mirror of
https://github.com/NotAKidoS/NAK_CVR_Mods.git
synced 2025-09-02 22:39:22 +00:00
implement knee bend normal calculation
implemented knee bend normal calculation to fix knee bending at extreme scales, as well as finally fix robot kyle... tweaked ikpose method to also allow for setting to motorcycle pose, as well as resetting hip to default rotation
This commit is contained in:
NotAKidoS
parent
7164e36392
commit
c6c9b712bd
3 changed files with 209 additions and 70 deletions
|
|
@ -13,6 +13,42 @@ namespace NAK.Melons.DesktopVRIK;
|
|||
|
||||
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;
|
||||
public Animator animator;
|
||||
public Transform avatarTransform;
|
||||
public VRIK vrik;
|
||||
public LookAtIK lookAtIK;
|
||||
|
||||
// Calibrated Values
|
||||
public float
|
||||
initialFootDistance,
|
||||
initialStepThreshold,
|
||||
initialStepHeight;
|
||||
|
||||
// Calibration Internals
|
||||
bool DebugCalibrationPose;
|
||||
bool fixTransformsRequired;
|
||||
Vector3 leftKneeNormal, rightKneeNormal;
|
||||
HumanPose initialHumanPose;
|
||||
HumanPoseHandler humanPoseHandler;
|
||||
// Traverse
|
||||
IKSystem ikSystem;
|
||||
PlayerSetup playerSetup;
|
||||
Traverse
|
||||
_vrikTraverse,
|
||||
_lookIKTraverse,
|
||||
_avatarTraverse,
|
||||
_animatorManagerTraverse,
|
||||
_poseHandlerTraverse,
|
||||
_avatarRootHeightTraverse;
|
||||
|
||||
public DesktopVRIKCalibrator()
|
||||
{
|
||||
// Get base game scripts.
|
||||
|
|
@ -30,67 +66,102 @@ public class DesktopVRIKCalibrator
|
|||
_lookIKTraverse = Traverse.Create(playerSetup).Field("lookIK");
|
||||
}
|
||||
|
||||
// Settings
|
||||
public bool Setting_UseVRIKToes = true;
|
||||
public bool Setting_FindUnmappedToes = true;
|
||||
|
||||
// DesktopVRIK
|
||||
public CVRAvatar avatar;
|
||||
public Animator animator;
|
||||
public Transform avatarTransform;
|
||||
public VRIK vrik;
|
||||
public LookAtIK lookAtIK;
|
||||
// Calibration
|
||||
public HumanPoseHandler humanPoseHandler;
|
||||
public HumanPose initialHumanPose;
|
||||
// Calibrator
|
||||
public bool fixTransformsRequired;
|
||||
public float initialFootDistance, initialStepThreshold, initialStepHeight;
|
||||
|
||||
// Traverse
|
||||
private IKSystem ikSystem;
|
||||
private PlayerSetup playerSetup;
|
||||
private Traverse
|
||||
_vrikTraverse,
|
||||
_lookIKTraverse,
|
||||
_avatarTraverse,
|
||||
_animatorManagerTraverse,
|
||||
_poseHandlerTraverse,
|
||||
_avatarRootHeightTraverse;
|
||||
|
||||
public void SetupDesktopVRIK()
|
||||
public void CalibrateDesktopVRIK()
|
||||
{
|
||||
//store avatar root transform & center it
|
||||
PreInitialize();
|
||||
|
||||
// Don't do anything else if just debugging calibration pose
|
||||
DebugCalibrationPose = !DebugCalibrationPose;
|
||||
if (Setting_DebugCalibrationPose && DebugCalibrationPose)
|
||||
{
|
||||
ForceCalibrationPose();
|
||||
return;
|
||||
}
|
||||
|
||||
// Add VRIK and configure
|
||||
PrepareAvatarVRIK();
|
||||
|
||||
