weight bump

DesktopVRIK/DesktopVRIKSystem.cs

@@ -123,19 +123,20 @@ internal class DesktopVRIKSystem : MonoBehaviour
 
     // DesktopVRIK Settings
     public bool Setting_Enabled = true;
-    public bool Setting_PlantFeet = true;
+    public bool Setting_PlantFeet;
     public bool Setting_ResetFootsteps;
     public float Setting_BodyLeanWeight;
     public float Setting_BodyHeadingLimit;
     public float Setting_PelvisHeadingWeight;
     public float Setting_ChestHeadingWeight;
+    public float Setting_IKLerpSpeed;
 
     // Calibration Settings
-    public bool Setting_UseVRIKToes = true;
+    public bool Setting_UseVRIKToes;
-    public bool Setting_FindUnmappedToes = true;
+    public bool Setting_FindUnmappedToes;
 
     // Integration Settings
-    public bool Setting_IntegrationAMT = false;
+    public bool Setting_IntegrationAMT;
 
     // Avatar Components
     public CVRAvatar avatarDescriptor = null;
@@ -161,20 +162,21 @@ internal class DesktopVRIKSystem : MonoBehaviour
     // VRIK Calibration Info
     Vector3 _vrikKneeNormalLeft;
     Vector3 _vrikKneeNormalRight;
-    Vector3 _vrikInitialFootStepLeft;
+    Vector3 _vrikInitialFootPosLeft;
-    Vector3 _vrikInitialFootStepRight;
+    Vector3 _vrikInitialFootPosRight;
+    Quaternion _vrikInitialFootRotLeft;
+    Quaternion _vrikInitialFootRotRight;
     float _vrikInitialFootDistance;
     float _vrikInitialStepThreshold;
     float _vrikInitialStepHeight;
     bool _vrikFixTransformsRequired;
 
     // Player Info
-    Transform _cameraTransform = null;
+    Transform _cameraTransform;
-    bool _ikEmotePlaying = false;
+    bool _ikEmotePlaying;
+    float _ikWeightLerp = 1f;
     float _ikSimulatedRootAngle = 0f;
     float _locomotionWeight = 1f;
-    float _locomotionWeightLerp = 1f;
-    float _locomotionLerpSpeed = 10f;
 
     // Last Movement Parent Info
     Vector3 _movementPosition;
@@ -202,32 +204,60 @@ internal class DesktopVRIKSystem : MonoBehaviour
         if (avatarVRIK == null) return;
 
         HandleLocomotionTracking();
-        LerpLocomotionWeight();
+        UpdateLocomotionWeight();
         ApplyBodySystemWeights();
     }
 
     void HandleLocomotionTracking()
     {
-        bool isMoving = movementSystem.movementVector.magnitude > 0f;
+        bool shouldTrackLocomotion = ShouldTrackLocomotion();
-        bool isGrounded = movementSystem._isGrounded;
-        bool isCrouching = movementSystem.crouching;
-        bool isProne = movementSystem.prone;
-        bool isFlying = movementSystem.flying;
-
-        bool shouldTrackLocomotion = !(isMoving || isCrouching || isProne || isFlying || !isGrounded);
 
         if (shouldTrackLocomotion != BodySystem.TrackingLocomotionEnabled)
         {
             BodySystem.TrackingLocomotionEnabled = shouldTrackLocomotion;
             avatarIKSolver.Reset();
             ResetDesktopVRIK();
+            if (shouldTrackLocomotion) IKResetFootsteps();
         }
     }
 
