clean up

DesktopVRIK/DesktopVRIK.cs

@@ -1,5 +1,4 @@
 using ABI_RC.Core.Player;
-using ABI_RC.Systems.IK;
 using ABI_RC.Systems.IK.SubSystems;
 using ABI_RC.Systems.MovementSystem;
 using RootMotion.FinalIK;
@@ -28,6 +27,8 @@ public class DesktopVRIK : MonoBehaviour
     float ik_SimulatedRootAngle;
     Transform desktopCameraTransform;
     static readonly FieldInfo ms_isGrounded = typeof(MovementSystem).GetField("_isGrounded", BindingFlags.NonPublic | BindingFlags.Instance);
+    bool forceSteps;
+    bool forceStepsNow;
 
     void Start()
     {
@@ -44,46 +45,43 @@ public class DesktopVRIK : MonoBehaviour
         ResetDesktopVRIK();
     }
 
-    public bool OnSetupIKScaling(float avatarHeight, float scaleDifference)
+    public bool OnSetupIKScaling(float scaleDifference)
     {
-        if (Calibrator.vrik != null)
+        if (Calibrator.vrik == null) return false;
-        {
-            Calibrator.vrik.solver.locomotion.footDistance = Calibrator.initialFootDistance * scaleDifference;
-            Calibrator.vrik.solver.locomotion.stepThreshold = Calibrator.initialStepThreshold * scaleDifference;
-            DesktopVRIK.ScaleStepHeight(Calibrator.vrik.solver.locomotion.stepHeight, Calibrator.initialStepHeight * scaleDifference);
-            //Calibrator.vrik.solver.Reset();
-            ResetDesktopVRIK();
 
-            return true;
+        VRIKUtils.ApplyScaleToVRIK
-        }
+        (
-        return false;
+            Calibrator.vrik,
-    }
+            Calibrator.initialFootDistance,
+            Calibrator.initialStepThreshold,
+            Calibrator.initialStepHeight,
+            scaleDifference
+        );
 
-    public static void ScaleStepHeight(AnimationCurve stepHeightCurve, float mag)
+        ResetDesktopVRIK();
-    {
+        return true;
-        Keyframe[] keyframes = stepHeightCurve.keys;
-        keyframes[1].value = mag;
-        stepHeightCurve.keys = keyframes;
     }
 
     public void OnPlayerSetupUpdate(bool isEmotePlaying)
     {
         bool changed = isEmotePlaying != ps_emoteIsPlaying;
-        if (changed)
+        if (!changed) return;
-        {
+
-            ps_emoteIsPlaying = isEmotePlaying;
+        ps_emoteIsPlaying = isEmotePlaying;
-            Calibrator.avatarTransform.localPosition = Vector3.zero;
+
-            Calibrator.avatarTransform.localRotation = Quaternion.identity;
+        Calibrator.avatarTransform.localPosition = Vector3.zero;
-            if (Calibrator.lookAtIK != null)
+        Calibrator.avatarTransform.localRotation = Quaternion.identity;
-            {
+
-                Calibrator.lookAtIK.enabled = !isEmotePlaying;
+        if (Calibrator.lookAtIK != null)
-            }
+            Calibrator.lookAtIK.enabled = !isEmotePlaying;
-            BodySystem.TrackingEnabled = !isEmotePlaying;
+
-            Calibrator.vrik.solver?.Reset();
+        BodySystem.TrackingEnabled = !isEmotePlaying;
-            ResetDesktopVRIK();
+
-        }
+        Calibrator.vrik.solver?.Reset();
+        ResetDesktopVRIK();
     }
 
+
     public void ResetDesktopVRIK()
     {
         ik_SimulatedRootAngle = transform.eulerAngles.y;
@@ -91,33 +89,34 @@ public class DesktopVRIK : MonoBehaviour
 
     public void OnPreSolverUpdate()
     {
-        if (ps_emoteIsPlaying) 
+        if (ps_emoteIsPlaying) return;
-        { 
-            return;
-        }
 
-        bool isGrounded = (bool)ms_isGrounded.GetValue(MovementSystem.Instance);
+        var movementSystem = MovementSystem.Instance;
+        var vrikSolver = Calibrator.vrik.solver;
+        var avatarTransform = Calibrator.avatarTransform;
 
-        // Calculate everything that affects weight
+        bool isGrounded = (bool)ms_isGrounded.GetValue(movementSystem);
-        float weight = Calibrator.vrik.solver.IKPositionWeight;
+
-        weight *= (1 - MovementSystem.Instance.movementVector.magnitude);
+        // Calculate weight
+        float weight = vrikSolver.IKPositionWeight;
+        weight *= 1f - movementSystem.movementVector.magnitude;
         weight *= isGrounded ? 1f : 0f;
 
-        // Reset avatar offset (VRIK will literally make you walk away from root otherwise)
+        // Reset avatar offset
-        Calibrator.avatarTransform.localPosition = Vector3.zero;
+        avatarTransform.localPosition = Vector3.zero;
-        Calibrator.avatarTransform.localRotation = Quaternion.identity;
+        avatarTransform.localRotation = Quaternion.identity;
 
-        // Plant feet is nice for Desktop
+        // Set plant feet
-        Calibrator.vrik.solver.plantFeet = Setting_PlantFeet;
+        vrikSolver.plantFeet = Setting_PlantFeet;
 
-        // Old VRChat hip movement emulation
+        // Emulate old VRChat hip movement
         if (Setting_BodyLeanWeight > 0)
         {
             float weightedAngle = Setting_BodyLeanWeight * weight;
             float angle = desktopCameraTransform.localEulerAngles.x;
-            angle = (angle > 180) ? angle - 360 : angle;
+            angle = angle > 180 ? angle - 360 : angle;
-            Quaternion rotation = Quaternion.AngleAxis(angle * weightedAngle, Calibrator.avatarTransform.right);
+            Quaternion rotation = Quaternion.AngleAxis(angle * weightedAngle, avatarTransform.right);
-            Calibrator.vrik.solver.AddRotationOffset(IKSolverVR.RotationOffset.Head, rotation);
+            vrikSolver.AddRotationOffset(IKSolverVR.RotationOffset.Head, rotation);
         }
 
