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https://github.com/NotAKidoS/NAK_CVR_Mods.git
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[IKFixes] Messy attempt at fixing animation bleeding
This fixes animations bleeding through FBT, mainly the chest and knee trackers would violently shake when moving. Also includes some testing changes to elbow target offset position. This makes it work much better using Standable but a bit weird with real trackers. Configurable offset distance like IKTweaks is likely needed.
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NotAKidoS
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2 changed files with 170 additions and 60 deletions
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@ -14,41 +14,104 @@ internal static class BodySystemPatches
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static float _ikSimulatedRootAngle = 0f;
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[HarmonyPostfix]
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[HarmonyPatch(typeof(BodySystem), "SetupOffsets")]
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private static void Postfix_BodySystem_SetupOffsets(List<TrackingPoint> trackingPoints)
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[HarmonyPatch(typeof(BodySystem), nameof(BodySystem.SetupOffsets))]
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static void Postfix_BodySystem_SetupOffsets(List<TrackingPoint> trackingPoints)
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{
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//redo offsets for knees as native is too far from pivot
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foreach (TrackingPoint trackingPoint in trackingPoints)
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{
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Transform parent = null;
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if (trackingPoint.assignedRole == TrackingPoint.TrackingRole.LeftKnee)
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float offsetDistance = 0f;
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switch (trackingPoint.assignedRole)
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{
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parent = IKSystem.vrik.references.leftCalf;
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}
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else if (trackingPoint.assignedRole == TrackingPoint.TrackingRole.RightKnee)
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{
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parent = IKSystem.vrik.references.rightCalf;
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case TrackingPoint.TrackingRole.LeftKnee:
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parent = IKSystem.vrik.references.leftCalf;
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offsetDistance = 0.15f;
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break;
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case TrackingPoint.TrackingRole.RightKnee:
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parent = IKSystem.vrik.references.rightCalf;
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offsetDistance = 0.15f;
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break;
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case TrackingPoint.TrackingRole.LeftElbow:
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parent = IKSystem.vrik.references.leftForearm;
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offsetDistance = -0.15f;
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break;
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case TrackingPoint.TrackingRole.RightElbow:
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parent = IKSystem.vrik.references.rightForearm;
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offsetDistance = -0.15f;
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break;
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default:
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break;
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}
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if (parent != null)
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{
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// Set the offset transform's parent and reset its local position and rotation
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trackingPoint.offsetTransform.parent = parent;
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trackingPoint.offsetTransform.localPosition = Vector3.zero;
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trackingPoint.offsetTransform.localRotation = Quaternion.identity;
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trackingPoint.offsetTransform.parent = trackingPoint.referenceTransform;
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// small amount forward, as pivot is different for users who place
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// tracker on upper/lower leg. 0.5f was too much for users using upper leg.
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Vector3 b = IKSystem.vrik.references.root.forward * 0.1f;
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trackingPoint.offsetTransform.position += b;
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// Apply additional offset based on the assigned role
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Vector3 additionalOffset = IKSystem.vrik.references.root.forward * offsetDistance;
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if (IKFixes.EntryAltElbowDirection.Value)
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{
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switch (trackingPoint.assignedRole)
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{
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case TrackingPoint.TrackingRole.LeftElbow:
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additionalOffset += IKSystem.vrik.references.root.up * -0.15f;
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break;
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case TrackingPoint.TrackingRole.RightElbow:
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additionalOffset += IKSystem.vrik.references.root.up * -0.15f;
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break;
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default:
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break;
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}
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}
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trackingPoint.offsetTransform.position += additionalOffset;
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// Game originally sets them to about half a meter out, which fucks with slime tracker users and
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// makes the bendGoals less responsive/less accurate.
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//Funny thing is that IKTweaks specifically made this an option, which should be added to both CVR & Standable for the same reason.
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/// Elbow / knee / chest bend goal offset - controls how far bend goal targets will be away from the actual joint.
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/// Lower values should produce better precision with bent joint, higher values - better stability with straight joint.
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/// Sensible range of values is between 0 and 1.
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}
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}
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}
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[HarmonyPrefix]
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[HarmonyPatch(typeof(BodySystem), "Update")]
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private static bool Prefix_BodySystem_Update(ref BodySystem __instance)
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[HarmonyPatch(typeof(BodySystem), nameof(BodySystem.Update))]
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static bool Prefix_BodySystem_Update(ref BodySystem __instance)
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{
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void SetArmWeight(IKSolverVR.Arm arm, float weight)
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{
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arm.positionWeight = weight;
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arm.rotationWeight = weight;
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arm.shoulderRotationWeight = weight;
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arm.shoulderTwistWeight = weight;
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// assumed fix of bend goal weight if arms disabled with elbows (havent tested)
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// why is there no "usingElbowTracker" flag like knees? where is the consistancy???
