[AlternateIKSystem] Add halfbody support.

AlternateIKSystem/IK/IKCalibrator.cs

@@ -1,12 +1,13 @@
 using RootMotion.FinalIK;
 using UnityEngine;
+using Valve.VR;
 using Object = UnityEngine.Object;
 
 namespace NAK.AlternateIKSystem.IK;
 
 internal static class IKCalibrator
 {
-    #region VRIK Setup
+    #region VRIK Solver Setup
 
     public static VRIK SetupVrIk(Animator animator)
     {
@@ -183,14 +184,39 @@ internal static class IKCalibrator
 
     #endregion
 
-    // TODO: figure out proper Desktop & VR organization
+    #region VRIK Calibration
-    public static void SetupHeadIKTargetDesktop(VRIK vrik)
+
+    public static void SetupHeadIKTarget(VRIK vrik, Transform parent = null)
     {
+        // VR Camera may have Head IK Target from previous avatar
+        Transform existingTarget = parent?.Find("Head IK Target");
+        if (existingTarget != null)
+            Object.DestroyImmediate(existingTarget.gameObject);
+
+        parent ??= vrik.references.head;
+        
         // Lazy HeadIKTarget calibration
-        if (vrik.solver.spine.headTarget == null)
+        vrik.solver.spine.headTarget = new GameObject("Head IK Target").transform;
-            vrik.solver.spine.headTarget = new GameObject("Head IK Target").transform;
-        vrik.solver.spine.headTarget.parent = vrik.references.head;
-        vrik.solver.spine.headTarget.localPosition = Vector3.zero;
         vrik.solver.spine.headTarget.localRotation = Quaternion.identity;
+        
+        vrik.solver.spine.headTarget.parent = parent;
+        vrik.solver.spine.headTarget.localPosition = Vector3.zero;
+        vrik.solver.spine.headTarget.localScale = Vector3.one;
     }
+
+    public static void SetupHandIKTarget(VRIK vrik, Transform handOffset, Transform handAnchor, bool isLeft)
+    {
+        handAnchor.SetParent(isLeft ? vrik.references.leftHand : vrik.references.rightHand);
+        handAnchor.localPosition = Vector3.zero;
+        handAnchor.localRotation = Quaternion.identity;
+        handAnchor.SetParent(handOffset, true);
+        handAnchor.localPosition = Vector3.zero;
+
+        if (isLeft)
+            vrik.solver.leftArm.target = handAnchor;
+        else
+            vrik.solver.rightArm.target = handAnchor;
+    }
+    
+    #endregion
 }

AlternateIKSystem/IK/IKHandlers/IKHandler.cs

@@ -41,9 +41,34 @@ internal abstract class IKHandler
 
     public virtual void OnInitializeIk() { }
 
-    public virtual void OnPlayerScaled(float scaleDifference) { }
+    public virtual void OnPlayerScaled(float scaleDifference)
+    {
+        VRIKUtils.ApplyScaleToVRIK
+        (
+            _vrik,
+            _locomotionData,
+            _scaleDifference = scaleDifference
+        );
+    }
 
-    public virtual void OnPlayerHandleMovementParent(CVRMovementParent currentParent) { }
+    public virtual void OnPlayerHandleMovementParent(CVRMovementParent currentParent, Vector3 platformPivot)
+    {
+        Vector3 currentPosition = currentParent._referencePoint.position;
+        Quaternion currentRotation = Quaternion.Euler(0f, currentParent.transform.rotation.eulerAngles.y, 0f);
+
+        Vector3 deltaPosition = currentPosition - _movementPosition;
+        Quaternion deltaRotation = Quaternion.Inverse(_movementRotation) * currentRotation;
+
+        if (_movementParent == currentParent)
+        {
+            _solver.AddPlatformMotion(deltaPosition, deltaRotation, platformPivot);
+            _ikSimulatedRootAngle = Mathf.Repeat(_ikSimulatedRootAngle + deltaRotation.eulerAngles.y, 360f);
+        }
+
+        _movementParent = currentParent;
+        _movementPosition = currentPosition;
+        _movementRotation = currentRotation;
+    }
 
     #endregion
 

AlternateIKSystem/IK/IKHandlers/IKHandlerDesktop.cs

@@ -29,42 +29,6 @@ internal class IKHandlerDesktop : IKHandler
         _vrik.onPreSolverUpdate.AddListener(OnPreSolverUpdateDesktop);
     }
 
-    public override void OnPlayerScaled(float scaleDifference)
-    {
-        VRIKUtils.ApplyScaleToVRIK
-        (
-            _vrik,
-            _locomotionData,
-            _scaleDifference = scaleDifference
-        );
-    }
-
-    public override void OnPlayerHandleMovementParent(CVRMovementParent currentParent)
-    {
-        // Get current position
-        Vector3 currentPosition = currentParent._referencePoint.position;
-        Quaternion currentRotation = Quaternion.Euler(0f, currentParent.transform.rotation.eulerAngles.y, 0f);
-
-        // Convert to delta position (how much changed since last frame)
-        Vector3 deltaPosition = currentPosition - _movementPosition;
-        Quaternion deltaRotation = Quaternion.Inverse(_movementRotation) * currentRotation;
-
-        // Desktop pivots from playerlocal transform
-        Vector3 platformPivot = IKManager.Instance.transform.position;
-
-        // Prevent targeting other parent position
-        if (_movementParent == currentParent)
-        {
-            _solver.AddPlatformMotion(deltaPosition, deltaRotation, platformPivot);
-            _ikSimulatedRootAngle = Mathf.Repeat(_ikSimulatedRootAngle + deltaRotation.eulerAngles.y, 360f);
-        }
-
-        // Store for next frame
-        _movementParent = currentParent;
-        _movementPosition = currentPosition;
-        _movementRotation = currentRotation;
-    }
-
     #endregion
 
     #region Weight Overrides
@@ -81,57 +45,6 @@ internal class IKHandlerDesktop : IKHandler
         _solver.spine.positionWeight = 0f;
     }
 
-    protected override void Update_HeadWeight()
-    {
-        float targetWeight = GetTargetWeight(BodyControl.TrackingHead, true);
-        BodyControl.SetHeadWeight(_solver.spine, targetWeight);
-        BodyControl.SetLookAtWeight(IKManager.lookAtIk, targetWeight);
-    }
-
-    protected override void Update_LeftArmWeight()
-    {
-        float leftArmWeight = GetTargetWeight(BodyControl.TrackingLeftArm, _solver.leftArm.target != null);
-        BodyControl.SetArmWeight(_solver.leftArm, leftArmWeight);
-    }
-
-    protected override void Update_RightArmWeight()
-    {
-        float rightArmWeight = GetTargetWeight(BodyControl.TrackingRightArm, _solver.rightArm.target != null);
-        BodyControl.SetArmWeight(_solver.rightArm, rightArmWeight);
-    }
-
-    protected override void Update_LeftLegWeight()
-    {
-        float leftLegWeight = GetTargetWeight(BodyControl.TrackingLeftLeg, _solver.leftLeg.target != null);
-        BodyControl.SetLegWeight(_solver.leftLeg, leftLegWeight);
-    }
-
-    protected override void Update_RightLegWeight()
-    {
-        float rightLegWeight = GetTargetWeight(BodyControl.TrackingRightLeg, _solver.rightLeg.target != null);
-        BodyControl.SetLegWeight(_solver.rightLeg, rightLegWeight);
-    }
-
-    protected override void Update_PelvisWeight()
-    {
-        float pelvisWeight = GetTargetWeight(BodyControl.TrackingPelvis, _solver.spine.pelvisTarget != null);
-        BodyControl.SetPelvisWeight(_solver.spine, pelvisWeight);
-    }
-
-    protected override void Update_LocomotionWeight()
-    {
-        _locomotionWeight = Mathf.Lerp(_locomotionWeight, BodyControl.TrackingLocomotion ? 1f : 0f,
-            Time.deltaTime * ModSettings.EntryIKLerpSpeed.Value * 2f);
-        BodyControl.SetLocomotionWeight(_solver.locomotion, _locomotionWeight);
-    }
-
-    protected override void Update_IKPositionWeight()
-    {
-        float ikPositionWeight = BodyControl.TrackingAll ? BodyControl.TrackingIKPositionWeight : 0f;
-        BodyControl.SetIKPositionWeight(_solver, ikPositionWeight);
-        BodyControl.SetIKPositionWeight(IKManager.lookAtIk, ikPositionWeight);
-    }
-
     #endregion
 
