=[(-0.484806, -0.465148, -0.560784 ),(-0.484806, -0.465148, 0.595512),
            (-0.275612, 0.538987, 0.636341),(1.356108, 0.120597, 0.636341 ),
            (2.161106, 0.0592024, 0.01008 ),(1.356108, 0.120597, -0.610974),
            (-0.275612, 0.538987, -0.610974),(-0.484806, -0.465148, -0.560784),
            (1.146913, -0.67078, -0.560784 ),(1.951911, -0.670601, 0.01008),
            (1.146913, -0.67078, 0.595512),(1.356108, 0.120597, 0.636341),
            (2.161106, 0.0592024, 0.01008),(1.356108, 0.120597, -0.610974),
            (1.146913, -0.67078, -0.560784),(1.146913, -0.67078, 0.595512),
            (-0.484806, -0.465148, 0.595512),(1.146913, -0.67078, 0.595512),
            (1.951911, -0.670601, 0.01008),(2.161106, 0.0592024, 0.01008)]),
            mc.setAttr("Jaw"+prefix+"Ctrl.overrideColor",18), 
	        mc.setAttr("Jaw"+prefix+"Ctrl.overrideEnabled",1),mc.scale(0.5,1,1.15)]
	    
	    #xform translation
	    valPos = mc.xform(JawJt,query=True,ws=True,translation=True)     
	    mc.xform(JawCtrl[0],ws=1,t=(valPos[0],valPos[1],valPos[2]))
	    #xform rotation
	    valRot = mc.xform(JawJt,query=True,ws=True,rotation=True)
	    mc.xform(JawCtrl[0],ws=1,ro=(valRot[0],valRot[1],valRot[2]))
	    mc.setAttr("Jaw"+prefix+"Ctrl.rotateZ",-22)
	    mc.makeIdentity(JawCtrl[0],a=True,r=True,t=True,s=True)
	    mc.orientConstraint(JawCtrl[0], JawJt, mo=True)
	    mc.pointConstraint(JawCtrl[0], JawJt, mo=True)
	    mc.parent(JawCtrl[0],"Head_Ctrl")
	    
	    #Lock attributes for Jaw rig
	    for lock in JawJt:
	        mc.setAttr("Jaw"+prefix+"Ctrl.scale",lock=True),
	        mc.setAttr("Jaw"+prefix+"Ctrl.translate",lock=True)

    def _create_wrist(self):
        """Creates the special wrist setup for the 3 different rotation axes of
        Dave's wrist.
        @todo: change the constraining to the PLY GRP to something save

        """

        hand = '%s_hand_result_%s' % (self.side, self.nc.joint)
        hand_end = '%s_handEnd_result_%s' % (self.side, self.nc.joint)
        fore_arm = '%s_foreArm_result_%s' % (self.side, self.nc.joint)

        # joints
        cmds.select(cl=True)
        root_jnt = cmds.joint(n='%s_wristRoot_%s' % (self.side, self.nc.joint))
        end_jnt = cmds.joint(n='%s_wristEnd_%s' % (self.side, self.nc.joint))
        tmp_end_jnt = cmds.joint(n='%s_wristTmpEnd_%s' % (self.side, self.nc.joint))
        self.c.snap_a_to_b(root_jnt, hand)
        self.c.snap_a_to_b(end_jnt, hand_end)
        self.c.snap_a_to_b(tmp_end_jnt, hand_end)

        # orient joints properly
        self.orient_joint(root_jnt)
        cmds.delete(tmp_end_jnt)
        cmds.parent(end_jnt, w=True)

        # constrain joints
        cmds.parentConstraint(hand, root_jnt, mo=True)
        cmds.pointConstraint(root_jnt, end_jnt, mo=True)
        cmds.orientConstraint(root_jnt, end_jnt, mo=True)

