mirror of
https://github.com/NotAKidoS/NAK_CVR_Mods.git
synced 2025-09-02 14:29:25 +00:00
[AlternateIKSystem] Slight cleanup
This commit is contained in:
NotAKidoS
parent
684b330a4c
commit
cd34aebeb0
10 changed files with 380 additions and 203 deletions
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@ -33,7 +33,7 @@ public class BodyControl
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public static bool TrackingLeftLeg = true;
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public static bool TrackingRightLeg = true;
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public static bool TrackingLocomotion = true;
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public static float TrackingPositionWeight = 1f;
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public static float TrackingIKPositionWeight = 1f;
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// TODO: decide if this is considered "Tracking Controls"
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public static float TrackingMaxRootAngle = 0f;
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@ -52,6 +52,8 @@ public class BodyControl
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#endregion
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#region Public Methods
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public void Update()
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{
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TrackingAll = ShouldTrackAll();
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@ -59,6 +61,8 @@ public class BodyControl
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AvatarUpright = GetPlayerUpright();
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}
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#endregion
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#region Private Methods
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private static bool ShouldTrackAll()
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@ -87,20 +91,26 @@ public class BodyControl
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#region Solver Weight Helpers
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public static void SetHeadWeight(IKSolverVR.Spine spine, LookAtIK lookAtIk, float weight)
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// I am unsure on this...?
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public static void SetLookAtWeight(LookAtIK lookAtIk, float weight)
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{
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if (lookAtIk != null)
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lookAtIk.solver.IKPositionWeight = weight;
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}
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public static void SetHeadWeight(IKSolverVR.Spine spine, float weight)
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{
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spine.positionWeight = weight;
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spine.rotationWeight = weight;
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if (lookAtIk != null)
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lookAtIk.solver.IKPositionWeight = weight;
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}
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public static void SetArmWeight(IKSolverVR.Arm arm, float weight)
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{
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arm.positionWeight = weight;
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arm.rotationWeight = weight;
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arm.shoulderRotationWeight = weight;
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arm.shoulderTwistWeight = weight;
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//arm.shoulderRotationWeight = weight;
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//arm.shoulderTwistWeight = weight;
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arm.bendGoalWeight = arm.bendGoal != null ? weight : 0f;
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}
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@ -117,5 +127,21 @@ public class BodyControl
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spine.pelvisRotationWeight = weight;
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}
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public static void SetLocomotionWeight(IKSolverVR.Locomotion locomotion, float weight)
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{
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locomotion.weight = weight;
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}
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public static void SetIKPositionWeight(IKSolverVR solver, float weight)
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{
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solver.IKPositionWeight = weight;
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}
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public static void SetIKPositionWeight(LookAtIK lookAtIk, float weight)
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{
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if (lookAtIk != null)
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lookAtIk.solver.IKPositionWeight = weight;
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}
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#endregion
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}
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@ -1,14 +1,17 @@
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using RootMotion.FinalIK;
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using UnityEngine;
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using Object = UnityEngine.Object;
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namespace NAK.AlternateIKSystem.IK;
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internal static class IKCalibrator
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{
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#region VRIK Setup
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public static VRIK SetupVrIk(Animator animator)
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{
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if (animator.gameObject.TryGetComponent(out VRIK vrik))
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UnityEngine.Object.DestroyImmediate(vrik);
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Object.DestroyImmediate(vrik);
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vrik = animator.gameObject.AddComponent<VRIK>();
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vrik.AutoDetectReferences();
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@ -66,6 +69,10 @@ internal static class IKCalibrator
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// hack to prevent death
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vrik.fixTransforms = !animator.enabled;
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// Avatar Motion Tweaker uses this hack!