     #region VRIK Solver Events

AlternateIKSystem/IK/IKHandlers/IKHandlerHalfBody.cs

@@ -25,42 +25,33 @@ internal class IKHandlerHalfBody : IKHandler
         shouldTrackRightLeg = false;
         shouldTrackPelvis = false;
         shouldTrackLocomotion = true;
+
+        _vrik.onPreSolverUpdate.AddListener(OnPreSolverUpdateHalfBody);
     }
+    
+    #endregion
 
-    public override void OnPlayerScaled(float scaleDifference)
+    #region VRIK Solver Events
+
+    private void OnPreSolverUpdateHalfBody()
     {
-        VRIKUtils.ApplyScaleToVRIK
+        _solver.plantFeet = ModSettings.EntryPlantFeet.Value;
-        (
-            _vrik,
-            _locomotionData,
-            _scaleDifference = scaleDifference
-        );
-    }
 
-    public override void OnPlayerHandleMovementParent(CVRMovementParent currentParent)
+        // Make root heading follow within a set limit
-    {
+        if (ModSettings.EntryBodyHeadingLimit.Value > 0)
-        // Get current position
-        Vector3 currentPosition = currentParent._referencePoint.position;
-        Quaternion currentRotation = Quaternion.Euler(0f, currentParent.transform.rotation.eulerAngles.y, 0f);
-
-        // Convert to delta position (how much changed since last frame)
-        Vector3 deltaPosition = currentPosition - _movementPosition;
-        Quaternion deltaRotation = Quaternion.Inverse(_movementRotation) * currentRotation;
-
-        // Desktop pivots from playerlocal transform
-        Vector3 platformPivot = IKManager.Instance.transform.position;
-
-        // Prevent targeting other parent position
-        if (_movementParent == currentParent)
         {
-            _solver.AddPlatformMotion(deltaPosition, deltaRotation, platformPivot);
+            float weightedAngleLimit = ModSettings.EntryBodyHeadingLimit.Value * _solver.locomotion.weight;
-            _ikSimulatedRootAngle = Mathf.Repeat(_ikSimulatedRootAngle + deltaRotation.eulerAngles.y, 360f);
+            float currentRotation = IKManager.Instance.GetPlayerRotation().y;
-        }
+            float deltaAngleRoot = Mathf.DeltaAngle(currentRotation, _ikSimulatedRootAngle);
 
-        // Store for next frame
+            if (Mathf.Abs(deltaAngleRoot) > weightedAngleLimit)
-        _movementParent = currentParent;
+            {
-        _movementPosition = currentPosition;
+                deltaAngleRoot = Mathf.Sign(deltaAngleRoot) * weightedAngleLimit;
-        _movementRotation = currentRotation;
+                _ikSimulatedRootAngle = Mathf.MoveTowardsAngle(_ikSimulatedRootAngle, currentRotation, Mathf.Abs(deltaAngleRoot) - weightedAngleLimit);
+            }
+
+            _solver.spine.rootHeadingOffset = deltaAngleRoot;
+        }
     }
 
     #endregion

AlternateIKSystem/IK/IKManager.cs

@@ -6,6 +6,7 @@ using NAK.AlternateIKSystem.VRIKHelpers;
 using RootMotion.FinalIK;
 using UnityEngine;
 using UnityEngine.Events;
+using Object = System.Object;
 
 namespace NAK.AlternateIKSystem.IK;
 
@@ -32,6 +33,18 @@ public class IKManager : MonoBehaviour
     internal Transform _desktopCamera;
     internal Transform _vrCamera;
 
+    // Controller Info
+    private Transform _leftController;
+    private Transform _rightController;
+    private Transform _leftHandTarget;
+    private Transform _leftHandRotations;
+    private Transform _rightHandTarget;
+    private Transform _rightHandRotations;
+
+    // Hand Anchor Offsets
+    private Vector3 _handAnchorPositionOffset = new Vector3(-0.038f, 0.0389f, -0.138f);
+    private Vector3 _handAnchorRotationOffset = Vector3.zero;
+
     // Avatar Info
     private Animator _animator;
     private Transform _hipTransform;
@@ -39,6 +52,8 @@ public class IKManager : MonoBehaviour
     // Animator Info
     private int _animLocomotionLayer = -1;
     private int _animIKPoseLayer = -1;
+    private const string _locomotionLayerName = "Locomotion/Emotes";
+    private const string _ikposeLayerName = "IKPose";
 
     // Pose Info
     private HumanPoseHandler _humanPoseHandler;
@@ -60,8 +75,16 @@ public class IKManager : MonoBehaviour
 
         _desktopCamera = PlayerSetup.Instance.desktopCamera.transform;
         _vrCamera = PlayerSetup.Instance.vrCamera.transform;
-    }
+        _leftController = PlayerSetup.Instance.vrLeftHandTracker.transform;
+        _rightController = PlayerSetup.Instance.vrRightHandTracker.transform;
 
+        // ouchie
+        _leftHandTarget = _leftController.Find("LeftHandTarget");
+        _leftHandRotations = _leftHandTarget.Find("LeftHandRotations");
+        _rightHandTarget = _rightController.Find("RightHandTarget");
+        _rightHandRotations = _rightHandTarget.Find("RightHandRotations");
+    }
+    
     private void Update()
     {
         BodyControl.Update();
@@ -91,8 +114,8 @@ public class IKManager : MonoBehaviour
 
         _animator.cullingMode = AnimatorCullingMode.AlwaysAnimate;
 
-        _animIKPoseLayer = _animator.GetLayerIndex("IKPose");
+        _animIKPoseLayer = _animator.GetLayerIndex(_ikposeLayerName);
-        _animLocomotionLayer = _animator.GetLayerIndex("Locomotion/Emotes");
+        _animLocomotionLayer = _animator.GetLayerIndex(_locomotionLayerName);
 
         _hipTransform = _animator.GetBoneTransform(HumanBodyBones.Hips);
 
@@ -160,7 +183,7 @@ public class IKManager : MonoBehaviour
         if (!_isAvatarInitialized)
             return false;
 
-        _ikHandler?.OnPlayerHandleMovementParent(movementParent);
+        _ikHandler?.OnPlayerHandleMovementParent(movementParent, GetPlayerPosition());
         return true;
     }
 
@@ -184,7 +207,7 @@ public class IKManager : MonoBehaviour
         IKCalibrator.ConfigureDesktopVrIk(_vrik);
         _ikHandler = new IKHandlerDesktop(_vrik);
 
-        IKCalibrator.SetupHeadIKTargetDesktop(_vrik);
+        IKCalibrator.SetupHeadIKTarget(_vrik);
 
         InitializeIkGeneral();
 
@@ -197,7 +220,17 @@ public class IKManager : MonoBehaviour
 
         IKCalibrator.ConfigureHalfBodyVrIk(_vrik);
         _ikHandler = new IKHandlerHalfBody(_vrik);
+        
+        IKCalibrator.SetupHeadIKTarget(_vrik, _vrCamera);
+        IKCalibrator.SetupHandIKTarget(_vrik, _leftHandTarget, _leftHandRotations, true);
+        IKCalibrator.SetupHandIKTarget(_vrik, _rightHandTarget, _rightHandRotations, false);
 
+        // Configure controller offsets
+        _leftHandTarget.localPosition = _handAnchorPositionOffset;
+        _leftHandTarget.localEulerAngles = _handAnchorRotationOffset;
+        _rightHandTarget.localPosition = Vector3.Scale(_handAnchorPositionOffset, new Vector3(-1, 1, 1));
+        _rightHandTarget.localEulerAngles = Vector3.Scale(_handAnchorRotationOffset, new Vector3(1, -1, -1));
+        
         InitializeIkGeneral();
         
         _ikHandler.OnInitializeIk();
@@ -226,6 +259,30 @@ public class IKManager : MonoBehaviour
 
     #endregion
 
+    #region Public Methods
+
+    public Vector3 GetPlayerPosition()
+    {
+        if (!MetaPort.Instance.isUsingVr) 
+            return transform.position;
+
+        Vector3 vrPosition = _vrCamera.transform.position;
+        vrPosition.y = transform.position.y;
+        return vrPosition;
+    }
+    
+    public Quaternion GetPlayerRotation()
+    {
+        if (!MetaPort.Instance.isUsingVr) 
+            return transform.rotation;
+
+        Vector3 vrForward = _vrCamera.transform.forward;
+        vrForward.y = 0f; 
+        return Quaternion.LookRotation(vrForward, Vector3.up);
+    }
+
+    #endregion
+
     #region VRIK Solver Events General
 
     private void OnPreSolverUpdateGeneral()