Initialize();
|
||||
|
||||
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();
|
||||
|
||||
SetAvatarIKPose(true);
|
||||
|
||||
// Setup HeadIK target & calculate initial footstep values
|
||||
SetupDesktopHeadIKTarget();
|
||||
CalculateInitialIKScaling();
|
||||
|
||||
// Initiate VRIK manually
|
||||
ForceInitiateVRIKSolver();
|
||||
|
||||
SetAvatarIKPose(false);
|
||||
}
|
||||
|
||||
private void PostInitialize()
|
||||
{
|
||||
ApplyKneeBendNormals();
|
||||
ApplyInitialIKScaling();
|
||||
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>();
|
||||
avatarTransform = avatar.transform;
|
||||
avatarTransform.localPosition = Vector3.zero;
|
||||
lookAtIK = _lookIKTraverse.GetValue<LookAtIK>();
|
||||
|
||||
//prepare for VRIK
|
||||
PrepareIKSystem();
|
||||
CalibrateDesktopVRIK();
|
||||
// Apply some fixes for weird setups
|
||||
if (!animator.enabled)
|
||||
{
|
||||
fixTransformsRequired = true;
|
||||
DesktopVRIKMod.Logger.Error("Avatar has Animator disabled by default!");
|
||||
}
|
||||
|
||||
//add presolver update listener
|
||||
vrik.onPreSolverUpdate.AddListener(new UnityAction(DesktopVRIK.Instance.OnPreSolverUpdate));
|
||||
}
|
||||
// Center avatar local offsets
|
||||
avatarTransform.localPosition = Vector3.zero;
|
||||
//avatarTransform.localRotation = Quaternion.identity;
|
||||
|
||||
private void CalibrateDesktopVRIK()
|
||||
{
|
||||
//calibrate VRIK
|
||||
PrepareAvatarVRIK();
|
||||
SetAvatarIKPose(true);
|
||||
CalibrateHeadIK();
|
||||
ForceInitiateVRIKSolver();
|
||||
CalculateInitialIKScaling();
|
||||
SetAvatarIKPose(false);
|
||||
// Store original human pose
|
||||
if (humanPoseHandler != null)
|
||||
{
|
||||
humanPoseHandler.Dispose();
|
||||
}
|
||||
humanPoseHandler = new HumanPoseHandler(animator.avatar, avatarTransform);
|
||||
humanPoseHandler.GetHumanPose(ref initialHumanPose);
|
||||
}
|
||||
|
||||
private void PrepareIKSystem()
|
||||
{
|
||||
// Get the animator manager and human pose handler
|
||||
var animatorManager = _animatorManagerTraverse.GetValue<CVRAnimatorManager>();
|
||||
humanPoseHandler = _poseHandlerTraverse.GetValue<HumanPoseHandler>();
|
||||
var ikHumanPoseHandler = _poseHandlerTraverse.GetValue<HumanPoseHandler>();
|
||||
|
||||
// Store the avatar component
|
||||
_avatarTraverse.SetValue(avatar);
|
||||
|
|
@ -107,13 +178,13 @@ public class DesktopVRIKCalibrator
|
|||
_avatarRootHeightTraverse.SetValue(avatarHeight);
|
||||
|
||||
// Create a new human pose handler and dispose the old one
|
||||
if (humanPoseHandler != null)
|
||||
if (ikHumanPoseHandler != null)
|
||||
{
|
||||
humanPoseHandler.Dispose();
|
||||
ikHumanPoseHandler.Dispose();
|
||||
_poseHandlerTraverse.SetValue(null);
|
||||
}
|
||||
humanPoseHandler = new HumanPoseHandler(ikSystem.animator.avatar, avatarTransform);
|
||||
_poseHandlerTraverse.SetValue(humanPoseHandler);
|
||||
ikHumanPoseHandler = new HumanPoseHandler(ikSystem.animator.avatar, avatarTransform);
|
||||