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vrik.solver.leftLeg.useAnimatedBendNormal = false;
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vrik.solver.rightLeg.useAnimatedBendNormal = false;
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// purposefully initiating early
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vrik.solver.Initiate(vrik.transform);
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vrik.solver.Reset();
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@ -106,6 +113,10 @@ internal static class IKCalibrator
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twistRelaxer.parentChildCrossfade = 0.8f;
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}
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#endregion
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#region VRIK Configuration
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public static void ConfigureDesktopVrIk(VRIK vrik)
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{
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// From DesktopVRIK
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@ -170,6 +181,8 @@ internal static class IKCalibrator
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vrik.solver.plantFeet = false;
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}
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#endregion
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// TODO: figure out proper Desktop & VR organization
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public static void SetupHeadIKTargetDesktop(VRIK vrik)
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{
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@ -5,32 +5,150 @@ using UnityEngine;
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namespace NAK.AlternateIKSystem.IK.IKHandlers;
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internal class IKHandler
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internal abstract class IKHandler
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{
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#region Variables
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internal VRIK _vrik;
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internal IKSolverVR _solver;
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internal bool shouldTrackAll = true;
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internal bool shouldTrackHead = true;
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internal bool shouldTrackLeftArm = true;
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internal bool shouldTrackRightArm = true;
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internal bool shouldTrackLeftLeg = true;
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internal bool shouldTrackRightLeg = true;
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internal bool shouldTrackPelvis = true;
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internal bool shouldTrackLocomotion = true;
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// VRIK Calibration Info
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internal VRIKLocomotionData _locomotionData;
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// Last Movement Parent Info
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internal Vector3 _movementPosition;
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internal Quaternion _movementRotation;
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internal CVRMovementParent _movementParent;
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#region Virtual Methods
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// Solver Info
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internal float _scaleDifference = 1f;
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internal float _locomotionWeight = 1f;
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internal float _ikSimulatedRootAngle = 0f;
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internal bool _wasTrackingLocomotion = false;
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public virtual void OnInitializeIk()
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#endregion
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#region Virtual Game Methods
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public virtual void OnInitializeIk() { }
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public virtual void OnPlayerScaled(float scaleDifference) { }
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public virtual void OnPlayerHandleMovementParent(CVRMovementParent currentParent) { }
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#endregion
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#region Virtual IK Weights
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public virtual void UpdateWeights()
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{
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if (!shouldTrackAll)
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return;
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if (shouldTrackHead)
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Update_HeadWeight();
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if (shouldTrackLeftArm)
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Update_LeftArmWeight();
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if (shouldTrackRightArm)
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Update_RightArmWeight();
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if (shouldTrackLeftLeg)
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Update_LeftLegWeight();
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if (shouldTrackRightLeg)
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Update_RightLegWeight();
