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

DesktopVRIK/DesktopVRIK.cs

@@ -40,7 +40,7 @@ public class DesktopVRIK : MonoBehaviour
     public void OnSetupAvatarDesktop()
     {
         if (!Setting_Enabled) return;
-        Calibrator.SetupDesktopVRIK();
+        Calibrator.CalibrateDesktopVRIK();
         ResetDesktopVRIK();
     }
 
@@ -51,7 +51,7 @@ public class DesktopVRIK : MonoBehaviour
             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();
+            //Calibrator.vrik.solver.Reset();
             ResetDesktopVRIK();
 
             return true;

DesktopVRIK/DesktopVRIKCalibrator.cs

@@ -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 void CalibrateDesktopVRIK()
-    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()
     {
-        //store avatar root transform & center it
+        PreInitialize();
-        avatar = playerSetup._avatar.GetComponent<CVRAvatar>();
-        animator = avatar.GetComponent<Animator>();
-        avatarTransform = avatar.transform;
-        avatarTransform.localPosition = Vector3.zero;
-        lookAtIK = _lookIKTraverse.GetValue<LookAtIK>();
 
-        //prepare for VRIK
+        // 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();
-        CalibrateDesktopVRIK();
+    }
 
-        //add presolver update listener
+    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 CalibrateDesktopVRIK()
+    private void ScanAvatarForCalibration()
     {
-        //calibrate VRIK
+        // Reset some stuff to default
-        PrepareAvatarVRIK();
+        fixTransformsRequired = false;
-        SetAvatarIKPose(true);
+
-        CalibrateHeadIK();
+        // Find required avatar components
-        ForceInitiateVRIKSolver();
+        avatar = playerSetup._avatar.GetComponent<CVRAvatar>();
-        CalculateInitialIKScaling();
+        animator = avatar.GetComponent<Animator>();
-        SetAvatarIKPose(false);
+        avatarTransform = avatar.transform;
+        lookAtIK = _lookIKTraverse.GetValue<LookAtIK>();
+
+        // Apply some fixes for weird setups
+        if (!animator.enabled)
+        {
+            fixTransformsRequired = true;
+            DesktopVRIKMod.Logger.Error("Avatar has Animator disabled by default!");
+        }
+
+        // Center avatar local offsets
+        avatarTransform.localPosition = Vector3.zero;
+        //avatarTransform.localRotation = Quaternion.identity;
+
+        // 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);
+        ikHumanPoseHandler = new HumanPoseHandler(ikSystem.animator.avatar, avatarTransform);
-        _poseHandlerTraverse.SetValue(humanPoseHandler);
+        _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);
+            SetHumanPose(1f);
-            SetCustomPose(IKPoseMuscles);
         }
         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();
 
@@ -459,4 +594,3 @@ public class DesktopVRIKCalibrator
             0.8110138f
      };
 }
-

DesktopVRIK/Main.cs

@@ -5,6 +5,7 @@ namespace NAK.Melons.DesktopVRIK;
 
 public class DesktopVRIKMod : MelonMod
 {
+    internal static MelonLogger.Instance Logger;
     internal const string SettingsCategory = "DesktopVRIK";
     internal static MelonPreferences_Category m_categoryDesktopVRIK;
     internal static MelonPreferences_Entry<bool>
@@ -13,7 +14,8 @@ public class DesktopVRIKMod : MelonMod
         m_entryResetIKOnLand,
         m_entryPlantFeet,
         m_entryUseVRIKToes,
-        m_entryFindUnmappedToes;
+        m_entryFindUnmappedToes,
+        m_entryExperimentalKneeBend;
     internal static MelonPreferences_Entry<float>
         m_entryBodyLeanWeight,
         m_entryBodyHeadingLimit,
@@ -21,12 +23,14 @@ public class DesktopVRIKMod : MelonMod
         m_entryChestHeadingWeight;
     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.");
         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.");
@@ -59,6 +63,7 @@ public class DesktopVRIKMod : MelonMod
         // Calibration Settings
         DesktopVRIK.Instance.Calibrator.Setting_UseVRIKToes = m_entryUseVRIKToes.Value;
         DesktopVRIK.Instance.Calibrator.Setting_FindUnmappedToes = m_entryFindUnmappedToes.Value;
+        DesktopVRIK.Instance.Calibrator.Setting_ExperimentalKneeBend = m_entryExperimentalKneeBend.Value;
     }
     private void OnUpdateSettings(object arg1, object arg2) => UpdateAllSettings();
 
@@ -80,8 +85,8 @@ public class DesktopVRIKMod : MelonMod
         }
         catch (Exception e)
         {
-            LoggerInstance.Msg($"Failed while patching {type.Name}!");
+            Logger.Msg($"Failed while patching {type.Name}!");
-            LoggerInstance.Error(e);
+            Logger.Error(e);
         }
     }
 }