ik-fk

#ik-fk
# Select Ctrl, then joint chain
from pymel.core import *
def getChain(s):
    jntChain = []
    x = [s]
    while x:
        jntChain.append(x)
        x = listRelatives(x,c=1)
    return jntChain
def makeFk(jntChain,mainCtrl):
    x = 0
    jntChainFk = duplicate(jntChain, n = jntChain+"_fk")[0]
    jntChain = getChain(jntChainFk)
    ctrlMasterGrp = group(n = jntChainFk[0]+"_fkCtrlGrp", em=1)
    parent(ctrlMasterGrp,mainCtrl)
    jntChain = jntChain[:-1]
    fkCtrls = []
    for jnt in jntChain:
        jnt = jnt[0]
        ctrl = circle(n=jnt+"_fkCtrl")
        fkCtrls.append(ctrl)
        rotate(ctrl, 0,90,0)
        makeIdentity(ctrl,a=1,t=1,r=1,s=1,n=0)
        ctrlGrp = group(ctrl, n = ctrl[0]+"_grp",p=ctrlMasterGrp )
        tp =parentConstraint(jnt, ctrlGrp)
        delete(tp)
        oc = orientConstraint(ctrl,jnt,mo=1)
        if x == 0:
            parent(jnt,ctrl[0])
            pass
        else:
            pc = parentConstraint(jntChain[x-1][0],ctrlGrp,mo=1)
            setAttr(ctrl[0].tx, l=1)
            setAttr(ctrl[0].ty, l=1)
            setAttr(ctrl[0].tz, l=1)
            setAttr(ctrl[0].tx, k=0, cb=0)
            setAttr(ctrl[0].ty, k=0, cb=0)
            setAttr(ctrl[0].tz, k=0, cb=0)
        if x == 0:
            fkRootCtrl = ctrl
        setAttr(ctrl[0].sx, l=1)
        setAttr(ctrl[0].sy, l=1)
        setAttr(ctrl[0].sz, l=1)
        setAttr(ctrl[0].sx, k=0, cb=0)
        setAttr(ctrl[0].sy, k=0, cb=0)
        setAttr(ctrl[0].sz, k=0, cb=0)
        x += 1
    return jntChain , fkCtrls
def makeIk(jntChain,mainCtrl):
    x = 0
    jntChainik = duplicate(jntChain, n = jntChain+"_ik")[0]
    jntChain = getChain(jntChainik)
    jntChain = jntChain[:-1]
    handJnt = jntChain[-1]
    ctrlMasterGrp = group(n = jntChainik[0]+"_ikCtrlGrp", em=1)
    parent(ctrlMasterGrp,mainCtrl)
    parent(jntChainik,ctrlMasterGrp)
    ctrlJnts = [jntChain[0],handJnt]
    i = 0
    for jnts in ctrlJnts:
        ctrl = circle(n=jnts[0]+"_ikCtrl")
        ctrlGrp = group(ctrl, n = ctrl[0]+"_grp",p=ctrlMasterGrp )
        tp =parentConstraint(jnts, ctrlGrp)
        delete(tp)
        if i == 0:
            rootCtrl = ctrl
        i += 1
    # pole vector
    pVJoint = jntChain[1]
    pVCtrl = circle(n=pVJoint[0]+"_poleVectorCtrl", r = .5)
    delete(pVCtrl[-1], ch=1)

    pVCtrlGrp = group(pVCtrl, n = pVCtrl[0]+"_grp",p=ctrlMasterGrp)

    p = pointConstraint(pVJoint, pVCtrlGrp)
    delete(p)
    pvc = orientConstraint([jntChain[0][0],pVJoint[0]], pVCtrlGrp,mo=0)
    delete(pvc)
    move(pVCtrlGrp,0,4,0, r=1,os=1,wd=1)
    parent(pVCtrlGrp, ctrl)

    ikhand = ikHandle(sj = jntChain[0][0], ee = jntChain[-1][0],sol = "ikRPsolver" )
    parent(ikhand[0],ctrl)
    parent(jntChain[0],rootCtrl)
    oc = orientConstraint(ctrl,handJnt)
    print pVCtrl,ikhand[0]
    poleVec = poleVectorConstraint(pVCtrl,ikhand[0],w=1)
    return jntChain, rootCtrl, ctrl