        # constrain hand const group
        cmds.parentConstraint('%s_wristRotZ_PLY_%s' % (self.side, self.nc.group),
                              '%s_hand_const_%s' % (self.side, self.nc.group), mo=True)

        cmds.parent(root_jnt, end_jnt, '%s_hand_%s' % (self.side, self.nc.group))

def rigExtrudePlane() : 
	mc.select(cl = True)
	lf_leg = ['lf_upLeg_nrJnt', 'L_leg_profileCrv']
	rt_leg = ['rt_upLeg_nrJnt', 'R_leg_profileCrv']
	lf_arm = ['lf_upArm_nrJnt', 'L_arm_profileCrv']
	rt_arm = ['rt_upArm_nrJnt', 'R_arm_profileCrv']
	set1 = [lf_leg, rt_leg, lf_arm, rt_arm]

	for each in set1 : 
		# constraint nonRoll to profile curve
		mc.orientConstraint(each[0], each[1], mo = True)
		print each[0], each[1]

	mc.select(cl = True)

	naming1 = ['L_arm_pathCrv', 'L_arm_profileCrv', 'R_arm_pathCrv', 'R_arm_profileCrv']
	naming2 = ['L_leg_pathCrv', 'L_leg_profileCrv', 'R_leg_pathCrv', 'R_leg_profileCrv']
	mc.select(naming1, naming2)
	mm.eval('tazGrp;')
	mc.select(cl = True)

	grp = ['L_armProfileCrv_zGrp', 'R_armProfileCrv_zGrp', 'L_legProfileCrv_zGrp', 'R_legProfileCrv_zGrp']

	for each in grp : 
		mc.scaleConstraint('placement_ctrl', each)

	# mc.select(cl = True)
	# # bind skin
	# mc.skinCluster('lf_upArm_jnt', 'lf_loArm_jnt', 'lf_wrist_jnt', 'L_arm_pathCrv', tsb = True)
	# mc.skinCluster('lf_upArm_jnt', 'lf_loArm_jnt', 'lf_wrist_jnt', 'L_arm_pathCrv', tsb = True)
	# mc.skinCluster('rt_upLeg_jnt', 'rt_loLeg_jnt', 'rt_ankle_jnt', 'R_leg_pathCrv', tsb = True)
	# mc.skinCluster('rt_upArm_jnt', 'rt_loArm_jnt', 'rt_wrist_jnt', 'Larm_pathCrv', tsb = True)

			
	# print 'Done'

def runWithRig() : 
	# clear name
	allObjs = mc.ls()

	for each in allObjs : 
		if 'Char_' in each : 
			try : 
				newName = each.replace('Char_', '')
				mc.rename(each, newName)

			except : 
				pass


	allCtrlJntGrp = 'allJnt_grp'
	allIkGrp = 'allIK_grp'

	leftLeg = ['cnt_pelvis_jnt', 'lf_upLeg_jnt', 'lf_loLeg_jnt']
	rightLeg = ['cnt_pelvis_jnt', 'rt_upLeg_jnt', 'rt_loLeg_jnt']
	leftArm = ['lf_clavicle1_jnt', 'lf_upArm_jnt', 'lf_loArm_jnt']
	rightArm = ['rt_clavicle1_jnt', 'rt_upArm_jnt', 'rt_loArm_jnt']

	setupNonRoll = [leftLeg, rightLeg, leftArm, rightArm]

	for each in setupNonRoll : 
		mc.select(each[1], each[2])
		jnt1, jnt2, ik, nrJntGrp, ikAllGrp = run()
		mc.orientConstraint(each[0], jnt1)

		mc.parent(nrJntGrp, allCtrlJntGrp)
	
	mc.parent(ikAllGrp, allIkGrp)

	print 'Add nonroll'

    def connect_ikfk(self):

        for ik_jnt, fk_ctl_key in zip(self.ik.ik_joints, self.fk.controls.keys()):
            
            ctl = self.fk.controls[fk_ctl_key]
            cmds.orientConstraint(ik_jnt, ctl.grp, mo=True)

        ik_joints = self.ik.ik_joints
        fk_ctls = [self.fk.controls[k] for k in self.fk.controls.keys()]

        print len(self.ik.ik_joints) - len(self.fk.fk_joints), len(ik_joints)
        for index in range(len(self.ik.ik_joints) - len(self.fk.fk_joints), len(ik_joints)):
            fk_ctl = self.fk.get_control(index)

            for child_index in range(index + 1, len(ik_joints)):
                fk_child_ctl = self.fk.get_control(child_index)

                if fk_child_ctl:
                    cons = cmds.listConnections(fk_child_ctl.inb, type='plusMinusAverage', scn=True, s=True, d=False, p=False)
                    if not cons:
                        pma = cmds.createNode("plusMinusAverage", name=name.set_suffix(fk_child_ctl.name, "ctlOrient"))
                        cmds.connectAttr("%s.output3D" % pma, "%s.rotate" % fk_child_ctl.inb)
                    else:
                        pma = cons[0]
                    
                    v = cmds.getAttr("%s.input3D" % pma, size=True)
                    cmds.connectAttr("%s.rotate" % fk_ctl.ctl, "%s.input3D[%s]" % (pma, index))

def connectDeform(ikRigNodes, fingerSetupNodes):
    armNodes = ikRigNodes[0]
    legNodes = ikRigNodes[1]

    fkJoints = nameLib.skeletonNames.allJoints
    fkJoints = list(itertools.chain(*fkJoints))

    for i in fkJoints:
        deformJoint = i.replace(nameLib.prefixNames.jointSuffix, nameLib.prefixNames.deformSuffix)

        if "hip" in i:
            mc.parentConstraint(i, deformJoint)
        else:
            mc.orientConstraint(i, deformJoint)

    # connect root_DEFORM joit to placement
    mc.parentConstraint(nameLib.prefixNames.globalControl + nameLib.prefixNames.controlSuffix, "root" + nameLib.prefixNames.deformSuffix)


    # connect ikBlend for arms to constraints
    leftArmIkBlend = armNodes[0][0]
    rightArmIkBlend = armNodes[1][0]

    connectIkBlend(leftArmIkBlend, rightArmIkBlend, armNodes, fingers=fingerSetupNodes)

    # connect ikBlend for legs to constraints
    leftLegIkBlend = legNodes[0][0]
    rightLegIkBlend = legNodes[1][0]

    connectIkBlend(leftLegIkBlend, rightLegIkBlend, legNodes, fingers=fingerSetupNodes)

    def __init__(self, joints, parentGroup, groupToConstraint):
        # joints[0] = snapTo joint
        # joints[1] = local parent
        # parentGroup = where to parent spaceSwitch groups
        # what group will be driven

        rootGroup = makeGroup.MakeGroup(name=joints[0] + "_spaceSwitch_GRP")

        worldGroup = makeGroup.MakeGroup(name=joints[0] + "_world", snapTo=joints[0])
        localGroup = makeGroup.MakeGroup(name=joints[0] + "_local", snapTo=joints[0])

        mc.parent(worldGroup.groupName, rootGroup.groupName)
        mc.parent(localGroup.groupName, rootGroup.groupName)
        mc.parent(rootGroup.groupName, parentGroup)

        # constraint setup for groups
        mc.parentConstraint(joints[1], localGroup.groupName, maintainOffset=True)
        mc.pointConstraint(localGroup.groupName, worldGroup.groupName)
        mc.orientConstraint(nameLib.prefixNames.globalControl + nameLib.prefixNames.controlSuffix, worldGroup.groupName, maintainOffset=True)

        # sonctraint for groupToConstraint
        for i in [worldGroup.groupName, localGroup.groupName]:
            swConstraint = mc.parentConstraint(i, groupToConstraint)[0]

        driver = joints[0] + ".parent"

        reverseNode = mc.shadingNode("reverse", name = joints[0] + "_swReverse", asUtility=True)

        # connect channels
        mc.connectAttr(driver, reverseNode + ".input.inputX")

        mc.connectAttr(driver, swConstraint + "." + joints[0] + "_worldW0")
        mc.connectAttr(reverseNode + ".output.outputX", swConstraint + "." + joints[0] + "_localW1")

    def setupIKCtrl(self, x, IKHandle):

        ############# MODIFY FOR INHERITANCE  #############
        side = self.prefixList[x]
        thisChain = self.IKChains[x]

        #create a control for the ik
        name = "%s_%s_IK_CTRL"%(side, self.limbName)
        if x==0:
            IKCtrl = rig.createControl(name, "cube", self.jAxis1, "blue")
        if x==1:
            IKCtrl = rig.createControl(name, "cube", self.jAxis1, "red")
        self.IKCtrls.append(IKCtrl)
        #strip to rotate and translate
        rig.stripToRotateTranslate(IKCtrl)

        #G.O. control
        rig.groupOrient(thisChain[2], IKCtrl, self.groupSuffix)

        #orient constraint joint 2 (wrist ankle) to control
        cmds.orientConstraint(IKCtrl, thisChain[2])

        #parent ik handle to control
        cmds.parent(IKHandle, IKCtrl)

        return IKCtrl