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if (shouldTrackPelvis)
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Update_PelvisWeight();
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if (shouldTrackLocomotion)
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{
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Update_LocomotionWeight();
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ResetSolverIfNeeded();
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}
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Update_IKPositionWeight();
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}
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public virtual void OnUpdate()
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protected virtual void Update_HeadWeight()
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{
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float targetWeight = GetTargetWeight(BodyControl.TrackingHead, true);
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BodyControl.SetHeadWeight(_solver.spine, targetWeight);
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BodyControl.SetLookAtWeight(IKManager.lookAtIk, targetWeight);
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}
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public virtual void OnPlayerScaled(float scaleDifference, VRIKCalibrationData calibrationData)
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protected virtual void Update_LeftArmWeight()
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{
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float leftArmWeight = GetTargetWeight(BodyControl.TrackingLeftArm, _solver.leftArm.target != null);
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BodyControl.SetArmWeight(_solver.leftArm, leftArmWeight);
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}
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public virtual void OnPlayerHandleMovementParent(CVRMovementParent currentParent)
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protected virtual void Update_RightArmWeight()
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{
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float rightArmWeight = GetTargetWeight(BodyControl.TrackingRightArm, _solver.rightArm.target != null);
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BodyControl.SetArmWeight(_solver.rightArm, rightArmWeight);
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}
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protected virtual void Update_LeftLegWeight()
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{
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float leftLegWeight = GetTargetWeight(BodyControl.TrackingLeftLeg, _solver.leftLeg.target != null);
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BodyControl.SetLegWeight(_solver.leftLeg, leftLegWeight);
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}
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protected virtual void Update_RightLegWeight()
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{
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float rightLegWeight = GetTargetWeight(BodyControl.TrackingRightLeg, _solver.rightLeg.target != null);
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BodyControl.SetLegWeight(_solver.rightLeg, rightLegWeight);
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}
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protected virtual void Update_PelvisWeight()
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{
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float pelvisWeight = GetTargetWeight(BodyControl.TrackingPelvis, _solver.spine.pelvisTarget != null);
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BodyControl.SetPelvisWeight(_solver.spine, pelvisWeight);
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}
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protected virtual void Update_LocomotionWeight()
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{
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_locomotionWeight = Mathf.Lerp(_locomotionWeight, BodyControl.TrackingLocomotion ? 1f : 0f,
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Time.deltaTime * ModSettings.EntryIKLerpSpeed.Value * 2f);
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BodyControl.SetLocomotionWeight(_solver.locomotion, _locomotionWeight);
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}
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protected virtual void Update_IKPositionWeight()
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{
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float ikPositionWeight = BodyControl.TrackingAll ? BodyControl.TrackingIKPositionWeight : 0f;
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BodyControl.SetIKPositionWeight(_solver, ikPositionWeight);
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BodyControl.SetIKPositionWeight(IKManager.lookAtIk, ikPositionWeight);
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}
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protected virtual float GetTargetWeight(bool isTracking, bool hasTarget)
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{
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return isTracking && hasTarget ? 1f : 0f;
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}
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#endregion
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#region Private Methods
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private void ResetSolverIfNeeded()
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{
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if (_wasTrackingLocomotion == BodyControl.TrackingLocomotion)