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arm.bendGoalWeight = arm.bendGoal != null ? weight : 0f;
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}
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void SetLegWeight(IKSolverVR.Leg leg, float weight)
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{
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leg.positionWeight = weight;
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leg.rotationWeight = weight;
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// fixes knees bending to tracker if feet disabled (running anim)
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leg.bendGoalWeight = leg.usingKneeTracker ? weight : 0f;
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}
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void SetPelvisWeight(IKSolverVR.Spine spine, float weight)
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{
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// looks better when hips are disabled while running
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spine.pelvisPositionWeight = weight;
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spine.pelvisRotationWeight = weight;
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}
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if (IKSystem.vrik != null)
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{
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IKSolverVR solver = IKSystem.vrik.solver;
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@ -87,30 +150,27 @@ internal static class BodySystemPatches
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SetPelvisWeight(solver.spine, 0f);
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}
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if (IKFixes.EntryUseFakeRootAngle.Value && !BodySystem.isCalibratedAsFullBody)
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float maxRootAngle = BodySystem.isCalibratedAsFullBody || IKFixes.EntryUseFakeRootAngle.Value ? (PlayerSetup.Instance._emotePlaying ? 180f : 0f) : (PlayerSetup.Instance._emotePlaying ? 180f : 25f);
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solver.spine.maxRootAngle = maxRootAngle;
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if (IKFixes.EntryUseFakeRootAngle.Value)
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{
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// Emulate maxRootAngle because CVR doesn't have the player controller set up ideally for VRIK.
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// I believe they'd need to change which object vrik.references.root is, as using avatar object is bad!
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// This is a small small fix, but makes it so the feet dont point in the direction of the head
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// when turning. It also means turning with joystick & turning IRL make feet behave the same and follow behind.
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float weightedAngleLimit = IKFixes.EntryFakeRootAngleLimit.Value * solver.locomotion.weight;
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float pivotAngle = MovementSystem.Instance.rotationPivot.eulerAngles.y;
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float deltaAngleRoot = Mathf.DeltaAngle(pivotAngle, _ikSimulatedRootAngle);
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float absDeltaAngleRoot = Mathf.Abs(deltaAngleRoot);
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if (absDeltaAngleRoot > weightedAngleLimit)
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{
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deltaAngleRoot = Mathf.Sign(deltaAngleRoot) * weightedAngleLimit;
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_ikSimulatedRootAngle = Mathf.MoveTowardsAngle(_ikSimulatedRootAngle, pivotAngle, absDeltaAngleRoot - weightedAngleLimit);
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}
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solver.spine.maxRootAngle = 0f;
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solver.spine.rootHeadingOffset = deltaAngleRoot;
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}
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else
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{
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// Allow avatar to rotate seperatly from Player (Desktop&VR)
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// FBT needs avatar root to follow head
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// VR default is 25 degrees, but maybe during emotes needs 180 degrees..?
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solver.spine.maxRootAngle = BodySystem.isCalibratedAsFullBody ? 0f : 25f;
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}
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// custom IK settings
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solver.spine.neckStiffness = IKFixes.EntryNeckStiffness.Value;
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@ -118,7 +178,6 @@ internal static class BodySystemPatches
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solver.spine.rotateChestByHands = IKFixes.EntryRotateChestByHands.Value;
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}
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int num = 0;
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int count = IKSystem.Instance.AllTrackingPoints.FindAll((TrackingPoint m) => m.isActive && m.isValid && m.suggestedRole > TrackingPoint.TrackingRole.Invalid).Count;
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// fixes having all tracking points disabled forcing calibration
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@ -129,6 +188,7 @@ internal static class BodySystemPatches
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}
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// solid body count block
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int num = 0;
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if (BodySystem.enableLeftFootTracking) num++;
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if (BodySystem.enableRightFootTracking) num++;
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if (BodySystem.enableHipTracking) num++;
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@ -140,30 +200,66 @@ internal static class BodySystemPatches
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__instance._fbtAvailable = (count >= num);
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void SetArmWeight(IKSolverVR.Arm arm, float weight)
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return false;
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}
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[HarmonyPrefix]
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[HarmonyPatch(typeof(BodySystem), nameof(BodySystem.AssignRemainingTrackers))]
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static bool Prefix_BodySystem_AssignRemainingTrackers()
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{
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return IKFixes.EntryAssignRemainingTrackers.Value;
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}
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[HarmonyPrefix]
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[HarmonyPatch(typeof(BodySystem), nameof(BodySystem.MuscleUpdate))]
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static void Prefix_BodySystem_MuscleUpdate()
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{
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if (BodySystem.isCalibrating)
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{
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arm.positionWeight = weight;
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arm.rotationWeight = weight;
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arm.shoulderRotationWeight = weight;
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arm.shoulderTwistWeight = weight;
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// assumed fix of bend goal weight if arms disabled with elbows (havent tested)
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arm.bendGoalWeight = arm.bendGoal != null ? weight : 0f;
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}
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void SetLegWeight(IKSolverVR.Leg leg, float weight)
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{
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leg.positionWeight = weight;
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leg.rotationWeight = weight;
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// fixes knees bending to tracker if feet disabled (running anim)
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leg.bendGoalWeight = leg.bendGoal != null ? weight : 0f;
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}
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void SetPelvisWeight(IKSolverVR.Spine spine, float weight)
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{
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// looks better when hips are disabled while running
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spine.pelvisPositionWeight = weight;
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spine.pelvisRotationWeight = weight;
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IKSystem.Instance.humanPose.bodyRotation = Quaternion.identity;
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IKSystem.vrik.solver.spine.maxRootAngle = 0f; // idk, testing
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}
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return false;
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if (BodySystem.isCalibratedAsFullBody && BodySystem.TrackingPositionWeight > 0f)
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{
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bool isRunning = BodySystem.PlayRunningAnimationInFullBody && MovementSystem.Instance.movementVector.magnitude > 0f;
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if (!isRunning)
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{
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// Resetting bodyRotation made running animations look funky
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IKSystem.Instance.applyOriginalHipPosition = true;
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IKSystem.Instance.applyOriginalHipRotation = false;
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IKSystem.Instance.humanPose.bodyRotation = Quaternion.identity;
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}
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else
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{
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// This looks much better when running
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IKSystem.Instance.applyOriginalHipPosition = true;
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IKSystem.Instance.applyOriginalHipRotation = true;
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}
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}
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// TODO: Rewrite to exclude setting T-pose to limbs that are not tracked
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}
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[HarmonyPostfix]
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[HarmonyPatch(typeof(BodySystem), nameof(BodySystem.Calibrate))]
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static void Postfix_BodySystem_Calibrate()
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{
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IKSystem.Instance.applyOriginalHipPosition = false;
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IKSystem.Instance.applyOriginalHipRotation = false;
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IKSystem.vrik.solver.leftLeg.bendToTargetWeight = 0.25f;
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IKSystem.vrik.solver.rightLeg.bendToTargetWeight = 0.25f;
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}
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}
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internal static class IKSystemPatches
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{
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[HarmonyPrefix]
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[HarmonyPatch(typeof(IKSystem), nameof(IKSystem.InitializeAvatar))]
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static void Prefix_IKSystem_InitializeAvatar(ref IKSystem __instance)
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{
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__instance.applyOriginalHipPosition = true;
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__instance.applyOriginalHipRotation = true;
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}
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}
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@ -174,13 +270,30 @@ internal static class VRIKPatches
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This breaks as you playspace up, because calf and foot position aren't offset yet in solve order.
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**/
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// Add ApplyBendGoal(); to the second line of RootMotionNew.FinalIK.IKSolverVR.Leg.Solve(bool)
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// https://github.com/knah/VRCMods/tree/b6c4198fb8e06174ea511fe1f8a3257dfef2fdd2 IKTweaks
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[HarmonyPostfix]
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[HarmonyPatch(typeof(IKSolverVR.Leg), nameof(IKSolverVR.Leg.Stretching))]
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static void Postfix_IKSolverVR_Leg_Stretching(ref IKSolverVR.Leg __instance)
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{
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// I am patching here because Stretching() is always called
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// and i am not doing a transpiler to place it on the second line
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__instance.ApplyBendGoal();
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}
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// IKTweaks original method does not do this?
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// idk i prefer it, upper leg rotates weird otherwise
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[HarmonyPrefix]
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[HarmonyPatch(typeof(IKSolverVR.Leg), "ApplyOffsets")]
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private static bool Prefix_IKSolverVR_Leg_ApplyOffsets(ref IKSolverVR.Leg __instance)
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[HarmonyPatch(typeof(IKSolverVR.Leg), nameof(IKSolverVR.Leg.ApplyOffsets))]
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static bool Prefix_IKSolverVR_Leg_ApplyOffsets(ref IKSolverVR.Leg __instance)
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{
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//This is the second part of the above fix, preventing the solver from calculating a bad bendNormal
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//when it doesn't need to. The knee tracker should dictate the bendNormal completely.
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//TODO: investigate lower leg not bending towards knee direction
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if (__instance.usingKneeTracker)
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{
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__instance.ApplyPositionOffset(__instance.footPositionOffset, 1f);
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@ -198,16 +311,6 @@ internal static class VRIKPatches
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__instance.bendGoalWeight = num;
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return false;
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}
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[HarmonyPrefix]
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[HarmonyPatch(typeof(IKSolverVR.Leg), "Solve")]
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private static void Prefix_IKSolverVR_Leg_Solve(ref IKSolverVR.Leg __instance)
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{
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//Turns out VRIK applies bend goal maths before root is offset in solving process.
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//We will apply ourselves before then to fix it.
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if (__instance.usingKneeTracker)
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__instance.ApplyBendGoal();
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}
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}
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internal static class PlayerSetupPatches
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@ -218,8 +321,8 @@ internal static class PlayerSetupPatches
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static Quaternion lastMovementRotation;
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[HarmonyPrefix]
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[HarmonyPatch(typeof(PlayerSetup), "ResetIk")]
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private static bool Prefix_PlayerSetup_ResetIk()
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[HarmonyPatch(typeof(PlayerSetup), nameof(PlayerSetup.ResetIk))]
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static bool Prefix_PlayerSetup_ResetIk()
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{
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if (IKSystem.vrik == null) return false;
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