         // Make root heading follow within a set limit
@@ -131,15 +130,15 @@ public class DesktopVRIK : MonoBehaviour
                 currentAngle = Mathf.Sign(currentAngle) * weightedAngleLimit;
                 ik_SimulatedRootAngle = Mathf.MoveTowardsAngle(ik_SimulatedRootAngle, transform.eulerAngles.y, angleMaxDelta - weightedAngleLimit);
             }
-            Calibrator.vrik.solver.spine.rootHeadingOffset = currentAngle;
+            vrikSolver.spine.rootHeadingOffset = currentAngle;
             if (Setting_PelvisHeadingWeight > 0)
             {
-                Calibrator.vrik.solver.AddRotationOffset(IKSolverVR.RotationOffset.Pelvis, new Vector3(0f, currentAngle * Setting_PelvisHeadingWeight, 0f));
+                vrikSolver.AddRotationOffset(IKSolverVR.RotationOffset.Pelvis, new Vector3(0f, currentAngle * Setting_PelvisHeadingWeight, 0f));
-                Calibrator.vrik.solver.AddRotationOffset(IKSolverVR.RotationOffset.Chest, new Vector3(0f, -currentAngle * Setting_PelvisHeadingWeight, 0f));
+                vrikSolver.AddRotationOffset(IKSolverVR.RotationOffset.Chest, new Vector3(0f, -currentAngle * Setting_PelvisHeadingWeight, 0f));
             }
             if (Setting_ChestHeadingWeight > 0)
             {
-                Calibrator.vrik.solver.AddRotationOffset(IKSolverVR.RotationOffset.Chest, new Vector3(0f, currentAngle * Setting_ChestHeadingWeight, 0f));
+                vrikSolver.AddRotationOffset(IKSolverVR.RotationOffset.Chest, new Vector3(0f, currentAngle * Setting_ChestHeadingWeight, 0f));
             }
         }
     }

DesktopVRIK/DesktopVRIKCalibrator.cs

@@ -16,8 +16,6 @@ public class DesktopVRIKCalibrator
     // Settings
     public bool Setting_UseVRIKToes = true;
     public bool Setting_FindUnmappedToes = true;
-    public bool Setting_ExperimentalKneeBend = true;
-    public bool Setting_DebugCalibrationPose = false;
 
     // Avatar Component References
     public CVRAvatar avatar;
@@ -27,26 +25,26 @@ public class DesktopVRIKCalibrator
     public LookAtIK lookAtIK;
 
     // Calibrated Values
-    public float 
+    public float
-        initialFootDistance, 
+        initialFootDistance,
-        initialStepThreshold, 
+        initialStepThreshold,
         initialStepHeight;
 
     // Calibration Internals
-    bool DebugCalibrationPose;
     bool fixTransformsRequired;
     Vector3 leftKneeNormal, rightKneeNormal;
     HumanPose initialHumanPose;
     HumanPoseHandler humanPoseHandler;
+
     // Traverse
     IKSystem ikSystem;
     PlayerSetup playerSetup;
     Traverse
-        _vrikTraverse, 
+        _vrikTraverse,
-        _lookIKTraverse, 
+        _lookIKTraverse,
-        _avatarTraverse, 
+        _avatarTraverse,
-        _animatorManagerTraverse, 
+        _animatorManagerTraverse,
-        _poseHandlerTraverse, 
+        _poseHandlerTraverse,
         _avatarRootHeightTraverse;
 
     public DesktopVRIKCalibrator()
@@ -68,15 +66,10 @@ public class DesktopVRIKCalibrator
 
     public void CalibrateDesktopVRIK()
     {
-        PreInitialize();
+        // Scan avatar for issues/references
-
+        ScanAvatarForCalibration();
-        // Don't do anything else if just debugging calibration pose
+        // Prepare CVR IKSystem for external VRIK
-        DebugCalibrationPose = !DebugCalibrationPose;
+        PrepareIKSystem();
-        if (Setting_DebugCalibrationPose && DebugCalibrationPose)
-        {
-            ForceCalibrationPose();
-            return;
-        }
 
         // Add VRIK and configure
         PrepareAvatarVRIK();
@@ -86,51 +79,42 @@ public class DesktopVRIKCalibrator
         PostInitialize();
     }
 
-    public void ForceCalibrationPose(bool toggle = true)
-    {
-        animator.enabled = !toggle;
-        SetHumanPose(0f);
-        //SetAvatarIKPose(toggle);
-    }
-
-    private void PreInitialize()
-    {
-        // Scan avatar for issues/references
-        ScanAvatarForCalibration();
-        // Prepare CVR IKSystem for external VRIK
-        PrepareIKSystem();
-    }
-
     private void Initialize()
     {
         // Calculate bend normals with motorcycle pose
         SetHumanPose(0f);
-        CalculateKneeBendNormals();
+        VRIKUtils.CalculateKneeBendNormals(vrik, out leftKneeNormal, out rightKneeNormal);
 
+        // Calculate initial IK scaling values with IKPose
         SetAvatarIKPose(true);
+        VRIKUtils.CalculateInitialIKScaling(vrik, out initialFootDistance, out initialStepThreshold, out initialStepHeight);
 
         // Setup HeadIK target & calculate initial footstep values
         SetupDesktopHeadIKTarget();
-        CalculateInitialIKScaling();
 
         // Initiate VRIK manually
-        ForceInitiateVRIKSolver();
+        VRIKUtils.InitiateVRIKSolver(vrik);
 
+        // Return avatar to original pose
         SetAvatarIKPose(false);
     }
 
     private void PostInitialize()
     {
-        ApplyKneeBendNormals();
+        VRIKUtils.ApplyScaleToVRIK
-        ApplyInitialIKScaling();
+        (
+            vrik,
+            initialFootDistance,
+            initialStepThreshold,
+            initialStepHeight,
+            1f
+        );
+        VRIKUtils.ApplyKneeBendNormals(vrik, leftKneeNormal, rightKneeNormal);
         vrik.onPreSolverUpdate.AddListener(new UnityAction(DesktopVRIK.Instance.OnPreSolverUpdate));
     }
-    
+
     private void ScanAvatarForCalibration()
     {
-        // Reset some stuff to default
-        fixTransformsRequired = false;
-
         // Find required avatar components
         avatar = playerSetup._avatar.GetComponent<CVRAvatar>();
         animator = avatar.GetComponent<Animator>();
@@ -138,22 +122,15 @@ public class DesktopVRIKCalibrator
         lookAtIK = _lookIKTraverse.GetValue<LookAtIK>();
 
