Welcome! Here is a step by step guide and explains how to do a leg rig with both FK and IK systems. Lets begin. Select your joint tool under the tab that says animation and place a joint on the hip, knee, ankle, ball of foot and on the toe. Use your 4 views to make sure that the joints are placed where you want them to be, also, keep in mind that the joints cant be in a straight line, so make sure that the knees are kind of flexed. Once you’ve done this, open the Hypergraph Hierarchy and name your joints. Remember, we are going to start with the IK system so it is very convenient to use a prefix of the side you are working on, for example, L_IK_knee ( you should name everything that you do). Now we must orient the joints. On the top of the screen, there is a symbol with three blue squares and a red arrow, click it and then click the black question mark on your right. Orient your joints, when you are done, click the button on the left side of the three squares. Remember, once you’ve oriented them you cant move them again, if you do, orient again. Save your file!
Choose the IK Handle tool and make sure that on the IK settings the current solver is ikRPsolver and solver enable, snap enable and sticky should be checked. With this tool selected click from the femur joint to the ankle joint. Name it. Then with the same tool but with the setting on ikSCsolver click from the ankle to the ball and from the ball to the toe. Save your file!
Create a foot controller. Make a nurb circle and hit control group. Move the group and snap it to the ball of the foot. When you are creating controllers always group them. The reason is because we move the controllers to their place thought the group so that the nurb curve is always zero in Translate, Rotate and scale in XYZ. In the Hypergraph select the leg IK, group it and name the group Lift_heel_grp. Move the pivot of the group, in your port view press w and then insert, this way you move the pivot and snap it (pressing V) to the ball of the foot. Now in the Hypergraph select the Ball ik handle and your toe ik handle, group them together and name it Toe_Tap. Move its pivot to the ball of the foot. Now select the two groups and regroup them. Name it Toe_Pivot and place the pivot on the last joint. Regroup it again, name this group Heel_pivot and place pivot to the ankle. Regroup it one more time (no need to name) and place the pivot on the ball of foot. Select this last group and parent it under the foot control. Save your file!
Select the foot controller curve and under channels click edit and select the add attribute option. A box that says long name, there you write liftHeel (the first letter never capitalized, use no space between one word and another, but always capitalize the first letter of the second word) make sure that the data type is float and click add. Do the same for toeTap, standTip, toePivot, heelPivot, knee and offset. Now, open the hypergraph select the foot control and if you place the mouse arrow on the right side of the block that represents the foot control you will see that the arrow changes into a box with a small black arrow. Right click it, select single and with out letting go on the mouse pressed button select toe tap to the toe tap box and connect it to rotate x. do the same for lift heel in rotate x, heel pivot in rotate y, stand tip connected to toe pivot in rotate x, and toe pivot connected to toe pivot in rotate Y. Save the file!
Next we are going to control the knee. Duplicate your IK joints and place them in a layer with V and R selected, these are your guide joints because when we fix the knee the original joint move a little, so these guide joints help us place them where they belong. Open the hypershade, select the average +/- node and make sure that the operation is on sum. Select the average +/- node the foot control and the leg ik. In the hypergraph (with these selected) click on the box on the top that has three rectangular boxes with the center one colored yellow (this way you can work with only your selection visible). Over foot control right click single and choose knee. The knee is connected to the average +/- node in input 1d(0). Right click foot control and choose offset. The offset is connected to average +/- node in input 1D(1). Now, select the average +/- node right click it and connect output 1D to ik handle in twist. Save the file! Congrats, you are done with the IK system.
Lets start the FK system. Select joints from the femur to toe and duplicate. Make sure to delete the effectors since you just need the joints. Replace the names from IK to FK. Make controls with nurb circles for each joint; remember to group them before moving and to name them. When you are done you must orient the controls, so for each, select the FK joint, the group of the corresponding control and orient constrain them. If some of controls change their position click on the group and on portview arrange the desired shape of the control manipulating the vertices of the curve. On the hypergraph you delete the box that represents the orient constrain. Group all the controls, ball to ankle, ankle to knee and knee to femur. Now, we are going to attach the joints to the controls. Do an orient constrain on each, but this time you must select first the control and then the joint. If you like, to visually enhance and to make an easier access to the controls, you can always change their shape or position manipulating the vertices of the group of the control. Now you are done with the FK system. Save your file!
Now we are going to bind both systems. Duplicate the FK joints and replace the name from FK to Bind. Then (working on the hypergraph) select the IK femur and the Bind femur and do an orient constrain. Then select the FK femur, then the Bind femur and do another orient constrain. Do this process this way for all the joints. Do not erase the orient constrain boxes that appear beneath the bind joints in the hypergraph. You need them. Select the foot control and add a new attribute. Name it ikToFkSwitch and place the values maximum 10 and minimum 0. This means that whenever the switch is in 10, the Bind system will be working with the FK system, but when the switch is 0, the bind system will be working with the IK system. Save your file!
Next we are going to do a Set driven key. Go to animate and click where it says set driven key. The foot control is going to be the driver (just click the foot control and hit load) and the driven are going to be all the constrains that are beneath the bind system (select them all in the hypergraph and click load driven). On the driver right side click the last option, it should be ikToFkSwitch, then on the driven left side click the first one on the list and select the last two options that appear on the right side. If your switch is in 0, then key all your driven selections with the IK in 0 and the FK in 1. Then change the switch to ten and key all of your driven with the IK in 1 and the FK in 0. Congratulations! You have finished your leg rig! Save your file!
la crazy ardillaaa!! ;)
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