-    void LerpLocomotionWeight()
+    bool ShouldTrackLocomotion()
     {
-        _locomotionWeight = BodySystem.TrackingEnabled && BodySystem.TrackingLocomotionEnabled ? 1.0f : 0.0f;
+        bool isMoving = movementSystem.movementVector.magnitude > 0f;
-        _locomotionWeightLerp = Mathf.Lerp(_locomotionWeightLerp, _locomotionWeight, Time.deltaTime * _locomotionLerpSpeed);
+        bool isGrounded = movementSystem._isGrounded;
+        bool isCrouching = movementSystem.crouching;
+        bool isProne = movementSystem.prone;
+        bool isFlying = movementSystem.flying;
+        bool isStanding = IsStanding();
+
+        return !(isMoving || isCrouching || isProne || isFlying || !isGrounded || !isStanding);
+    }
+
+    bool IsStanding()
+    {
+        // Let AMT handle it if available
+        if (Setting_IntegrationAMT) return true;
+
+        // Get Upright value
+        Vector3 delta = avatarIKSolver.spine.headPosition - avatarTransform.position;
+        Vector3 deltaRotated = Quaternion.Euler(0, avatarTransform.rotation.eulerAngles.y, 0) * delta;
+        float upright = Mathf.InverseLerp(0f, avatarIKSolver.spine.headHeight, deltaRotated.y);
+        return upright > 0.85f;
+    }
+
+    void UpdateLocomotionWeight()
+    {
+        float targetWeight = BodySystem.TrackingEnabled && BodySystem.TrackingLocomotionEnabled ? 1.0f : 0.0f;
+        if (Setting_IKLerpSpeed > 0)
+        {
+            _ikWeightLerp = Mathf.Lerp(_ikWeightLerp, targetWeight, Time.deltaTime * Setting_IKLerpSpeed);
+            _locomotionWeight = Mathf.Lerp(_locomotionWeight, targetWeight, Time.deltaTime * Setting_IKLerpSpeed * 2f);
+        }
+        else
+        {
+            _ikWeightLerp = targetWeight;
+            _locomotionWeight = targetWeight;
+        }
     }
 
     void ApplyBodySystemWeights()
@@ -354,17 +384,11 @@ internal class DesktopVRIKSystem : MonoBehaviour
         avatarIKSolver.plantFeet = Setting_PlantFeet;
 
         // Apply custom VRIK solving effects
-        if (_locomotionWeightLerp > 0)
+        if (_ikWeightLerp > 0)
         {
             IKBodyLeaningOffset();
             IKBodyHeadingOffset();
         }
-
-        // Reset footsteps while transitioning
-        if (_locomotionWeightLerp < 0.99f)
-        {
-            IKResetFootsteps();
-        }
     }
 
     void IKBodyLeaningOffset()
@@ -372,7 +396,7 @@ internal class DesktopVRIKSystem : MonoBehaviour
         // Emulate old VRChat hip movement
         if (Setting_BodyLeanWeight <= 0) return;
 
-        float weightedAngle = Setting_BodyLeanWeight * _locomotionWeightLerp;
+        float weightedAngle = Setting_BodyLeanWeight * _ikWeightLerp;
         float angle = _cameraTransform.localEulerAngles.x;
         angle = angle > 180 ? angle - 360 : angle;
         Quaternion rotation = Quaternion.AngleAxis(angle * weightedAngle, avatarTransform.right);
@@ -384,7 +408,7 @@ internal class DesktopVRIKSystem : MonoBehaviour
         // Make root heading follow within a set limit
         if (Setting_BodyHeadingLimit <= 0) return;
 
-        float weightedAngleLimit = Setting_BodyHeadingLimit * _locomotionWeightLerp;
+        float weightedAngleLimit = Setting_BodyHeadingLimit * _ikWeightLerp;
         float deltaAngleRoot = Mathf.DeltaAngle(transform.eulerAngles.y, _ikSimulatedRootAngle);
         float absDeltaAngleRoot = Mathf.Abs(deltaAngleRoot);
 
@@ -410,17 +434,17 @@ internal class DesktopVRIKSystem : MonoBehaviour
 
     void IKResetFootsteps()
     {
-        // Attempt to skip footstep transition
+        // Reset footsteps immediatly to initial
         if (!Setting_ResetFootsteps) return;
 
-        IKSolverVR.Footstep footstepLeft = avatarIKSolver.locomotion.footsteps[0];
+        VRIKUtils.SetFootsteps
-        IKSolverVR.Footstep footstepRight = avatarIKSolver.locomotion.footsteps[1];
+        (
-        Vector3 globalLeft = movementSystem.transform.TransformPoint(_vrikInitialFootStepLeft);
+            avatarVRIK,
-        Vector3 globalRight = movementSystem.transform.TransformPoint(_vrikInitialFootStepRight);
+            _vrikInitialFootPosLeft,
-        footstepLeft.Reset(avatarTransform.rotation, globalLeft, footstepLeft.stepToRot);
+            _vrikInitialFootPosRight,
-        footstepRight.Reset(avatarTransform.rotation, globalRight, footstepRight.stepToRot);
+            _vrikInitialFootRotLeft,
-        //footstepRight.StepTo(globalRight, avatarTransform.rotation, 100f);
+            _vrikInitialFootRotRight
-        //footstepLeft.StepTo(globalLeft, avatarTransform.rotation, 100f);
+        );
     }
 
     void ResetDesktopVRIK()
@@ -542,7 +566,7 @@ internal class DesktopVRIKSystem : MonoBehaviour
         VRIKUtils.CalculateInitialIKScaling(avatarVRIK, out _vrikInitialFootDistance, out _vrikInitialStepThreshold, out _vrikInitialStepHeight);
 
         // Calculate initial Footstep positions
-        VRIKUtils.CalculateInitialFootsteps(avatarVRIK, out _vrikInitialFootStepLeft, out _vrikInitialFootStepRight);
+        VRIKUtils.CalculateInitialFootsteps(avatarVRIK, out _vrikInitialFootPosLeft, out _vrikInitialFootPosRight, out _vrikInitialFootRotLeft, out _vrikInitialFootRotRight);
 
         // Setup HeadIKTarget
         VRIKUtils.SetupHeadIKTarget(avatarVRIK);

DesktopVRIK/Integrations/BTKUIAddon.cs

@@ -17,21 +17,20 @@ public static class BTKUIAddon
         AddMelonToggle(ref miscCategory, DesktopVRIKMod.EntryEnabled);
 
         //Add my own page to not clog up Misc Menu
-
         Page desktopVRIKPage = miscCategory.AddPage("DesktopVRIK Settings", "", "Configure the settings for DesktopVRIK.", "DesktopVRIK");
         desktopVRIKPage.MenuTitle = "DesktopVRIK Settings";
-
         Category desktopVRIKCategory = desktopVRIKPage.AddCategory(DesktopVRIKMod.SettingsCategory);
         
         // General Settings
-        //AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryEnabled);
         AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryPlantFeet);
-        AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryResetFootstepsOnIdle);
         
         // Calibration Settings
         AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryUseVRIKToes);
         AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryFindUnmappedToes);
         
+        // Fine-tuning Settings
+        AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryResetFootstepsOnIdle);
+        
         // Body Leaning Weight
         AddMelonSlider(ref desktopVRIKPage, DesktopVRIKMod.EntryBodyLeanWeight, 0, 1f, 1);
 
@@ -39,7 +38,11 @@ public static class BTKUIAddon
         AddMelonSlider(ref desktopVRIKPage, DesktopVRIKMod.EntryBodyHeadingLimit, 0, 90f, 0);
         AddMelonSlider(ref desktopVRIKPage, DesktopVRIKMod.EntryPelvisHeadingWeight, 0, 1f, 1);
         AddMelonSlider(ref desktopVRIKPage, DesktopVRIKMod.EntryChestHeadingWeight, 0, 1f, 1);
+
+        // Lerp Speed
+        AddMelonSlider(ref desktopVRIKPage, DesktopVRIKMod.EntryIKLerpSpeed, 0, 20f, 0);
     }
+
     private static void AddMelonToggle(ref Category category, MelonLoader.MelonPreferences_Entry<bool> entry)
     {
         category.AddToggle(entry.DisplayName, entry.Description, entry.Value).OnValueUpdated += b => entry.Value = b;

DesktopVRIK/Main.cs

@@ -15,12 +15,12 @@ public class DesktopVRIKMod : MelonMod
     public static readonly MelonPreferences_Entry<bool> EntryPlantFeet =
         CategoryDesktopVRIK.CreateEntry("Enforce Plant Feet", true, description: "Forces VRIK Plant Feet enabled to prevent hovering when stopping movement.");
 
+    public static readonly MelonPreferences_Entry<bool> EntryResetFootstepsOnIdle =
+        CategoryDesktopVRIK.CreateEntry("Reset Footsteps on Idle", true, description: "Determins if the Locomotion Footsteps will be reset to their calibration position when entering idle.");
+
     public static readonly MelonPreferences_Entry<bool> EntryUseVRIKToes =
         CategoryDesktopVRIK.CreateEntry("Use VRIK Toes", false, description: "Determines if VRIK uses humanoid toes for IK solving, which can cause feet to idle behind the avatar.");
 
-    public static readonly MelonPreferences_Entry<bool> EntryResetFootstepsOnIdle =
-        CategoryDesktopVRIK.CreateEntry("Reset Footsteps on Idle", false, description: "Forces Locomotion Footsteps to reset to their initial position on return to idle. This is a bit aggressive.");
-
     public static readonly MelonPreferences_Entry<bool> EntryFindUnmappedToes =
         CategoryDesktopVRIK.CreateEntry("Find Unmapped Toes", false, description: "Determines if DesktopVRIK should look for unmapped toe bones if the humanoid rig does not have any.");
 
@@ -36,6 +36,14 @@ public class DesktopVRIKMod : MelonMod
     public static readonly MelonPreferences_Entry<float> EntryChestHeadingWeight =
         CategoryDesktopVRIK.CreateEntry("Chest Heading Weight", 0.75f, description: "Determines how much the chest will face the Body Heading Limit. Set to 0 to align with head.");
 
+    public static readonly MelonPreferences_Entry<float> EntryIKLerpSpeed =
+        CategoryDesktopVRIK.CreateEntry("IK Lerp Speed", 10f, description: "Determines fast the IK & Locomotion weights blend after entering idle. Set to 0 to disable.");
+
+    public static readonly MelonPreferences_Entry<bool> EntryIntegrationAMT =
+        CategoryDesktopVRIK.CreateEntry("AMT Integration", true, description: "Relies on AvatarMotionTweaker to handle VRIK Locomotion weights if available.");
+
+    public static bool integration_AMT = false;
+
     public override void OnInitializeMelon()
     {
         Logger = LoggerInstance;
@@ -50,6 +58,16 @@ public class DesktopVRIKMod : MelonMod
             Logger.Msg("Initializing BTKUILib support.");
             BTKUIAddon.Init();
         }
+        //AvatarMotionTweaker Handling
+        if (MelonMod.RegisteredMelons.Any(it => it.Info.Name == "AvatarMotionTweaker"))
+        {
+            Logger.Msg("AvatarMotionTweaker was found. Relying on it to handle VRIK locomotion.");
+            integration_AMT = true;
+        }
+        else
+        {
+            Logger.Msg("AvatarMotionTweaker was not found. Using built-in VRIK locomotion handling.");
+        }
     }
 
     internal static void UpdateAllSettings()
@@ -64,10 +82,18 @@ public class DesktopVRIKMod : MelonMod
         DesktopVRIKSystem.Instance.Setting_BodyHeadingLimit = Mathf.Clamp(EntryBodyHeadingLimit.Value, 0f, 90f);
         DesktopVRIKSystem.Instance.Setting_PelvisHeadingWeight = (1f - Mathf.Clamp01(EntryPelvisHeadingWeight.Value));
         DesktopVRIKSystem.Instance.Setting_ChestHeadingWeight = (1f - Mathf.Clamp01(EntryChestHeadingWeight.Value));
+        DesktopVRIKSystem.Instance.Setting_ChestHeadingWeight = (1f - Mathf.Clamp01(EntryChestHeadingWeight.Value));
+        DesktopVRIKSystem.Instance.Setting_IKLerpSpeed = Mathf.Clamp(EntryIKLerpSpeed.Value, 0f, 20f);
 
         // Calibration Settings
         DesktopVRIKSystem.Instance.Setting_UseVRIKToes = EntryUseVRIKToes.Value;
         DesktopVRIKSystem.Instance.Setting_FindUnmappedToes = EntryFindUnmappedToes.Value;
+
+        // Fine-tuning Settings
+        DesktopVRIKSystem.Instance.Setting_ResetFootsteps = EntryResetFootstepsOnIdle.Value;
+
+        // Integration Settings
+        DesktopVRIKSystem.Instance.Setting_IntegrationAMT = EntryIntegrationAMT.Value && integration_AMT;
     }
     void OnUpdateSettings(object arg1, object arg2) => UpdateAllSettings();
 

DesktopVRIK/Properties/AssemblyInfo.cs

@@ -26,6 +26,6 @@ using System.Reflection;
 namespace NAK.Melons.DesktopVRIK.Properties;
 internal static class AssemblyInfoParams
 {
-    public const string Version = "4.1.2";
+    public const string Version = "4.1.3";
     public const string Author = "NotAKidoS";
 }

DesktopVRIK/VRIKUtils.cs

@@ -154,10 +154,33 @@ public static class VRIKUtils
         initialStepHeight = Vector3.Distance(vrik.references.leftFoot.position, vrik.references.leftCalf.position) * 0.2f;
     }
 
-    public static void CalculateInitialFootsteps(VRIK vrik, out Vector3 initialFootstepLeft, out Vector3 initialFootstepRight)
+    public static void CalculateInitialFootsteps(VRIK vrik, out Vector3 initialFootPosLeft, out Vector3 initialFootPosRight, out Quaternion initialFootRotLeft, out Quaternion initialFootRotRight)
     {
-        initialFootstepLeft = vrik.references.root.InverseTransformPoint(vrik.references.leftFoot.position);
+        Transform root = vrik.references.root;
-        initialFootstepRight = vrik.references.root.InverseTransformPoint(vrik.references.rightFoot.position);
+        Transform leftFoot = vrik.references.leftFoot;
+        Transform rightFoot = vrik.references.rightFoot;
+
+        // Calculate the world rotation of the root bone at the current frame
+        Quaternion rootWorldRot = root.rotation;
+
+        // Calculate the world rotation of the left and right feet relative to the root bone
+        initialFootPosLeft = root.InverseTransformPoint(leftFoot.position);
+        initialFootPosRight = root.InverseTransformPoint(rightFoot.position);
+        initialFootRotLeft = Quaternion.Inverse(rootWorldRot) * leftFoot.rotation;
+        initialFootRotRight = Quaternion.Inverse(rootWorldRot) * rightFoot.rotation;
+    }
+
+    public static void SetFootsteps(VRIK vrik, Vector3 footPosLeft, Vector3 footPosRight, Quaternion footRotLeft, Quaternion footRotRight)
+    {
+        var locomotionSolver = vrik.solver.locomotion;
+
+        var footsteps = locomotionSolver.footsteps;
+        var footstepLeft = footsteps[0];
+        var footstepRight = footsteps[1];
+
+        var rootWorldRot = vrik.references.root.rotation;
+        footstepLeft.Reset(rootWorldRot, vrik.transform.TransformPoint(footPosLeft), rootWorldRot * footRotLeft);
+        footstepRight.Reset(rootWorldRot, vrik.transform.TransformPoint(footPosRight), rootWorldRot * footRotRight);
     }
 
     public static void SetupHeadIKTarget(VRIK vrik)

DesktopVRIK/format.json

@@ -1,7 +1,7 @@
 {
   "_id": 117,
   "name": "DesktopVRIK",
-  "modversion": "4.1.2",
+  "modversion": "4.1.3",
   "gameversion": "2022r170",
   "loaderversion": "0.5.7",
   "modtype": "Mod",
@@ -17,8 +17,8 @@
   "requirements": [
     "BTKUILib"
   ],
-  "downloadlink": "https://github.com/NotAKidOnSteam/DesktopVRIK/releases/download/v4.1.2/DesktopVRIK.dll",
+  "downloadlink": "https://github.com/NotAKidOnSteam/DesktopVRIK/releases/download/v4.1.3/DesktopVRIK.dll",
   "sourcelink": "https://github.com/NotAKidOnSteam/DesktopVRIK/",
-  "changelog": "- No longer requires AvatarMotionTweaker.\n- No longer piggybacks on IKSystem/PlayerSetup.\n\n DesktopVRIK will now handle VRIK Locomotion weight instead of relying on CVR & AMT to handle it. This means LeapMotionExtension, PickupArmMovement, and CVRLimbGrabber will now work while in crouch/prone.",
+  "changelog": "- No longer requires AvatarMotionTweaker.\n- No longer piggybacks on IKSystem/PlayerSetup.\n- Tweaks to Locomotion & IKSolver weight blending.\n\n DesktopVRIK will now handle VRIK Locomotion weight instead of relying on CVR & AMT to handle it. This means LeapMotionExtension, PickupArmMovement, and CVRLimbGrabber will now work while in crouch/prone.",
   "embedcolor": "9b59b6"
 }