         // Apply some fixes for weird setups
-        if (!animator.enabled)
+        fixTransformsRequired = !animator.enabled;
-        {
-            fixTransformsRequired = true;
-            DesktopVRIKMod.Logger.Error("Avatar has Animator disabled by default!");
-        }
 
-        // Center avatar local offsets
+        // Center avatar local position
         avatarTransform.localPosition = Vector3.zero;
-        //avatarTransform.localRotation = Quaternion.identity;
 
-        // Store original human pose
+        // Create a new human pose handler and dispose the old one
-        if (humanPoseHandler != null)
+        humanPoseHandler?.Dispose();
-        {
-            humanPoseHandler.Dispose();
-        }
         humanPoseHandler = new HumanPoseHandler(animator.avatar, avatarTransform);
+        // Store original human pose
         humanPoseHandler.GetHumanPose(ref initialHumanPose);
     }
 
@@ -168,21 +145,13 @@ public class DesktopVRIKCalibrator
 
         // Set the animator for the IK system
         ikSystem.animator = animator;
-        if (ikSystem.animator != null)
+        animatorManager.SetAnimator(ikSystem.animator, ikSystem.animator.runtimeAnimatorController);
-        {
-            animatorManager.SetAnimator(ikSystem.animator, ikSystem.animator.runtimeAnimatorController);
-        }
 
         // Set the avatar height float
-        float avatarHeight = ikSystem.vrPlaySpace.transform.InverseTransformPoint(avatarTransform.position).y;
+        _avatarRootHeightTraverse.SetValue(ikSystem.vrPlaySpace.transform.InverseTransformPoint(avatarTransform.position).y);
-        _avatarRootHeightTraverse.SetValue(avatarHeight);
 
         // Create a new human pose handler and dispose the old one
-        if (ikHumanPoseHandler != null)
+        ikHumanPoseHandler?.Dispose();
-        {
-            ikHumanPoseHandler.Dispose();
-            _poseHandlerTraverse.SetValue(null);
-        }
         ikHumanPoseHandler = new HumanPoseHandler(ikSystem.animator.avatar, avatarTransform);
         _poseHandlerTraverse.SetValue(ikHumanPoseHandler);
 
@@ -206,156 +175,48 @@ public class DesktopVRIKCalibrator
 
     private void PrepareAvatarVRIK()
     {
-        //add and configure VRIK
+        // Add and configure VRIK
         vrik = avatar.gameObject.AddComponentIfMissing<VRIK>();
         vrik.AutoDetectReferences();
-        ConfigureVRIKReferences();
-        _vrikTraverse.SetValue(vrik);
 
-        //in testing, not really needed
+        VRIKUtils.ConfigureVRIKReferences(vrik, Setting_UseVRIKToes, Setting_FindUnmappedToes, out bool foundUnmappedToes);
-        //only required if Setting_FindUnmappedToes
-        //and non-human mapped toes are found
-        vrik.fixTransforms = fixTransformsRequired;
 
-        //default solver settings
+        // Fix animator issue or non-human mapped toes
+        vrik.fixTransforms = fixTransformsRequired || foundUnmappedToes;
+
+        // Default solver settings
         vrik.solver.locomotion.weight = 0f;
         vrik.solver.locomotion.angleThreshold = 30f;
-        vrik.solver.locomotion.maxLegStretch = 0.75f;
+        vrik.solver.locomotion.maxLegStretch = 1f;
         vrik.solver.spine.minHeadHeight = 0f;
         vrik.solver.IKPositionWeight = 1f;
-        //disable to not bleed into anims
         vrik.solver.spine.chestClampWeight = 0f;
         vrik.solver.spine.maintainPelvisPosition = 0f;
-        //for body leaning
+
-        vrik.solver.spine.neckStiffness = 0.0001f; //cannot be 0
+        // Body leaning settings
+        vrik.solver.spine.neckStiffness = 0.0001f;
         vrik.solver.spine.bodyPosStiffness = 1f;
         vrik.solver.spine.bodyRotStiffness = 0.2f;
-        //disable so avatar doesnt try and walk away
+
+        // Disable locomotion
         vrik.solver.locomotion.velocityFactor = 0f;
         vrik.solver.locomotion.maxVelocity = 0f;
-        //fixes nameplate spazzing on remote & magicacloth
         vrik.solver.locomotion.rootSpeed = 1000f;
-        //disable so PAM & BID dont make body shake
+
+        // Disable chest rotation by hands
         vrik.solver.spine.rotateChestByHands = 0f;
-        //enable to prioritize LookAtIK
+
+        // Prioritize LookAtIK
         vrik.solver.spine.headClampWeight = 0.2f;
-        //disable to not go on tippytoes
+
+        // Disable going on tippytoes
         vrik.solver.spine.positionWeight = 0f;
         vrik.solver.spine.rotationWeight = 1f;
 