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return;
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_wasTrackingLocomotion = BodyControl.TrackingLocomotion;
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VRIKUtils.ResetToInitialFootsteps(_vrik, _locomotionData, _scaleDifference);
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_solver.Reset();
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}
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#endregion
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@ -2,7 +2,6 @@
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using NAK.AlternateIKSystem.VRIKHelpers;
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using RootMotion.FinalIK;
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using UnityEngine;
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using UnityEngine.Events;
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namespace NAK.AlternateIKSystem.IK.IKHandlers;
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@ -14,44 +13,44 @@ internal class IKHandlerDesktop : IKHandler
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_solver = vrik.solver;
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}
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#region Overrides
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#region Game Overrides
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public override void OnInitializeIk()
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{
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_vrik.onPreSolverUpdate.AddListener(new UnityAction(OnPreSolverUpdate));
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// Default tracking for Desktop
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shouldTrackHead = true;
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shouldTrackLeftArm = false;
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shouldTrackRightArm = false;
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shouldTrackLeftLeg = false;
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shouldTrackRightLeg = false;
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shouldTrackPelvis = false;
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shouldTrackLocomotion = true;
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_vrik.onPreSolverUpdate.AddListener(OnPreSolverUpdateDesktop);
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}
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public override void OnUpdate()
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{
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// Reset avatar local position
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_vrik.transform.localPosition = Vector3.zero;
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_vrik.transform.localRotation = Quaternion.identity;
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UpdateWeights();
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}
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public override void OnPlayerScaled(float scaleDifference, VRIKCalibrationData calibrationData)
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public override void OnPlayerScaled(float scaleDifference)
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{
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VRIKUtils.ApplyScaleToVRIK
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(
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_vrik,
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calibrationData,
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scaleDifference
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_locomotionData,
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_scaleDifference = scaleDifference
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);
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}
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public override void OnPlayerHandleMovementParent(CVRMovementParent currentParent)
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{
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// Get current position
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var currentPosition = currentParent._referencePoint.position;
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var currentRotation = Quaternion.Euler(0f, currentParent.transform.rotation.eulerAngles.y, 0f);
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Vector3 currentPosition = currentParent._referencePoint.position;
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Quaternion currentRotation = Quaternion.Euler(0f, currentParent.transform.rotation.eulerAngles.y, 0f);
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// Convert to delta position (how much changed since last frame)
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var deltaPosition = currentPosition - _movementPosition;
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var deltaRotation = Quaternion.Inverse(_movementRotation) * currentRotation;
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Vector3 deltaPosition = currentPosition - _movementPosition;
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Quaternion deltaRotation = Quaternion.Inverse(_movementRotation) * currentRotation;
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// Desktop pivots from playerlocal transform
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var platformPivot = IKManager.Instance.transform.position;
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Vector3 platformPivot = IKManager.Instance.transform.position;
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// Prevent targeting other parent position
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if (_movementParent == currentParent)