_poseHandlerTraverse.SetValue(ikHumanPoseHandler);
|
||||
|
||||
// Find valid human bones
|
||||
IKSystem.BoneExists.Clear();
|
||||
|
|
@ -160,14 +231,12 @@ public class DesktopVRIKCalibrator
|
|||
vrik.solver.spine.bodyPosStiffness = 1f;
|
||||
vrik.solver.spine.bodyRotStiffness = 0.2f;
|
||||
//disable so avatar doesnt try and walk away
|
||||
//fixes nameplate spazzing on remote
|
||||
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
|
||||
vrik.solver.spine.rotateChestByHands = 0f;
|
||||
//enable so knees on fucked models work better
|
||||
vrik.solver.leftLeg.useAnimatedBendNormal = true;
|
||||
vrik.solver.rightLeg.useAnimatedBendNormal = true;
|
||||
//enable to prioritize LookAtIK
|
||||
vrik.solver.spine.headClampWeight = 0.2f;
|
||||
//disable to not go on tippytoes
|
||||
|
|
@ -206,6 +275,70 @@ public class DesktopVRIKCalibrator
|
|||
//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
|
||||
|
|
@ -213,7 +346,10 @@ public class DesktopVRIKCalibrator
|
|||
initialFootDistance = footDistance * 0.5f;
|
||||
initialStepThreshold = footDistance * 0.4f;
|
||||
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;
|
||||
|
|
@ -221,7 +357,7 @@ public class DesktopVRIKCalibrator
|
|||
}
|
||||
|
||||
|
||||
private void CalibrateHeadIK()
|
||||
private void SetupDesktopHeadIKTarget()
|
||||
{
|
||||
// Lazy HeadIKTarget calibration
|
||||
if (vrik.solver.spine.headTarget == null)
|
||||
|
|
@ -250,8 +386,7 @@ public class DesktopVRIKCalibrator
|
|||
// Otherwise use DesktopVRIK IKPose & revert afterwards.
|
||||
if (enforceTPose)
|
||||
{
|
||||
humanPoseHandler.GetHumanPose(ref initialHumanPose);
|
||||
SetCustomPose(IKPoseMuscles);
|
||||
SetHumanPose(1f);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -259,13 +394,15 @@ public class DesktopVRIKCalibrator
|
|||
}
|
||||
}
|
||||
|
||||
private void SetCustomPose(float[] muscleValues)
|
||||
private void SetHumanPose(float ikPoseWeight = 1f)
|
||||
{
|
||||
humanPoseHandler.GetHumanPose(ref ikSystem.humanPose);
|
||||
for (int i = 0; i < muscleValues.Length; i++)
|
||||
for (int i = 0; i < ikSystem.humanPose.muscles.Length; i++)
|
||||
{
|
||||
IKSystem.Instance.ApplyMuscleValue((MuscleIndex)i, muscleValues[i], ref ikSystem.humanPose.muscles);
|
||||
float weight = ikPoseWeight * IKPoseMuscles[i];
|
||||
IKSystem.Instance.ApplyMuscleValue((MuscleIndex)i, weight, ref ikSystem.humanPose.muscles);
|
||||
}
|
||||
ikSystem.humanPose.bodyRotation = Quaternion.identity;
|
||||
humanPoseHandler.SetHumanPose(ref ikSystem.humanPose);
|
||||
}
|
||||
|
||||
|
|
@ -278,8 +415,6 @@ public class DesktopVRIKCalibrator
|
|||
|
||||
private void ConfigureVRIKReferences()
|
||||
{
|
||||
fixTransformsRequired = false;
|
||||
|
||||
//might not work over netik
|
||||
FixChestAndSpineReferences();
|
||||
|
||||
|
|
@ -458,5 +593,4 @@ public class DesktopVRIKCalibrator
|
|||
0.8138595f,
|
||||
0.8110138f
|
||||
};
|
||||
}
|
||||
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue