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[IKFixes] Fix HalfbodyIK feet with IKPose.

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NotAKidoS 2023-05-19 05:35:27 -05:00
parent a8bf0ef7f9
commit b17ce245e5
4 changed files with 131 additions and 6 deletions
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124
IKFixes/HarmonyPatches.cs
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@ -264,13 +264,135 @@ internal static class IKSystemPatches
__instance._referenceRootRotation = hips.rotation;
__instance._poseHandler.GetHumanPose(ref __instance.humanPose);
__instance._poseHandler.SetHumanPose(ref __instance.humanPose);
hips.position = __instance._referenceRootPosition;
hips.position = __instance._referenceRootPosition;
hips.rotation = __instance._referenceRootRotation;
};
IKSystem._vrik.onPostSolverUpdate.AddListener(onPostSolverUpdate);
}
}
[HarmonyPostfix]
[HarmonyPatch(typeof(IKSystem), nameof(IKSystem.InitializeHalfBodyIK))]
static void Postfix_IKSystem_InitializeHalfBodyIK(ref IKSystem __instance)
{
if (!IKFixes.EntryUseIKPose.Value) return;
__instance._poseHandler.GetHumanPose(ref __instance.humanPose);
for (int i = 0; i < IKPoseMuscles.Length; i++)
{
__instance.ApplyMuscleValue((MuscleIndex)i, IKPoseMuscles[i], ref __instance.humanPose.muscles);
}
__instance.humanPose.bodyPosition = Vector3.up;
__instance.humanPose.bodyRotation = Quaternion.identity;
__instance._poseHandler.SetHumanPose(ref __instance.humanPose);
// recentering avatar so it doesnt need to step from random place on switch
IKSystem.vrik.transform.localPosition = Vector3.zero;
IKSystem.vrik.transform.localRotation = Quaternion.identity;
// janky fix, initializing early with correct pose
IKSystem.vrik.solver.Initiate(IKSystem.vrik.transform);
}
static readonly float[] IKPoseMuscles = new float[]
{
0.00133321f,
8.195831E-06f,
8.537738E-07f,
-0.002669832f,
-7.651234E-06f,
-0.001659694f,
0f,
0f,
0f,
0.04213953f,
0.0003007996f,
-0.008032114f,
-0.03059979f,
-0.0003182998f,
0.009640567f,
0f,
0f,
0f,
0f,
0f,
0f,
0.5768794f,
0.01061097f,
-0.1127839f,
0.9705755f,
0.07972051f,
-0.0268422f,
0.007237188f,
0f,
0.5768792f,
0.01056608f,
-0.1127519f,
0.9705756f,
0.07971933f,
-0.02682396f,
0.007229362f,
0f,
-5.651802E-06f,
-3.034899E-07f,
0.4100508f,
0.3610304f,
-0.0838329f,
0.9262537f,
0.1353517f,
-0.03578902f,
0.06005657f,
-4.95989E-06f,
-1.43007E-06f,
0.4096187f,
0.363263f,
-0.08205152f,
0.9250782f,
0.1345718f,
-0.03572125f,
0.06055461f,
-1.079177f,
0.2095419f,
0.6140652f,
0.6365265f,
0.6683931f,
-0.4764312f,
0.8099416f,
0.8099371f,
0.6658203f,
-0.7327053f,
0.8113618f,
0.8114051f,
0.6643661f,
-0.40341f,
0.8111364f,
0.8111367f,
0.6170399f,
-0.2524227f,
0.8138723f,
0.8110135f,
-1.079171f,
0.2095456f,
0.6140658f,
0.6365255f,
0.6683878f,
-0.4764301f,
0.8099402f,
0.8099376f,
0.6658241f,
-0.7327023f,
0.8113653f,
0.8113793f,
0.664364f,
-0.4034042f,
0.811136f,
0.8111364f,
0.6170469f,
-0.2524345f,
0.8138595f,
0.8110138f
};
}
internal static class VRIKPatches