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@ -68,11 +67,76 @@ internal class IKHandlerDesktop : IKHandler
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#endregion
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#region Weight Overrides
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public override void UpdateWeights()
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{
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// Reset avatar local position
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_vrik.transform.localPosition = Vector3.zero;
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_vrik.transform.localRotation = Quaternion.identity;
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base.UpdateWeights();
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// Desktop should never have head position weight
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_solver.spine.positionWeight = 0f;
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}
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protected override void Update_HeadWeight()
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{
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float targetWeight = GetTargetWeight(BodyControl.TrackingHead, true);
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BodyControl.SetHeadWeight(_solver.spine, targetWeight);
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BodyControl.SetLookAtWeight(IKManager.lookAtIk, targetWeight);
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}
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protected override void Update_LeftArmWeight()
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{
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float leftArmWeight = GetTargetWeight(BodyControl.TrackingLeftArm, _solver.leftArm.target != null);
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BodyControl.SetArmWeight(_solver.leftArm, leftArmWeight);
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}
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protected override void Update_RightArmWeight()
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{
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float rightArmWeight = GetTargetWeight(BodyControl.TrackingRightArm, _solver.rightArm.target != null);
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BodyControl.SetArmWeight(_solver.rightArm, rightArmWeight);
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}
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protected override void Update_LeftLegWeight()
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{
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float leftLegWeight = GetTargetWeight(BodyControl.TrackingLeftLeg, _solver.leftLeg.target != null);
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BodyControl.SetLegWeight(_solver.leftLeg, leftLegWeight);
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}
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protected override void Update_RightLegWeight()
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{
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float rightLegWeight = GetTargetWeight(BodyControl.TrackingRightLeg, _solver.rightLeg.target != null);
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BodyControl.SetLegWeight(_solver.rightLeg, rightLegWeight);
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}
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protected override void Update_PelvisWeight()
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{
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float pelvisWeight = GetTargetWeight(BodyControl.TrackingPelvis, _solver.spine.pelvisTarget != null);
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BodyControl.SetPelvisWeight(_solver.spine, pelvisWeight);
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}
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protected override void Update_LocomotionWeight()
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{
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_locomotionWeight = Mathf.Lerp(_locomotionWeight, BodyControl.TrackingLocomotion ? 1f : 0f,
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Time.deltaTime * ModSettings.EntryIKLerpSpeed.Value * 2f);
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BodyControl.SetLocomotionWeight(_solver.locomotion, _locomotionWeight);
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}
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protected override void Update_IKPositionWeight()
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{
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float ikPositionWeight = BodyControl.TrackingAll ? BodyControl.TrackingIKPositionWeight : 0f;
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BodyControl.SetIKPositionWeight(_solver, ikPositionWeight);
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BodyControl.SetIKPositionWeight(IKManager.lookAtIk, ikPositionWeight);
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}
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#endregion
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#region VRIK Solver Events
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private float _ikSimulatedRootAngle = 0f;
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private void OnPreSolverUpdate()
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private void OnPreSolverUpdateDesktop()
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{
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_solver.plantFeet = ModSettings.EntryPlantFeet.Value;
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@ -98,7 +162,7 @@ internal class IKHandlerDesktop : IKHandler
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deltaAngleRoot = Mathf.Sign(deltaAngleRoot) * weightedAngleLimit;
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_ikSimulatedRootAngle = Mathf.MoveTowardsAngle(_ikSimulatedRootAngle, IKManager.Instance.transform.eulerAngles.y, absDeltaAngleRoot - weightedAngleLimit);
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}
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_solver.spine.rootHeadingOffset = deltaAngleRoot;
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if (ModSettings.EntryPelvisHeadingWeight.Value > 0)
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@ -115,59 +179,4 @@ internal class IKHandlerDesktop : IKHandler
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}
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#endregion
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#region Private Methods
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private float _locomotionWeight = 1f;
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private void UpdateWeights()
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{
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// Lerp locomotion weight, lerp to BodyControl.TrackingUpright???
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float targetWeight =
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(BodyControl.TrackingAll && BodyControl.TrackingLocomotion && BodyControl.AvatarUpright > 0.8f)
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? 1f
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: 0.0f;
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_locomotionWeight = Mathf.Lerp(_locomotionWeight, targetWeight, Time.deltaTime * 20f);
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if (BodyControl.TrackingAll)
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{
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_vrik.enabled = true;
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_solver.IKPositionWeight = BodyControl.TrackingPositionWeight;
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_solver.locomotion.weight = _locomotionWeight;
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_solver.spine.maxRootAngle = BodyControl.TrackingMaxRootAngle;
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BodyControl.SetHeadWeight(_solver.spine, IKManager.lookAtIk, BodyControl.TrackingHead ? 1f : 0f);
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BodyControl.SetArmWeight(_solver.leftArm, BodyControl.TrackingLeftArm && _solver.leftArm.target != null ? 1f : 0f);
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BodyControl.SetArmWeight(_solver.rightArm, BodyControl.TrackingRightArm && _solver.rightArm.target != null ? 1f : 0f);
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BodyControl.SetLegWeight(_solver.leftLeg, BodyControl.TrackingLeftLeg && _solver.leftLeg.target != null ? 1f : 0f);
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BodyControl.SetLegWeight(_solver.rightLeg, BodyControl.TrackingRightLeg && _solver.rightLeg.target != null ? 1f : 0f);
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BodyControl.SetPelvisWeight(_solver.spine, BodyControl.TrackingPelvis && _solver.spine.pelvisTarget != null ? 1f : 0f);
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}
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else
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{
|
||||
_vrik.enabled = false;
|
||||
_solver.IKPositionWeight = 0f;
|
||||
_solver.locomotion.weight = 0f;
|
||||
_solver.spine.maxRootAngle = 0f;
|
||||
|
||||
BodyControl.SetHeadWeight(_solver.spine, IKManager.lookAtIk, 0f);
|
||||
BodyControl.SetArmWeight(_solver.leftArm, 0f);
|
||||
BodyControl.SetArmWeight(_solver.rightArm, 0f);
|
||||
BodyControl.SetLegWeight(_solver.leftLeg, 0f);
|
||||
BodyControl.SetLegWeight(_solver.rightLeg, 0f);
|
||||
BodyControl.SetPelvisWeight(_solver.spine, 0f);
|
||||
}
|
||||
|
||||
// Desktop should never have head position weight
|
||||
_solver.spine.positionWeight = 0f;
|
||||
|
||||
// Avatar Motion Tweaker uses this hack, so we must reset it
|
||||
_solver.leftLeg.useAnimatedBendNormal = false;
|
||||
_solver.rightLeg.useAnimatedBendNormal = false;
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
67
AlternateIKSystem/IK/IKHandlers/IKHandlerHalfBody.cs
Normal file
67
AlternateIKSystem/IK/IKHandlers/IKHandlerHalfBody.cs
Normal file
|
|
@ -0,0 +1,67 @@
|
|||
using ABI.CCK.Components;
|
||||
using NAK.AlternateIKSystem.VRIKHelpers;
|
||||
using RootMotion.FinalIK;
|
||||
using UnityEngine;
|
||||
|
||||
namespace NAK.AlternateIKSystem.IK.IKHandlers;
|
||||
|
||||
internal class IKHandlerHalfBody : IKHandler
|
||||
{
|
||||
public IKHandlerHalfBody(VRIK vrik)
|
||||
{
|
||||
_vrik = vrik;
|
||||
_solver = vrik.solver;
|
||||
}
|
||||
|
||||
#region Game Overrides
|
||||
|
||||
public override void OnInitializeIk()
|
||||
{
|
||||
// Default tracking for HalfBody
|
||||
shouldTrackHead = true;
|
||||
shouldTrackLeftArm = true;
|
||||
shouldTrackRightArm = true;
|
||||
shouldTrackLeftLeg = false;
|
||||
shouldTrackRightLeg = false;
|
||||
shouldTrackPelvis = false;
|
||||
shouldTrackLocomotion = true;
|
||||
}
|
||||
|
||||
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
|
||||
}
|
||||
|
|
@ -1,7 +1,6 @@
|
|||
using ABI.CCK.Components;
|
||||
using ABI_RC.Core.Player;
|
||||
using ABI_RC.Core.Savior;
|
||||
using ABI_RC.Systems.MovementSystem;
|
||||
using NAK.AlternateIKSystem.IK.IKHandlers;
|
||||
using NAK.AlternateIKSystem.VRIKHelpers;
|
||||
using RootMotion.FinalIK;
|
||||
|
|
@ -14,6 +13,8 @@ public class IKManager : MonoBehaviour
|
|||
{
|
||||
public static IKManager Instance;
|
||||
|
||||
#region Variables
|
||||
|
||||
public BodyControl BodyControl = new BodyControl();
|
||||
|
||||
public static VRIK vrik => _vrik;
|