-        //vrik.solver.spine.maintainPelvisPosition = 1f;
+        // Tell IKSystem about new VRIK
-        //vrik.solver.locomotion.weight = 0f;
+        _vrikTraverse.SetValue(vrik);
-        //vrik.solver.spine.positionWeight = 0f;
-        //vrik.solver.spine.pelvisPositionWeight = 0f;
-        //vrik.solver.leftArm.positionWeight = 0f;
-        //vrik.solver.leftArm.rotationWeight = 0f;
-        //vrik.solver.rightArm.positionWeight = 0f;
-        //vrik.solver.rightArm.rotationWeight = 0f;
-        //vrik.solver.leftLeg.positionWeight = 0f;
-        //vrik.solver.leftLeg.rotationWeight = 0f;
-        //vrik.solver.rightLeg.positionWeight = 0f;
-        //vrik.solver.rightLeg.rotationWeight = 0f;
-        //vrik.solver.IKPositionWeight = 0f;
-
-        //THESE ARE CONFIGURABLE IN GAME IK SETTINGS
-        //vrik.solver.leftLeg.target = null;
-        //vrik.solver.leftLeg.bendGoal = null;
-        //vrik.solver.leftLeg.positionWeight = 0f;
-        //vrik.solver.leftLeg.bendGoalWeight = 0f;
-        //vrik.solver.rightLeg.target = null;
-        //vrik.solver.rightLeg.bendGoal = null;
-        //vrik.solver.rightLeg.positionWeight = 0f;
-        //vrik.solver.rightLeg.bendGoalWeight = 0f;
-        //vrik.solver.spine.pelvisTarget = null;
-        //vrik.solver.spine.chestGoal = null;
-        //vrik.solver.spine.positionWeight = 0f;
-        //vrik.solver.spine.rotationWeight = 0f;
-        //vrik.solver.spine.pelvisPositionWeight = 0f;
-        //vrik.solver.spine.pelvisRotationWeight = 0f;
-        //vrik.solver.spine.chestGoalWeight = 0f;
     }
 
-    private void CalculateKneeBendNormals()
-    {
-        // Get assumed left knee normal
-        Vector3[] leftVectors = new Vector3[]
-         {
-                vrik.references.leftThigh?.position ?? Vector3.zero,
-                vrik.references.leftCalf?.position ?? Vector3.zero,
-                vrik.references.leftFoot?.position ?? Vector3.zero,
-         };
-        leftKneeNormal = Quaternion.Inverse(vrik.references.root.rotation) * GetNormalFromArray(leftVectors);
-
-        // Get assumed right knee normal
-        Vector3[] rightVectors = new Vector3[]
-         {
-                vrik.references.rightThigh?.position ?? Vector3.zero,
-                vrik.references.rightCalf?.position ?? Vector3.zero,
-                vrik.references.rightFoot?.position ?? Vector3.zero,
-         };
-        rightKneeNormal = Quaternion.Inverse(vrik.references.root.rotation) * GetNormalFromArray(rightVectors);
-    }
-    
-    private void ApplyKneeBendNormals()
-    {
-        if (!Setting_ExperimentalKneeBend)
-        {
-            //enable so knees on fucked models work better
-            vrik.solver.leftLeg.useAnimatedBendNormal = true;
-            vrik.solver.rightLeg.useAnimatedBendNormal = true;
-            return;
-        }
-
-        vrik.solver.leftLeg.bendToTargetWeight = 0f;
-        vrik.solver.rightLeg.bendToTargetWeight = 0f;
-
-        Traverse leftLeg_bendNormalRelToPelvisTraverse = Traverse.Create(vrik.solver.leftLeg).Field("bendNormalRelToPelvis");
-        Traverse rightLeg_bendNormalRelToPelvisTraverse = Traverse.Create(vrik.solver.rightLeg).Field("bendNormalRelToPelvis");
-
-        // Calculate knee normal without root rotation but with pelvis rotation
-        Quaternion pelvisLocalRotationInverse = Quaternion.Inverse(vrik.references.pelvis.localRotation);
-        Vector3 leftLegBendNormalRelToPelvis = pelvisLocalRotationInverse * leftKneeNormal;
-        Vector3 rightLegBendNormalRelToPelvis = pelvisLocalRotationInverse * rightKneeNormal;
-        //Quaternion rootRotation = vrik.references.root.rotation;
-        //Quaternion pelvisRotationRelativeToRoot = Quaternion.Inverse(rootRotation) * vrik.references.pelvis.rotation;
-        //Quaternion pelvisRotationInverse = Quaternion.Inverse(pelvisRotationRelativeToRoot);
-        leftLeg_bendNormalRelToPelvisTraverse.SetValue(leftLegBendNormalRelToPelvis);
-        rightLeg_bendNormalRelToPelvisTraverse.SetValue(rightLegBendNormalRelToPelvis);
-    }
-
-    private Vector3 GetNormalFromArray(Vector3[] positions)
-    {
-        Vector3 vector = Vector3.zero;
-        Vector3 vector2 = Vector3.zero;
-        for (int i = 0; i < positions.Length; i++)
-        {
-            vector2 += positions[i];
-        }
-        vector2 /= (float)positions.Length;
-        for (int j = 0; j < positions.Length - 1; j++)
-        {
-            vector += Vector3.Cross(positions[j] - vector2, positions[j + 1] - vector2).normalized;
-        }
-        return Vector3.Normalize(vector);
-    }
-
-    private void CalculateInitialIKScaling()
-    {
-        // Get distance between feets and thighs
-        float footDistance = Vector3.Distance(vrik.references.leftFoot.position, vrik.references.rightFoot.position);
-        initialFootDistance = footDistance * 0.5f;
-        initialStepThreshold = footDistance * 0.8f;
-        initialStepHeight = Vector3.Distance(vrik.references.leftFoot.position, vrik.references.leftCalf.position) * 0.2f;
-    }
-
-    private void ApplyInitialIKScaling()
-    {
-        // Set initial values
-        vrik.solver.locomotion.footDistance = initialFootDistance;
-        vrik.solver.locomotion.stepThreshold = initialStepThreshold;
-        DesktopVRIK.ScaleStepHeight(vrik.solver.locomotion.stepHeight, initialStepHeight);
-    }
-    
     private void SetupDesktopHeadIKTarget()
     {
         // Lazy HeadIKTarget calibration
@@ -405,95 +266,6 @@ public class DesktopVRIKCalibrator
         humanPoseHandler.SetHumanPose(ref ikSystem.humanPose);
     }
 
