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[IKFixes] Knee stuff

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NotAKidoS 2023-05-16 22:20:04 -05:00
parent cbfc1f39b6
commit 37fcf6ece1
1 changed files with 34 additions and 16 deletions
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50
IKFixes/HarmonyPatches.cs
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@ -103,7 +103,7 @@ internal static class BodySystemPatches
leg.positionWeight = weight;
leg.rotationWeight = weight;
// fixes knees bending to tracker if feet disabled (running anim)
leg.bendGoalWeight = leg.usingKneeTracker ? weight : 0f;
leg.bendGoalWeight = leg.usingKneeTracker ? 0.9f : 0f;
}
void SetPelvisWeight(IKSolverVR.Spine spine, float weight)
{
@ -247,8 +247,10 @@ internal static class BodySystemPatches
{
IKSystem.Instance.applyOriginalHipPosition = false;
IKSystem.Instance.applyOriginalHipRotation = false;
IKSystem.vrik.solver.leftLeg.bendToTargetWeight = 0.25f;
IKSystem.vrik.solver.rightLeg.bendToTargetWeight = 0.25f;
IKSystem.vrik.solver.leftLeg.bendToTargetWeight = 0.1f;
IKSystem.vrik.solver.rightLeg.bendToTargetWeight = 0.1f;
IKSystem.vrik.solver.leftLeg.bendGoalWeight = 0.9f;
IKSystem.vrik.solver.rightLeg.bendGoalWeight = 0.9f;
}
}
@ -289,26 +291,42 @@ internal static class VRIKPatches
[HarmonyPatch(typeof(IKSolverVR.Leg), nameof(IKSolverVR.Leg.ApplyOffsets))]
static bool Prefix_IKSolverVR_Leg_ApplyOffsets(ref IKSolverVR.Leg __instance)
{
//This is the second part of the above fix, preventing the solver from calculating a bad bendNormal
//when it doesn't need to. The knee tracker should dictate the bendNormal completely.
// Apply position and rotation offsets
__instance.ApplyPositionOffset(__instance.footPositionOffset, 1f);
__instance.ApplyRotationOffset(__instance.footRotationOffset, 1f);
//TODO: investigate lower leg not bending towards knee direction
// Calculate new foot position and rotation
Quaternion footQuaternion = Quaternion.FromToRotation(__instance.footPosition - __instance.position, __instance.footPosition + __instance.heelPositionOffset - __instance.position);
__instance.footPosition = __instance.position + footQuaternion * (__instance.footPosition - __instance.position);
__instance.footRotation = footQuaternion * __instance.footRotation;
if (__instance.usingKneeTracker)
{
__instance.ApplyPositionOffset(__instance.footPositionOffset, 1f);
__instance.ApplyRotationOffset(__instance.footRotationOffset, 1f);
Quaternion quaternion = Quaternion.FromToRotation(__instance.footPosition - __instance.position, __instance.footPosition + __instance.heelPositionOffset - __instance.position);
__instance.footPosition = __instance.position + quaternion * (__instance.footPosition - __instance.position);
__instance.footRotation = quaternion * __instance.footRotation;
float angle = 0f;
if (__instance.bendGoal != null && __instance.bendGoalWeight > 0f)
{
Vector3 crossProduct = Vector3.Cross(__instance.bendGoal.position - __instance.thigh.solverPosition, __instance.position - __instance.thigh.solverPosition);
Vector3 rotatedPoint = Quaternion.Inverse(Quaternion.LookRotation(__instance.bendNormal, __instance.thigh.solverPosition - __instance.foot.solverPosition)) * crossProduct;
angle = Mathf.Atan2(rotatedPoint.x, rotatedPoint.z) * Mathf.Rad2Deg * __instance.bendGoalWeight;
}
// Adjust bend normal and thigh rotation for knee tracker
// Knee tracker should take priority over swivelOffset
__instance.bendNormal = Quaternion.AngleAxis(angle, __instance.thigh.solverPosition - __instance.lastBone.solverPosition) * __instance.bendNormal;
__instance.thigh.solverRotation = Quaternion.AngleAxis(-angle, __instance.thigh.solverRotation * __instance.thigh.axis) * __instance.thigh.solverRotation;
return false;
}
// run full method like normal otherwise
float num = __instance.bendGoalWeight;
__instance.bendGoalWeight = 0f;
__instance.ApplyOffsetsOld();
__instance.bendGoalWeight = num;
// Adjust bend normal and thigh rotation for swivel offset
float adjustedAngle = __instance.swivelOffset;
if (adjustedAngle > 90f) adjustedAngle = 180f - adjustedAngle;
if (adjustedAngle < -90f) adjustedAngle = -180f - adjustedAngle;
if (adjustedAngle != 0f)
{
__instance.bendNormal = Quaternion.AngleAxis(adjustedAngle, __instance.thigh.solverPosition - __instance.lastBone.solverPosition) * __instance.bendNormal;
__instance.thigh.solverRotation = Quaternion.AngleAxis(-adjustedAngle, __instance.thigh.solverRotation * __instance.thigh.axis) * __instance.thigh.solverRotation;
}
return false;
}
}