def connectStuff(jnts,mainCtrl,fkChain,ikChain,rootFk,rootIk,ctrlIk):
    ojntChain = getChain(jnts)
    fkIkBlendAttr = addAttr(mainCtrl, ln="fk_ik_switch", at="double",min=0,max=1,dv=0)
    setAttr(mainCtrl+".fk_ik_switch",  e=1, k=1)
    i = 0
    ojntChain = ojntChain[:-1]
    for o in ojntChain:
        of = o[0].split("|")[-1]
        blendOc = orientConstraint([fkChain[i][0],ikChain[i][0]],ojntChain[i][0], n = of+"_fkIkConstraint")
        ocList = orientConstraint(blendOc,q=1,tl=1)
        ikJnt = ocList[1].split("|")[-1]
        fkJnt = ocList[0].split("|")[-1]

        if i == 0:
            #print "making parent constraint"
            pc = pointConstraint([fkChain[i][0],ikChain[i][0]],ojntChain[i][0], n = of+"_pointConstraint")
            # Root Snapping
            setDrivenKeyframe(pc+"."+fkJnt+"W0", cd = mainCtrl+".fk_ik_switch", v=1, dv=0)
            setDrivenKeyframe(pc+"."+ikJnt+"W1", cd = mainCtrl+".fk_ik_switch", v=0, dv=0)
            setDrivenKeyframe(pc+"."+fkJnt+"W0", cd = mainCtrl+".fk_ik_switch", v=0, dv=1)
            setDrivenKeyframe(pc+"."+ikJnt+"W1", cd = mainCtrl+".fk_ik_switch", v=1, dv=1)
        # Ik Fk blending
        #print rootFk[0],rootIk[0]
        for jnt in rootFks:
            setDrivenKeyframe(jnt[0].visibility, cd = mainCtrl+".fk_ik_switch", v=1, dv=0)# fk visablility
            setDrivenKeyframe(jnt[0].visibility, cd = mainCtrl+".fk_ik_switch", v=0, dv=1)
        # ik root
        setDrivenKeyframe(rootIk[0].visibility, cd = mainCtrl+".fk_ik_switch", v=0, dv=0)# Ik visablility
        setDrivenKeyframe(rootIk[0].visibility, cd = mainCtrl+".fk_ik_switch", v=1, dv=1)
        # ik ctrl
        setDrivenKeyframe(ctrlIk[0].visibility, cd = mainCtrl+".fk_ik_switch", v=1, dv=1)
        setDrivenKeyframe(ctrlIk[0].visibility, cd = mainCtrl+".fk_ik_switch", v=0, dv=0)


        setDrivenKeyframe(blendOc+"."+fkJnt+"W0", cd = mainCtrl+".fk_ik_switch", v=1, dv=0)
        setDrivenKeyframe(blendOc+"."+fkJnt+"W0", cd = mainCtrl+".fk_ik_switch", v=0, dv=1)

        setDrivenKeyframe(blendOc+"."+ikJnt+"W1", cd = mainCtrl+".fk_ik_switch", v=0, dv=0)
        setDrivenKeyframe(blendOc+"."+ikJnt+"W1", cd = mainCtrl+".fk_ik_switch", v=1, dv=1)
        i += 1

sl = selected()
mainCtrl = sl[1]
jnts = sl[0]
fkChain, rootFks = makeFk(jnts, mainCtrl)
ikChain, rootIk, ctrlIk = makeIk(jnts, mainCtrl)
connectStuff(jnts,mainCtrl,fkChain,ikChain, rootFks,rootIk, ctrlIk)








#____________________________
"""
from pymel.core import *
def getPiv(s):
    print s
    for ss in s:
        select(ss,add=1)
    #select(s)
    setToolTo('Move')
    piv = manipMoveContext('Move', q=True, p=True,m=2)
    return piv
def getChain(s):
    jntChain = []
    x = [s]
    while x:
        jntChain.append(x)
        x = listRelatives(x,c=1)
    handJnt = jntChain[-1]

    return jntChain[:-1], handJnt

def getPolePos(chain):
    root = chain[0]
    elbow = chain[1]
    wrist = chain[2]
    l = spaceLocator(n="test")
    pc = pointConstraint([root[0],wrist[0]], l)
    ac = aimConstraint(elbow, l)
    delete(pc,ac)
    pc2 = pointConstraint(elbow, l)
    delete(pc2)
    move(l,5,0,0,os=1,r=1)

sl = selected()
for s in sl:
    chain, handJoint = getChain(s)
    polePos = getPolePos(chain)

"""