||||
|
|
@ -44,8 +45,9 @@ public class IKManager : MonoBehaviour
|
|||
private HumanPose _humanPose;
|
||||
private HumanPose _humanPoseInitial;
|
||||
|
||||
// VRIK Calibration Info
|
||||
private VRIKCalibrationData _calibrationData;
|
||||
#endregion
|
||||
|
||||
#region Unity Methods
|
||||
|
||||
private void Start()
|
||||
{
|
||||
|
|
@ -67,9 +69,11 @@ public class IKManager : MonoBehaviour
|
|||
if (!_isAvatarInitialized)
|
||||
return;
|
||||
|
||||
_ikHandler?.OnUpdate();
|
||||
_ikHandler?.UpdateWeights();
|
||||
}
|
||||
|
||||
#endregion
|
||||
|
||||
#region Avatar Events
|
||||
|
||||
public void OnAvatarInitialized(GameObject inAvatar)
|
||||
|
|
@ -137,7 +141,7 @@ public class IKManager : MonoBehaviour
|
|||
if (!_isAvatarInitialized)
|
||||
return false;
|
||||
|
||||
_ikHandler?.OnPlayerScaled(scaleDifference, _calibrationData);
|
||||
_ikHandler?.OnPlayerScaled(scaleDifference);
|
||||
return true;
|
||||
}
|
||||
|
||||
|
|
@ -164,7 +168,7 @@ public class IKManager : MonoBehaviour
|
|||
{
|
||||
if (!_isAvatarInitialized)
|
||||
return false;
|
||||
|
||||
|
||||
_vrik?.solver.Reset();
|
||||
return true;
|
||||
}
|
||||
|
|
@ -175,23 +179,31 @@ public class IKManager : MonoBehaviour
|
|||
|
||||
private void InitializeDesktopIk()
|
||||
{
|
||||
PreSetupIkGeneral();
|
||||
SetupIkGeneral();
|
||||
|
||||
IKCalibrator.ConfigureDesktopVrIk(_vrik);
|
||||
_ikHandler = new IKHandlerDesktop(_vrik);
|
||||
|
||||
IKCalibrator.SetupHeadIKTargetDesktop(_vrik);
|
||||
|
||||
InitializeIkGeneral();
|
||||
|
||||
_ikHandler = new IKHandlerDesktop(_vrik);
|
||||
_ikHandler.OnInitializeIk();
|
||||
}
|
||||
|
||||
private void InitializeHalfBodyIk()
|
||||
{
|
||||
PreSetupIkGeneral();
|
||||
SetupIkGeneral();
|
||||
|
||||
IKCalibrator.ConfigureHalfBodyVrIk(_vrik);
|
||||
_ikHandler = new IKHandlerHalfBody(_vrik);
|
||||
|
||||
InitializeIkGeneral();
|
||||
|
||||
_ikHandler.OnInitializeIk();
|
||||
}
|
||||
|
||||
private void PreSetupIkGeneral()
|
||||
private void SetupIkGeneral()
|
||||
{
|
||||
SetAvatarPose(AvatarPose.Default);
|
||||
_vrik = IKCalibrator.SetupVrIk(_animator);
|
||||
|
|
@ -201,12 +213,12 @@ public class IKManager : MonoBehaviour
|
|||
{
|
||||
SetAvatarPose(AvatarPose.IKPose);
|
||||
|
||||
VRIKUtils.CalculateInitialIKScaling(_vrik, ref _calibrationData);
|
||||
VRIKUtils.CalculateInitialFootsteps(_vrik, ref _calibrationData);
|
||||
VRIKUtils.CalculateInitialIKScaling(_vrik, ref _ikHandler._locomotionData);
|
||||
VRIKUtils.CalculateInitialFootsteps(_vrik, ref _ikHandler._locomotionData);
|
||||
|
||||
VRIKUtils.ApplyScaleToVRIK(_vrik, _calibrationData, 1f);
|
||||
_vrik.solver.Initiate(_vrik.transform); // initiate a second time
|
||||
|
||||
VRIKUtils.InitiateVRIKSolver(_vrik); // initiate again to store ikpose
|
||||
VRIKUtils.ApplyScaleToVRIK(_vrik, _ikHandler._locomotionData, 1f);
|
||||
|
||||
_vrik.onPreSolverUpdate.AddListener(new UnityAction(OnPreSolverUpdateGeneral));
|
||||
_vrik.onPostSolverUpdate.AddListener(new UnityAction(OnPostSolverUpdateGeneral));
|
||||
|
|
@ -263,6 +275,7 @@ public class IKManager : MonoBehaviour
|
|||
_hipTransform.rotation = hipRot;
|
||||
}
|
||||
|
||||
// "NetIk Pass", or "Additional Humanoid Pass" hack
|
||||
private void OnPostSolverUpdateGeneral()
|
||||
{
|
||||
Vector3 hipPos = _hipTransform.position;
|
||||
|
|
|
|||
|
|
@ -2,28 +2,22 @@
|
|||
|
||||
namespace NAK.AlternateIKSystem.VRIKHelpers;
|
||||
|
||||
public struct VRIKCalibrationData
|
||||
public struct VRIKLocomotionData
|
||||
{
|
||||
public Vector3 KneeNormalLeft;
|
||||
public Vector3 KneeNormalRight;
|
||||
public Vector3 InitialFootPosLeft;
|
||||
public Vector3 InitialFootPosRight;
|
||||
public Quaternion InitialFootRotLeft;
|
||||
public Quaternion InitialFootRotRight;
|
||||
public float InitialHeadHeight;
|
||||
public float InitialFootDistance;
|
||||
public float InitialStepThreshold;
|
||||
public float InitialStepHeight;
|
||||
|
||||
public void Clear()
|
||||
{
|
||||
KneeNormalLeft = Vector3.zero;
|
||||
KneeNormalRight = Vector3.zero;
|
||||
InitialFootPosLeft = Vector3.zero;
|
||||
InitialFootPosRight = Vector3.zero;
|
||||
InitialFootRotLeft = Quaternion.identity;
|
||||
InitialFootRotRight = Quaternion.identity;
|
||||
InitialHeadHeight = 0f;
|
||||
InitialFootDistance = 0f;
|
||||
InitialStepThreshold = 0f;
|
||||
InitialStepHeight = 0f;
|
||||
|
|
@ -5,72 +5,18 @@ namespace NAK.AlternateIKSystem.VRIKHelpers;
|
|||
|
||||
public static class VRIKUtils
|
||||
{
|
||||
public static void CalculateKneeBendNormals(VRIK vrik, ref VRIKCalibrationData calibrationData)
|
||||
{
|
||||
// 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)
|
||||
};
|
||||
calibrationData.KneeNormalLeft = 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)
|
||||
};
|
||||
calibrationData.KneeNormalRight = Quaternion.Inverse(vrik.references.root.rotation) * GetNormalFromArray(rightVectors);
|
||||
}
|
||||
|
||||
public static void ApplyKneeBendNormals(VRIK vrik, VRIKCalibrationData calibrationData)
|
||||
{
|
||||
// 0 uses bendNormalRelToPelvis, 1 is bendNormalRelToTarget
|
||||
// modifying pelvis normal weight is easier math
|
||||
vrik.solver.leftLeg.bendToTargetWeight = 0f;
|
||||
vrik.solver.rightLeg.bendToTargetWeight = 0f;
|
||||
|
||||
var pelvis_localRotationInverse = Quaternion.Inverse(vrik.references.pelvis.localRotation);
|
||||
vrik.solver.leftLeg.bendNormalRelToPelvis = pelvis_localRotationInverse * calibrationData.KneeNormalLeft;
|
||||
vrik.solver.rightLeg.bendNormalRelToPelvis = pelvis_localRotationInverse * calibrationData.KneeNormalRight;
|
||||
}
|
||||
|
||||
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, ref VRIKCalibrationData calibrationData)
|
||||
public static void CalculateInitialIKScaling(VRIK vrik, ref VRIKLocomotionData locomotionData)
|
||||
{
|
||||
