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https://github.com/NotAKidoS/NAK_CVR_Mods.git
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[AlternateIKSystem] Slight cleanup
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NotAKidoS
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commit
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10 changed files with 380 additions and 203 deletions
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@ -2,28 +2,22 @@
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namespace NAK.AlternateIKSystem.VRIKHelpers;
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public struct VRIKCalibrationData
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public struct VRIKLocomotionData
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{
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public Vector3 KneeNormalLeft;
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public Vector3 KneeNormalRight;
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public Vector3 InitialFootPosLeft;
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public Vector3 InitialFootPosRight;
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public Quaternion InitialFootRotLeft;
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public Quaternion InitialFootRotRight;
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public float InitialHeadHeight;
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public float InitialFootDistance;
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public float InitialStepThreshold;
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public float InitialStepHeight;
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public void Clear()
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{
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KneeNormalLeft = Vector3.zero;
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KneeNormalRight = Vector3.zero;
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InitialFootPosLeft = Vector3.zero;
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InitialFootPosRight = Vector3.zero;
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InitialFootRotLeft = Quaternion.identity;
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InitialFootRotRight = Quaternion.identity;
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InitialHeadHeight = 0f;
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InitialFootDistance = 0f;
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InitialStepThreshold = 0f;
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InitialStepHeight = 0f;
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@ -5,72 +5,18 @@ namespace NAK.AlternateIKSystem.VRIKHelpers;
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public static class VRIKUtils
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{
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public static void CalculateKneeBendNormals(VRIK vrik, ref VRIKCalibrationData calibrationData)
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{
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// Helper function to get position or default to Vector3.zero
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Vector3 GetPositionOrDefault(Transform transform) => transform?.position ?? Vector3.zero;
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// Get assumed left knee normal
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Vector3[] leftVectors = {
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GetPositionOrDefault(vrik.references.leftThigh),
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GetPositionOrDefault(vrik.references.leftCalf),
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GetPositionOrDefault(vrik.references.leftFoot)
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};
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calibrationData.KneeNormalLeft = Quaternion.Inverse(vrik.references.root.rotation) * GetNormalFromArray(leftVectors);
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// Get assumed right knee normal
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Vector3[] rightVectors = {
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GetPositionOrDefault(vrik.references.rightThigh),
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GetPositionOrDefault(vrik.references.rightCalf),
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GetPositionOrDefault(vrik.references.rightFoot)
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};
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calibrationData.KneeNormalRight = Quaternion.Inverse(vrik.references.root.rotation) * GetNormalFromArray(rightVectors);
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}
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public static void ApplyKneeBendNormals(VRIK vrik, VRIKCalibrationData calibrationData)
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{
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// 0 uses bendNormalRelToPelvis, 1 is bendNormalRelToTarget
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// modifying pelvis normal weight is easier math
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vrik.solver.leftLeg.bendToTargetWeight = 0f;
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vrik.solver.rightLeg.bendToTargetWeight = 0f;
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var pelvis_localRotationInverse = Quaternion.Inverse(vrik.references.pelvis.localRotation);
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vrik.solver.leftLeg.bendNormalRelToPelvis = pelvis_localRotationInverse * calibrationData.KneeNormalLeft;
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vrik.solver.rightLeg.bendNormalRelToPelvis = pelvis_localRotationInverse * calibrationData.KneeNormalRight;
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}
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private static Vector3 GetNormalFromArray(Vector3[] positions)
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{
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Vector3 centroid = Vector3.zero;
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for (int i = 0; i < positions.Length; i++)
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{
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centroid += positions[i];
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}
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centroid /= positions.Length;
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Vector3 normal = Vector3.zero;
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for (int i = 0; i < positions.Length - 2; i++)
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{
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Vector3 side1 = positions[i] - centroid;
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Vector3 side2 = positions[i + 1] - centroid;
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normal += Vector3.Cross(side1, side2);
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}
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return normal.normalized;
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}
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public static void CalculateInitialIKScaling(VRIK vrik, ref VRIKCalibrationData calibrationData)
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public static void CalculateInitialIKScaling(VRIK vrik, ref VRIKLocomotionData locomotionData)
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{
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// Get distance between feet and thighs
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float scaleModifier = Mathf.Max(1f, vrik.references.pelvis.lossyScale.x);
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float footDistance = Vector3.Distance(vrik.references.leftFoot.position, vrik.references.rightFoot.position);
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calibrationData.InitialFootDistance = footDistance * 0.5f;
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calibrationData.InitialStepThreshold = footDistance * scaleModifier;
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calibrationData.InitialStepHeight = Vector3.Distance(vrik.references.leftFoot.position, vrik.references.leftCalf.position) * 0.2f;
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calibrationData.InitialHeadHeight = Mathf.Abs(vrik.references.head.position.y - vrik.references.rightFoot.position.y);
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locomotionData.InitialFootDistance = footDistance * 0.5f;
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locomotionData.InitialStepThreshold = footDistance * scaleModifier;
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locomotionData.InitialStepHeight = Vector3.Distance(vrik.references.leftFoot.position, vrik.references.leftCalf.position) * 0.2f;
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}
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public static void CalculateInitialFootsteps(VRIK vrik, ref VRIKCalibrationData calibrationData)
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public static void CalculateInitialFootsteps(VRIK vrik, ref VRIKLocomotionData locomotionData)
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{
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Transform root = vrik.references.root;
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Transform leftFoot = vrik.references.leftFoot;
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@ -80,46 +26,37 @@ public static class VRIKUtils
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Quaternion rootWorldRot = root.rotation;
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// Calculate the world rotation of the left and right feet relative to the root bone
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calibrationData.InitialFootPosLeft = root.parent.InverseTransformPoint(leftFoot.position);
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calibrationData.InitialFootPosRight = root.parent.InverseTransformPoint(rightFoot.position);
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calibrationData.InitialFootRotLeft = Quaternion.Inverse(rootWorldRot) * leftFoot.rotation;
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calibrationData.InitialFootRotRight = Quaternion.Inverse(rootWorldRot) * rightFoot.rotation;
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locomotionData.InitialFootPosLeft = root.InverseTransformPoint(leftFoot.position);
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locomotionData.InitialFootPosRight = root.InverseTransformPoint(rightFoot.position);
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locomotionData.InitialFootRotLeft = Quaternion.Inverse(rootWorldRot) * leftFoot.rotation;
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locomotionData.InitialFootRotRight = Quaternion.Inverse(rootWorldRot) * rightFoot.rotation;
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}
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public static void ResetToInitialFootsteps(VRIK vrik, VRIKCalibrationData calibrationData, float scaleModifier)
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public static void ResetToInitialFootsteps(VRIK vrik, VRIKLocomotionData locomotionData, float scaleModifier)
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{
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var locomotionSolver = vrik.solver.locomotion;
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Transform root = vrik.references.root;
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Quaternion rootWorldRot = vrik.references.root.rotation;
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var footsteps = locomotionSolver.footsteps;
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var footstepLeft = footsteps[0];
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var footstepRight = footsteps[1];
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var root = vrik.references.root;
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var rootWorldRot = vrik.references.root.rotation;
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// hack, use parent transform instead as setting feet position moves root
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footstepLeft.Reset(rootWorldRot, root.parent.TransformPoint(calibrationData.InitialFootPosLeft * scaleModifier), rootWorldRot * calibrationData.InitialFootRotLeft);
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footstepRight.Reset(rootWorldRot, root.parent.TransformPoint(calibrationData.InitialFootPosRight * scaleModifier), rootWorldRot * calibrationData.InitialFootRotRight);
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// hack, use parent transform instead as setting feet position moves root (root.parent), but does not work for VR
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var footsteps = vrik.solver.locomotion.footsteps;
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footsteps[0].Reset(rootWorldRot, root.TransformPoint(locomotionData.InitialFootPosLeft * scaleModifier),
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rootWorldRot * locomotionData.InitialFootRotLeft);
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footsteps[1].Reset(rootWorldRot, root.TransformPoint(locomotionData.InitialFootPosRight * scaleModifier),
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rootWorldRot * locomotionData.InitialFootRotRight);
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}
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public static void ApplyScaleToVRIK(VRIK vrik, VRIKCalibrationData calibrationData, float scaleModifier)
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public static void ApplyScaleToVRIK(VRIK vrik, VRIKLocomotionData locomotionData, float scaleModifier)
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{
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var locomotionSolver = vrik.solver.locomotion;
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locomotionSolver.footDistance = calibrationData.InitialFootDistance * scaleModifier;
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locomotionSolver.stepThreshold = calibrationData.InitialStepThreshold * scaleModifier;
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ScaleStepHeight(locomotionSolver.stepHeight, calibrationData.InitialStepHeight * scaleModifier);
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IKSolverVR.Locomotion locomotionSolver = vrik.solver.locomotion;
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locomotionSolver.footDistance = locomotionData.InitialFootDistance * scaleModifier;
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locomotionSolver.stepThreshold = locomotionData.InitialStepThreshold * scaleModifier;
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ScaleStepHeight(locomotionSolver.stepHeight, locomotionData.InitialStepHeight * scaleModifier);
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}
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static void ScaleStepHeight(AnimationCurve stepHeightCurve, float mag)
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private static void ScaleStepHeight(AnimationCurve stepHeightCurve, float mag)
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{
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Keyframe[] keyframes = stepHeightCurve.keys;
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var keyframes = stepHeightCurve.keys;
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keyframes[1].value = mag;
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stepHeightCurve.keys = keyframes;
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}
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public static void InitiateVRIKSolver(VRIK vrik)
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{
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vrik.solver.SetToReferences(vrik.references);
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vrik.solver.Initiate(vrik.transform);
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}
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}
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