-    private void ForceInitiateVRIKSolver()
-    {
-        //force immediate calibration before animator decides to fuck us
-        vrik.solver.SetToReferences(vrik.references);
-        vrik.solver.Initiate(vrik.transform);
-    }
-
-    private void ConfigureVRIKReferences()
-    {
-        //might not work over netik
-        FixChestAndSpineReferences();
-
-        if (!Setting_UseVRIKToes)
-        {
-            vrik.references.leftToes = null;
-            vrik.references.rightToes = null;
-        }
-        else if (Setting_FindUnmappedToes)
-        {
-            //doesnt work with netik, but its toes...
-            FindAndSetUnmappedToes();
-        }
-
-        //bullshit fix to not cause death
-        FixFingerBonesError();
-    }
-
-    private void FixChestAndSpineReferences()
-    {
-        Transform leftShoulderBone = vrik.references.leftShoulder;
-        Transform rightShoulderBone = vrik.references.rightShoulder;
-        Transform assumedChest = leftShoulderBone?.parent;
-
-        if (assumedChest != null && rightShoulderBone.parent == assumedChest &&
-            vrik.references.chest != assumedChest)
-        {
-            vrik.references.chest = assumedChest;
-            vrik.references.spine = assumedChest.parent;
-        }
-    }
-
-    private void FindAndSetUnmappedToes()
-    {
-        Transform leftToes = vrik.references.leftToes;
-        Transform rightToes = vrik.references.rightToes;
-
-        if (leftToes == null && rightToes == null)
-        {
-            leftToes = FindUnmappedToe(vrik.references.leftFoot);
-            rightToes = FindUnmappedToe(vrik.references.rightFoot);
-
-            if (leftToes != null && rightToes != null)
-            {
-                vrik.references.leftToes = leftToes;
-                vrik.references.rightToes = rightToes;
-                fixTransformsRequired = true;
-            }
-        }
-    }
-
-    private Transform FindUnmappedToe(Transform foot)
-    {
-        foreach (Transform bone in foot)
-        {
-            if (bone.name.ToLowerInvariant().Contains("toe") ||
-                bone.name.ToLowerInvariant().EndsWith("_end"))
-            {
-                return bone;
-            }
-        }
-
-        return null;
-    }
-
-    private void FixFingerBonesError()
-    {
-        FixFingerBones(vrik.references.leftHand, vrik.solver.leftArm);
-        FixFingerBones(vrik.references.rightHand, vrik.solver.rightArm);
-    }
-
-    private void FixFingerBones(Transform hand, IKSolverVR.Arm armSolver)
-    {
-        if (hand.childCount == 0)
-        {
-            armSolver.wristToPalmAxis = Vector3.up;
-            armSolver.palmToThumbAxis = hand == vrik.references.leftHand ? -Vector3.forward : Vector3.forward;
-        }
-    }
-
     private static readonly float[] IKPoseMuscles = new float[]
      {
             0.00133321f,

DesktopVRIK/HarmonyPatches.cs

@@ -44,7 +44,7 @@ class PlayerSetupPatches
     [HarmonyPatch(typeof(PlayerSetup), "SetupIKScaling")]
     private static bool Prefix_PlayerSetup_SetupIKScaling(float height, ref Vector3 ___scaleDifference)
     {
-        return !(bool)DesktopVRIK.Instance?.OnSetupIKScaling(height, 1f + ___scaleDifference.y);
+        return !(bool)DesktopVRIK.Instance?.OnSetupIKScaling(1f + ___scaleDifference.y);
     }
 }
 

DesktopVRIK/Integrations/BTKUIAddon.cs

@@ -14,31 +14,30 @@ public static class BTKUIAddon
         Page miscPage = QuickMenuAPI.MiscTabPage;
         Category miscCategory = miscPage.AddCategory(DesktopVRIKMod.SettingsCategory);
 
-        AddMelonToggle(ref miscCategory, DesktopVRIKMod.m_entryEnabled);
+        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";
-        desktopVRIKPage.MenuSubtitle = "Simplified settings for VRIK on Desktop.";
 
-        Category desktopVRIKCategory = desktopVRIKPage.AddCategory("DesktopVRIK");
+        Category desktopVRIKCategory = desktopVRIKPage.AddCategory(DesktopVRIKMod.SettingsCategory);
 
         // General Settings
-        AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.m_entryEnabled);
+        AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryEnabled);
-        AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.m_entryPlantFeet);
+        AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryPlantFeet);
 
         // Calibration Settings
-        AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.m_entryUseVRIKToes);
+        AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryUseVRIKToes);
-        AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.m_entryFindUnmappedToes);
+        AddMelonToggle(ref desktopVRIKCategory, DesktopVRIKMod.EntryFindUnmappedToes);
 
         // Body Leaning Weight
-        AddMelonSlider(ref desktopVRIKPage, DesktopVRIKMod.m_entryBodyLeanWeight, 0, 1f, 1);
+        AddMelonSlider(ref desktopVRIKPage, DesktopVRIKMod.EntryBodyLeanWeight, 0, 1f, 1);
 
         // Max Root Heading Limit & Weights
-        AddMelonSlider(ref desktopVRIKPage, DesktopVRIKMod.m_entryBodyHeadingLimit, 0, 90f, 0);
+        AddMelonSlider(ref desktopVRIKPage, DesktopVRIKMod.EntryBodyHeadingLimit, 0, 90f, 0);
-        AddMelonSlider(ref desktopVRIKPage, DesktopVRIKMod.m_entryPelvisHeadingWeight, 0, 1f, 1);
+        AddMelonSlider(ref desktopVRIKPage, DesktopVRIKMod.EntryPelvisHeadingWeight, 0, 1f, 1);
-        AddMelonSlider(ref desktopVRIKPage, DesktopVRIKMod.m_entryChestHeadingWeight, 0, 1f, 1);
+        AddMelonSlider(ref desktopVRIKPage, DesktopVRIKMod.EntryChestHeadingWeight, 0, 1f, 1);
     }
     private static void AddMelonToggle(ref Category category, MelonLoader.MelonPreferences_Entry<bool> entry)
     {

DesktopVRIK/Main.cs

@@ -6,41 +6,38 @@ namespace NAK.Melons.DesktopVRIK;
 public class DesktopVRIKMod : MelonMod
 {
     internal static MelonLogger.Instance Logger;
-    internal const string SettingsCategory = "DesktopVRIK";
+    public const string SettingsCategory = "DesktopVRIK";
-    internal static MelonPreferences_Category m_categoryDesktopVRIK;
+    public static readonly MelonPreferences_Category CategoryDesktopVRIK = MelonPreferences.CreateCategory(SettingsCategory);
-    internal static MelonPreferences_Entry<bool>
+
-        m_entryEnabled,
+    public static readonly MelonPreferences_Entry<bool> EntryEnabled =
-        m_entryEnforceViewPosition,
+        CategoryDesktopVRIK.CreateEntry("Enabled", true, description: "Toggle DesktopVRIK entirely. Requires avatar reload.");
-        m_entryResetIKOnLand,
+
-        m_entryPlantFeet,
+    public static readonly MelonPreferences_Entry<bool> EntryPlantFeet =
-        m_entryUseVRIKToes,
+        CategoryDesktopVRIK.CreateEntry("Enforce Plant Feet", true, description: "Forces VRIK Plant Feet enabled to prevent hovering when stopping movement.");
-        m_entryFindUnmappedToes,
+
-        m_entryExperimentalKneeBend;
+    public static readonly MelonPreferences_Entry<bool> EntryUseVRIKToes =
-    internal static MelonPreferences_Entry<float>
+        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.");
-        m_entryBodyLeanWeight,
+
-        m_entryBodyHeadingLimit,
+    public static readonly MelonPreferences_Entry<bool> EntryFindUnmappedToes =
-        m_entryPelvisHeadingWeight,
+        CategoryDesktopVRIK.CreateEntry("Find Unmapped Toes", false, description: "Determines if DesktopVRIK should look for unmapped toe bones if the humanoid rig does not have any.");
-        m_entryChestHeadingWeight;
+
+    public static readonly MelonPreferences_Entry<float> EntryBodyLeanWeight =
+        CategoryDesktopVRIK.CreateEntry("Body Lean Weight", 0.5f, description: "Adds rotational influence to the body solver when looking up/down. Set to 0 to disable.");
+
+    public static readonly MelonPreferences_Entry<float> EntryBodyHeadingLimit =
+        CategoryDesktopVRIK.CreateEntry("Body Heading Limit", 20f, description: "Specifies the maximum angle the lower body can have relative to the head when rotating. Set to 0 to disable.");
+
+    public static readonly MelonPreferences_Entry<float> EntryPelvisHeadingWeight =
+        CategoryDesktopVRIK.CreateEntry("Pelvis Heading Weight", 0.25f, description: "Determines how much the pelvis will face the Body Heading Limit. Set to 0 to align with head.");
+
+    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 override void OnInitializeMelon()
     {
         Logger = LoggerInstance;
-        m_categoryDesktopVRIK = MelonPreferences.CreateCategory(SettingsCategory);
-        m_entryEnabled = m_categoryDesktopVRIK.CreateEntry<bool>("Enabled", true, description: "Toggle DesktopVRIK entirely. Requires avatar reload.");
-        //m_entryEnforceViewPosition = m_categoryDesktopVRIK.CreateEntry<bool>("Enforce View Position", false, description: "Corrects view position to use VRIK offsets.");
-        m_entryPlantFeet = m_categoryDesktopVRIK.CreateEntry<bool>("Enforce Plant Feet", true, description: "Forces VRIK Plant Feet enabled. This prevents the little hover when you stop moving.");
-        m_entryUseVRIKToes = m_categoryDesktopVRIK.CreateEntry<bool>("Use VRIK Toes", false, description: "Should VRIK use your humanoid toes for IK solving? This can cause your feet to idle behind you.");
-        m_entryFindUnmappedToes = m_categoryDesktopVRIK.CreateEntry<bool>("Find Unmapped Toes", false, description: "Should DesktopVRIK look for unmapped toe bones if humanoid rig does not have any?");
-        m_entryExperimentalKneeBend = m_categoryDesktopVRIK.CreateEntry<bool>("Experimental Knee Bend", true, description: "Experimental method to calculate knee bend normal. This may break avatars.");
 
-        m_entryBodyLeanWeight = m_categoryDesktopVRIK.CreateEntry<float>("Body Lean Weight", 0.5f, description: "Emulates old VRChat-like body leaning when looking up/down. Set to 0 to disable.");
+        CategoryDesktopVRIK.Entries.ForEach(e => e.OnEntryValueChangedUntyped.Subscribe(OnUpdateSettings));
-        m_entryBodyHeadingLimit = m_categoryDesktopVRIK.CreateEntry<float>("Body Heading Limit", 20f, description: "Emulates VRChat-like body and head offset when rotating left/right. Set to 0 to disable.");
-        m_entryPelvisHeadingWeight = m_categoryDesktopVRIK.CreateEntry<float>("Pelvis Heading Weight", 0.25f, description: "How much the pelvis will face the heading limit. Set to 0 to align with head.");
-        m_entryChestHeadingWeight = m_categoryDesktopVRIK.CreateEntry<float>("Chest Heading Weight", 0.75f, description: "How much the chest will face the heading limit. Set to 0 to align with head.");
-
-        foreach (var setting in m_categoryDesktopVRIK.Entries)
-        {
-            setting.OnEntryValueChangedUntyped.Subscribe(OnUpdateSettings);
-        }
 
         ApplyPatches(typeof(HarmonyPatches.PlayerSetupPatches));
         ApplyPatches(typeof(HarmonyPatches.IKSystemPatches));
@@ -52,18 +49,17 @@ public class DesktopVRIKMod : MelonMod
     {
         if (!DesktopVRIK.Instance) return;
         // DesktopVRIK Settings
-        DesktopVRIK.Instance.Setting_Enabled = m_entryEnabled.Value;
+        DesktopVRIK.Instance.Setting_Enabled = EntryEnabled.Value;
-        DesktopVRIK.Instance.Setting_PlantFeet = m_entryPlantFeet.Value;
+        DesktopVRIK.Instance.Setting_PlantFeet = EntryPlantFeet.Value;
 
-        DesktopVRIK.Instance.Setting_BodyLeanWeight = Mathf.Clamp01(m_entryBodyLeanWeight.Value);
+        DesktopVRIK.Instance.Setting_BodyLeanWeight = Mathf.Clamp01(EntryBodyLeanWeight.Value);
-        DesktopVRIK.Instance.Setting_BodyHeadingLimit = Mathf.Clamp(m_entryBodyHeadingLimit.Value, 0f, 90f);
+        DesktopVRIK.Instance.Setting_BodyHeadingLimit = Mathf.Clamp(EntryBodyHeadingLimit.Value, 0f, 90f);
-        DesktopVRIK.Instance.Setting_PelvisHeadingWeight = (1f - Mathf.Clamp01(m_entryPelvisHeadingWeight.Value));
+        DesktopVRIK.Instance.Setting_PelvisHeadingWeight = (1f - Mathf.Clamp01(EntryPelvisHeadingWeight.Value));
-        DesktopVRIK.Instance.Setting_ChestHeadingWeight = (1f - Mathf.Clamp01(m_entryChestHeadingWeight.Value));
+        DesktopVRIK.Instance.Setting_ChestHeadingWeight = (1f - Mathf.Clamp01(EntryChestHeadingWeight.Value));
 
         // Calibration Settings
-        DesktopVRIK.Instance.Calibrator.Setting_UseVRIKToes = m_entryUseVRIKToes.Value;
+        DesktopVRIK.Instance.Calibrator.Setting_UseVRIKToes = EntryUseVRIKToes.Value;
-        DesktopVRIK.Instance.Calibrator.Setting_FindUnmappedToes = m_entryFindUnmappedToes.Value;
+        DesktopVRIK.Instance.Calibrator.Setting_FindUnmappedToes = EntryFindUnmappedToes.Value;
-        DesktopVRIK.Instance.Calibrator.Setting_ExperimentalKneeBend = m_entryExperimentalKneeBend.Value;
     }
     private void OnUpdateSettings(object arg1, object arg2) => UpdateAllSettings();
 
@@ -72,7 +68,7 @@ public class DesktopVRIKMod : MelonMod
         //BTKUILib Misc Tab
         if (MelonMod.RegisteredMelons.Any(it => it.Info.Name == "BTKUILib"))
         {
-            MelonLogger.Msg("Initializing BTKUILib support.");
+            Logger.Msg("Initializing BTKUILib support.");
             BTKUIAddon.Init();
         }
     }

DesktopVRIK/Properties/AssemblyInfo.cs

@@ -26,6 +26,6 @@ using System.Reflection;
 namespace NAK.Melons.DesktopVRIK.Properties;
 internal static class AssemblyInfoParams
 {
-    public const string Version = "4.0.0";
+    public const string Version = "4.0.1";
     public const string Author = "NotAKidoS";
 }

DesktopVRIK/VRIKUtils.cs

@@ -0,0 +1,183 @@
+using HarmonyLib;
+using RootMotion.FinalIK;
+using UnityEngine;
+
+namespace NAK.Melons.DesktopVRIK;
+
+public static class VRIKUtils
+{
+    public static void ConfigureVRIKReferences(VRIK vrik, bool useVRIKToes, bool findUnmappedToes, out bool foundUnmappedToes)
+    {
+        foundUnmappedToes = false;
+
+        //might not work over netik
+        FixChestAndSpineReferences(vrik);
+
+        if (!useVRIKToes)
+        {
+            vrik.references.leftToes = null;
+            vrik.references.rightToes = null;
+        }
+        else if (findUnmappedToes)
+        {
+            //doesnt work with netik, but its toes...
+            FindAndSetUnmappedToes(vrik, out foundUnmappedToes);
+        }
+
+        //bullshit fix to not cause death
+        FixFingerBonesError(vrik);
+    }
+
+    private static void FixChestAndSpineReferences(VRIK vrik)
+    {
+        Transform leftShoulderBone = vrik.references.leftShoulder;
+        Transform rightShoulderBone = vrik.references.rightShoulder;
+        Transform assumedChest = leftShoulderBone?.parent;
+
+        if (assumedChest != null && rightShoulderBone.parent == assumedChest &&
+            vrik.references.chest != assumedChest)
+        {
+            vrik.references.chest = assumedChest;
+            vrik.references.spine = assumedChest.parent;
+        }
+    }
+
+    private static void FindAndSetUnmappedToes(VRIK vrik, out bool foundUnmappedToes)
+    {
+        foundUnmappedToes = false;
+
+        Transform leftToes = vrik.references.leftToes;
+        Transform rightToes = vrik.references.rightToes;
+
+        if (leftToes == null && rightToes == null)
+        {
+            leftToes = FindUnmappedToe(vrik.references.leftFoot);
+            rightToes = FindUnmappedToe(vrik.references.rightFoot);
+
+            if (leftToes != null && rightToes != null)
+            {
+                vrik.references.leftToes = leftToes;
+                vrik.references.rightToes = rightToes;
+                foundUnmappedToes = true;
+            }
+        }
+    }
+
+    private static Transform FindUnmappedToe(Transform foot)
+    {
+        foreach (Transform bone in foot)
+        {
+            if (bone.name.ToLowerInvariant().Contains("toe") ||
+                bone.name.ToLowerInvariant().EndsWith("_end"))
+            {
+                return bone;
+            }
+        }
+
+        return null;
+    }
+
+    private static void FixFingerBonesError(VRIK vrik)
+    {
+        FixFingerBones(vrik, vrik.references.leftHand, vrik.solver.leftArm);
+        FixFingerBones(vrik, vrik.references.rightHand, vrik.solver.rightArm);
+    }
+
+    private static void FixFingerBones(VRIK vrik, Transform hand, IKSolverVR.Arm armSolver)
+    {
+        if (hand.childCount == 0)
+        {
+            armSolver.wristToPalmAxis = Vector3.up;
+            armSolver.palmToThumbAxis = hand == vrik.references.leftHand ? -Vector3.forward : Vector3.forward;
+        }
+    }
+
+    public static void CalculateKneeBendNormals(VRIK vrik, out Vector3 leftKneeNormal, out Vector3 rightKneeNormal)
+    {
+        // Helper function to get position or default to Vector3.zero
+        Vector3 GetPositionOrDefault(Transform transform) => transform?.position ?? Vector3.zero;
+
+        // Get assumed left knee normal
+        Vector3[] leftVectors = {
+            GetPositionOrDefault(vrik.references.leftThigh),
+            GetPositionOrDefault(vrik.references.leftCalf),
+            GetPositionOrDefault(vrik.references.leftFoot)
+        };
+        leftKneeNormal = Quaternion.Inverse(vrik.references.root.rotation) * GetNormalFromArray(leftVectors);
+
+        // Get assumed right knee normal
+        Vector3[] rightVectors = {
+            GetPositionOrDefault(vrik.references.rightThigh),
+            GetPositionOrDefault(vrik.references.rightCalf),
+            GetPositionOrDefault(vrik.references.rightFoot)
+        };
+        rightKneeNormal = Quaternion.Inverse(vrik.references.root.rotation) * GetNormalFromArray(rightVectors);
+    }
+
+    public static void ApplyKneeBendNormals(VRIK vrik, Vector3 leftKneeNormal, Vector3 rightKneeNormal)
+    {
+        // 0 uses bendNormalRelToPelvis, 1 is bendNormalRelToTarget
+        // modifying pelvis normal weight is better math
+        vrik.solver.leftLeg.bendToTargetWeight = 0f;
+        vrik.solver.rightLeg.bendToTargetWeight = 0f;
+
+        var leftLeg_bendNormalRelToPelvisTraverse = Traverse.Create(vrik.solver.leftLeg).Field("bendNormalRelToPelvis");
+        var rightLeg_bendNormalRelToPelvisTraverse = Traverse.Create(vrik.solver.rightLeg).Field("bendNormalRelToPelvis");
+
+        var pelvis_localRotationInverse = Quaternion.Inverse(vrik.references.pelvis.localRotation);
+        var leftLeg_bendNormalRelToPelvis = pelvis_localRotationInverse * leftKneeNormal;
+        var rightLeg_bendNormalRelToPelvis = pelvis_localRotationInverse * rightKneeNormal;
+
+        leftLeg_bendNormalRelToPelvisTraverse.SetValue(leftLeg_bendNormalRelToPelvis);
+        rightLeg_bendNormalRelToPelvisTraverse.SetValue(rightLeg_bendNormalRelToPelvis);
+    }
+
+    private static Vector3 GetNormalFromArray(Vector3[] positions)
+    {
+        Vector3 centroid = Vector3.zero;
+        for (int i = 0; i < positions.Length; i++)
+        {
+            centroid += positions[i];
+        }
+        centroid /= positions.Length;
+
+        Vector3 normal = Vector3.zero;
+        for (int i = 0; i < positions.Length - 2; i++)
+        {
+            Vector3 side1 = positions[i] - centroid;
+            Vector3 side2 = positions[i + 1] - centroid;
+            normal += Vector3.Cross(side1, side2);
+        }
+        return normal.normalized;
+    }
+
+    public static void CalculateInitialIKScaling(VRIK vrik, out float initialFootDistance, out float initialStepThreshold, out float initialStepHeight)
+    {
+        // Get distance between feet and thighs
+        float scaleModifier = Mathf.Max(1f, vrik.references.pelvis.lossyScale.x);
+        float footDistance = Vector3.Distance(vrik.references.leftFoot.position, vrik.references.rightFoot.position);
+        initialFootDistance = footDistance * 0.5f;
+        initialStepThreshold = footDistance * scaleModifier;
+        initialStepHeight = Vector3.Distance(vrik.references.leftFoot.position, vrik.references.leftCalf.position) * 0.2f;
+    }
+
+    public static void ApplyScaleToVRIK(VRIK vrik, float footDistance, float stepThreshold, float stepHeight, float modifier)
+    {
+        vrik.solver.locomotion.footDistance = footDistance * modifier;
+        vrik.solver.locomotion.stepThreshold = stepThreshold * modifier;
+        ScaleStepHeight(vrik.solver.locomotion.stepHeight, stepHeight * modifier);
+    }
+
+    private static void ScaleStepHeight(AnimationCurve stepHeightCurve, float mag)
+    {
+        Keyframe[] keyframes = stepHeightCurve.keys;
+        keyframes[1].value = mag;
+        stepHeightCurve.keys = keyframes;
+    }
+
+    public static void InitiateVRIKSolver(VRIK vrik)
+    {
+        vrik.solver.SetToReferences(vrik.references);
+        vrik.solver.Initiate(vrik.transform);
+    }
+}

DesktopVRIK/format.json

@@ -1,23 +1,25 @@
 {
   "_id": 117,
   "name": "DesktopVRIK",
-  "modversion": "2.0.5",
+  "modversion": "4.0.1",
   "gameversion": "2022r170",
   "loaderversion": "0.5.7",
   "modtype": "Mod",
   "author": "NotAKidoS",
-  "description": "Adds VRIK to Desktop avatars. No longer will you be a liveless sliding statue~!\nAdds the small feet stepping when looking around on Desktop.\n\nAdditional option to emulate VRChat-like hip movement if you like being fish.",
+  "description": "Adds VRIK to Desktop avatars. No longer will you be a liveless sliding statue~!\nAdds the small feet stepping when looking around on Desktop.\n\nIt is highly recommended to use AvatarMotionTweaker alongside this mod.",
   "searchtags": [
     "desktop",
     "vrik",
     "ik",
-    "feet"
+    "feet",
+    "fish"
   ],
   "requirements": [
-    "BTKUILib"
+    "BTKUILib",
+    "AvatarMotionTweaker"
   ],
-  "downloadlink": "https://github.com/NotAKidOnSteam/DesktopVRIK/releases/download/v2.0.5/DesktopVRIK.dll",
+  "downloadlink": "https://github.com/NotAKidOnSteam/DesktopVRIK/releases/download/v4.0.1/DesktopVRIK.dll",
   "sourcelink": "https://github.com/NotAKidOnSteam/DesktopVRIK/",
-  "changelog": "- Tweaks to VRIK settings so BetterInteractDesktop & PickupArmMovement better behave alongside VRIK.\n- Tweaks to BTKUI integration.",
+  "changelog": "- Implemented fixes for terrible armatures that had broken knee bending, initial hip rotation, and initial step calculations.\n- Added pelvis & chest weight sliders for heading angle limit option.\n- Implemented bandaid fixes for disabled animator and avatars without fingers.\n- Added options to use or remove toes from VRIK and find unmapped non-humanoid toe bones.\n- Contact me if you find an avatar that is still broken.",
   "embedcolor": "9b59b6"
 }