// 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);
|
||||
|
||||
calibrationData.InitialFootDistance = footDistance * 0.5f;
|
||||
calibrationData.InitialStepThreshold = footDistance * scaleModifier;
|
||||
calibrationData.InitialStepHeight = Vector3.Distance(vrik.references.leftFoot.position, vrik.references.leftCalf.position) * 0.2f;
|
||||
calibrationData.InitialHeadHeight = Mathf.Abs(vrik.references.head.position.y - vrik.references.rightFoot.position.y);
|
||||
locomotionData.InitialFootDistance = footDistance * 0.5f;
|
||||
locomotionData.InitialStepThreshold = footDistance * scaleModifier;
|
||||
locomotionData.InitialStepHeight = Vector3.Distance(vrik.references.leftFoot.position, vrik.references.leftCalf.position) * 0.2f;
|
||||
}
|
||||
|
||||
public static void CalculateInitialFootsteps(VRIK vrik, ref VRIKCalibrationData calibrationData)
|
||||
public static void CalculateInitialFootsteps(VRIK vrik, ref VRIKLocomotionData locomotionData)
|
||||
{
|
||||
Transform root = vrik.references.root;
|
||||
Transform leftFoot = vrik.references.leftFoot;
|
||||
|
|
@ -80,46 +26,37 @@ public static class VRIKUtils
|
|||
Quaternion rootWorldRot = root.rotation;
|
||||
|
||||
// Calculate the world rotation of the left and right feet relative to the root bone
|
||||
calibrationData.InitialFootPosLeft = root.parent.InverseTransformPoint(leftFoot.position);
|
||||
calibrationData.InitialFootPosRight = root.parent.InverseTransformPoint(rightFoot.position);
|
||||
calibrationData.InitialFootRotLeft = Quaternion.Inverse(rootWorldRot) * leftFoot.rotation;
|
||||
calibrationData.InitialFootRotRight = Quaternion.Inverse(rootWorldRot) * rightFoot.rotation;
|
||||
locomotionData.InitialFootPosLeft = root.InverseTransformPoint(leftFoot.position);
|
||||
locomotionData.InitialFootPosRight = root.InverseTransformPoint(rightFoot.position);
|
||||
locomotionData.InitialFootRotLeft = Quaternion.Inverse(rootWorldRot) * leftFoot.rotation;
|
||||
locomotionData.InitialFootRotRight = Quaternion.Inverse(rootWorldRot) * rightFoot.rotation;
|
||||
}
|
||||
|
||||
public static void ResetToInitialFootsteps(VRIK vrik, VRIKCalibrationData calibrationData, float scaleModifier)
|
||||
public static void ResetToInitialFootsteps(VRIK vrik, VRIKLocomotionData locomotionData, float scaleModifier)
|
||||
{
|
||||
var locomotionSolver = vrik.solver.locomotion;
|
||||
Transform root = vrik.references.root;
|
||||
Quaternion rootWorldRot = vrik.references.root.rotation;
|
||||
|
||||
var footsteps = locomotionSolver.footsteps;
|
||||
var footstepLeft = footsteps[0];
|
||||
var footstepRight = footsteps[1];
|
||||
|
||||
var root = vrik.references.root;
|
||||
var rootWorldRot = vrik.references.root.rotation;
|
||||
|
||||
// hack, use parent transform instead as setting feet position moves root
|
||||
footstepLeft.Reset(rootWorldRot, root.parent.TransformPoint(calibrationData.InitialFootPosLeft * scaleModifier), rootWorldRot * calibrationData.InitialFootRotLeft);
|
||||
footstepRight.Reset(rootWorldRot, root.parent.TransformPoint(calibrationData.InitialFootPosRight * scaleModifier), rootWorldRot * calibrationData.InitialFootRotRight);
|
||||
// hack, use parent transform instead as setting feet position moves root (root.parent), but does not work for VR
|
||||
var footsteps = vrik.solver.locomotion.footsteps;
|
||||
footsteps[0].Reset(rootWorldRot, root.TransformPoint(locomotionData.InitialFootPosLeft * scaleModifier),
|
||||
rootWorldRot * locomotionData.InitialFootRotLeft);
|
||||
footsteps[1].Reset(rootWorldRot, root.TransformPoint(locomotionData.InitialFootPosRight * scaleModifier),
|
||||
rootWorldRot * locomotionData.InitialFootRotRight);
|
||||
}
|
||||
|
||||
public static void ApplyScaleToVRIK(VRIK vrik, VRIKCalibrationData calibrationData, float scaleModifier)
|
||||
public static void ApplyScaleToVRIK(VRIK vrik, VRIKLocomotionData locomotionData, float scaleModifier)
|
||||
{
|
||||
var locomotionSolver = vrik.solver.locomotion;
|
||||
locomotionSolver.footDistance = calibrationData.InitialFootDistance * scaleModifier;
|
||||
locomotionSolver.stepThreshold = calibrationData.InitialStepThreshold * scaleModifier;
|
||||
ScaleStepHeight(locomotionSolver.stepHeight, calibrationData.InitialStepHeight * scaleModifier);
|
||||
IKSolverVR.Locomotion locomotionSolver = vrik.solver.locomotion;
|
||||
locomotionSolver.footDistance = locomotionData.InitialFootDistance * scaleModifier;
|
||||
locomotionSolver.stepThreshold = locomotionData.InitialStepThreshold * scaleModifier;
|
||||
ScaleStepHeight(locomotionSolver.stepHeight, locomotionData.InitialStepHeight * scaleModifier);
|
||||
}
|
||||
|
||||
static void ScaleStepHeight(AnimationCurve stepHeightCurve, float mag)
|
||||
private static void ScaleStepHeight(AnimationCurve stepHeightCurve, float mag)
|
||||
{
|
||||
Keyframe[] keyframes = stepHeightCurve.keys;
|
||||
var 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);
|
||||
}
|
||||
}
|
||||
|
|
@ -25,7 +25,7 @@ public static class BTKUIAddon
|
|||
Page generalIKPage = parentCategory.AddPage("General IK Settings", "", "Configure the settings for general IK.", ModSettings.SettingsCategory);
|
||||
generalIKPage.MenuTitle = "General IK Settings";
|
||||
Category generalIKCategory = generalIKPage.AddCategory(generalIKPage.MenuTitle);
|
||||
|
||||
|
||||
// General Settings
|
||||
AddMelonToggle(ref generalIKCategory, ModSettings.EntryPlantFeet);
|
||||
|
||||
|
|
|
|||
|
|
@ -26,7 +26,7 @@ public class AlternateIKSystem : MelonMod
|
|||
|
||||
private static void InitializeIntegration(string modName, Action integrationAction)
|
||||
{
|
||||
if (RegisteredMelons.All(it => it.Info.Name != modName))
|
||||
if (RegisteredMelons.All(it => it.Info.Name != modName))
|
||||
return;
|
||||
|
||||
Logger.Msg($"Initializing {modName} integration.");
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue