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https://github.com/NotAKidoS/NAK_CVR_Mods.git
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[DesktopVRIK] Clean up VRIK calibration and configuration. Add NetIKPass.
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NotAKidoS
parent
9c627d3cce
commit
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11 changed files with 681 additions and 593 deletions
321
DesktopVRIK/DesktopVRIKCalibrator.cs
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321
DesktopVRIK/DesktopVRIKCalibrator.cs
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using ABI_RC.Core.Base;
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using ABI_RC.Systems.IK;
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using ABI_RC.Systems.IK.SubSystems;
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using NAK.DesktopVRIK.VRIKHelper;
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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.DesktopVRIK;
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internal class DesktopVRIKCalibrator
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{
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public static Dictionary<HumanBodyBones, bool> BoneExists;
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public static readonly float[] IKPoseMuscles = new float[]
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{
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0.00133321f,
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8.195831E-06f,
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8.537738E-07f,
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-0.002669832f,
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-7.651234E-06f,
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-0.001659694f,
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0f,
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0f,
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0f,
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0.04213953f,
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0.0003007996f,
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-0.008032114f,
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-0.03059979f,
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-0.0003182998f,
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0.009640567f,
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0f,
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0f,
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0f,
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0f,
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0f,
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0f,
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0.5768794f,
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0.01061097f,
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-0.1127839f,
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0.9705755f,
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0.07972051f,
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-0.0268422f,
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0.007237188f,
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0f,
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0.5768792f,
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0.01056608f,
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-0.1127519f,
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0.9705756f,
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0.07971933f,
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-0.02682396f,
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0.007229362f,
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0f,
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-5.651802E-06f,
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-3.034899E-07f,
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0.4100508f,
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0.3610304f,
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-0.0838329f,
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0.9262537f,
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0.1353517f,
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-0.03578902f,
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0.06005657f,
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-4.95989E-06f,
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-1.43007E-06f,
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0.4096187f,
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0.363263f,
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-0.08205152f,
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0.9250782f,
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0.1345718f,
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-0.03572125f,
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0.06055461f,
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-1.079177f,
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0.2095419f,
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0.6140652f,
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0.6365265f,
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0.6683931f,
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-0.4764312f,
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0.8099416f,
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0.8099371f,
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0.6658203f,
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-0.7327053f,
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0.8113618f,
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0.8114051f,
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0.6643661f,
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-0.40341f,
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0.8111364f,
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0.8111367f,
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0.6170399f,
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-0.2524227f,
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0.8138723f,
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0.8110135f,
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-1.079171f,
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0.2095456f,
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0.6140658f,
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0.6365255f,
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0.6683878f,
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-0.4764301f,
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0.8099402f,
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0.8099376f,
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0.6658241f,
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-0.7327023f,
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0.8113653f,
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0.8113793f,
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0.664364f,
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-0.4034042f,
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0.811136f,
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0.8111364f,
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0.6170469f,
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-0.2524345f,
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0.8138595f,
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0.8110138f
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};
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enum AvatarPose
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{
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Default = 0,
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Initial = 1,
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IKPose = 2,
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TPose = 3
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}
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readonly DesktopVRIKSystem ikSystem;
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// Avatar Components
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Animator _animator;
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// Calibration Objects
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public HumanPoseHandler _humanPoseHandler;
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public HumanPose _humanPose;
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public HumanPose _humanPoseInitial;
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// Animator Info
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int _animLocomotionLayer = -1;
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int _animIKPoseLayer = -1;
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internal DesktopVRIKCalibrator()
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{
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ikSystem = DesktopVRIKSystem.Instance;
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BoneExists = new Dictionary<HumanBodyBones, bool>();
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}
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public void ApplyNetIKPass()
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{
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Transform hipTransform = _animator.GetBoneTransform(HumanBodyBones.Hips);
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Vector3 hipPosition = hipTransform.position;
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Quaternion hipRotation = hipTransform.rotation;
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_humanPoseHandler.GetHumanPose(ref _humanPose);
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_humanPoseHandler.SetHumanPose(ref _humanPose);
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hipTransform.position = hipPosition;
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hipTransform.rotation = hipRotation;
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}
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public void CalibrateDesktopVRIK(Animator animator)
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{
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ScanAvatar(animator);
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SetupVRIK();
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CalibrateVRIK();
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ConfigureVRIK();
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}
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void ScanAvatar(Animator animator)
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{
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// Find required avatar components
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_animator = animator;
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ikSystem.avatarTransform = animator.gameObject.transform;
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ikSystem.avatarLookAtIK = animator.gameObject.GetComponent<LookAtIK>();
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// Get animator layer inticies
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_animIKPoseLayer = _animator.GetLayerIndex("IKPose");
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_animLocomotionLayer = _animator.GetLayerIndex("Locomotion/Emotes");
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// Dispose and create new _humanPoseHandler
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_humanPoseHandler?.Dispose();
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_humanPoseHandler = new HumanPoseHandler(_animator.avatar, ikSystem.avatarTransform);
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// Get initial human poses
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_humanPoseHandler.GetHumanPose(ref _humanPose);
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_humanPoseHandler.GetHumanPose(ref _humanPoseInitial);
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ikSystem.calibrationData.Clear();
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// Dumb fix for rare upload issue
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ikSystem.calibrationData.FixTransformsRequired = !_animator.enabled;
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// Find available HumanoidBodyBones
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BoneExists.Clear();
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foreach (HumanBodyBones bone in Enum.GetValues(typeof(HumanBodyBones)))
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{
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if (bone != HumanBodyBones.LastBone)
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{
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BoneExists.Add(bone, _animator.GetBoneTransform(bone) != null);
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}
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}
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}
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void SetupVRIK()
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{
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// Add and configure VRIK
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ikSystem.avatarVRIK = ikSystem.avatarTransform.AddComponentIfMissing<VRIK>();
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ikSystem.avatarVRIK.AutoDetectReferences();
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ikSystem.cachedSolver = new CachedSolver(ikSystem.avatarVRIK.solver);
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// Why do I love to overcomplicate things?
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VRIKUtils.ConfigureVRIKReferences(ikSystem.avatarVRIK, DesktopVRIK.EntryUseVRIKToes.Value);
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VRIKConfigurator.ApplyVRIKConfiguration(ikSystem.cachedSolver, VRIKConfigurations.DesktopVRIKConfiguration());
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// Fix potential animator issue
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ikSystem.avatarVRIK.fixTransforms = ikSystem.calibrationData.FixTransformsRequired;
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}
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void CalibrateVRIK()
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{
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SetAvatarPose(AvatarPose.Default);
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// Calculate bend normals with motorcycle pose
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VRIKUtils.CalculateKneeBendNormals(ikSystem.avatarVRIK, ref ikSystem.calibrationData);
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SetAvatarPose(AvatarPose.IKPose);
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// Calculate initial IK scaling values with IKPose
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VRIKUtils.CalculateInitialIKScaling(ikSystem.avatarVRIK, ref ikSystem.calibrationData);
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// Calculate initial Footstep positions
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VRIKUtils.CalculateInitialFootsteps(ikSystem.avatarVRIK, ref ikSystem.calibrationData);
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// Setup HeadIKTarget
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VRIKUtils.SetupHeadIKTarget(ikSystem.avatarVRIK);
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// Initiate VRIK manually
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VRIKUtils.InitiateVRIKSolver(ikSystem.avatarVRIK);
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SetAvatarPose(AvatarPose.Initial);
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}
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void ConfigureVRIK()
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{
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ikSystem.OnSetupIKScaling(1f);
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VRIKUtils.ApplyKneeBendNormals(ikSystem.avatarVRIK, ikSystem.calibrationData);
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ikSystem.avatarVRIK.onPreSolverUpdate.AddListener(new UnityAction(ikSystem.OnPreSolverUpdate));
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ikSystem.avatarVRIK.onPostSolverUpdate.AddListener(new UnityAction(ikSystem.OnPostSolverUpdate));
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}
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void SetAvatarPose(AvatarPose pose)
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{
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switch (pose)
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{
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case AvatarPose.Default:
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SetMusclesToValue(0f);
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break;
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case AvatarPose.Initial:
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if (HasCustomIKPose())
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{
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SetCustomLayersWeights(0f, 1f);
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return;
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}
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_humanPoseHandler.SetHumanPose(ref _humanPoseInitial);
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break;
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case AvatarPose.IKPose:
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if (HasCustomIKPose())
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{
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SetCustomLayersWeights(1f, 0f);
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return;
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}
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SetMusclesToPose(IKPoseMuscles);
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break;
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case AvatarPose.TPose:
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SetMusclesToPose(BodySystem.TPoseMuscles);
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break;
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default:
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break;
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}
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}
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bool HasCustomIKPose()
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{
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return _animLocomotionLayer != -1 && _animIKPoseLayer != -1;
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}
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void SetCustomLayersWeights(float customIKPoseLayerWeight, float locomotionLayerWeight)
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{
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_animator.SetLayerWeight(_animIKPoseLayer, customIKPoseLayerWeight);
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_animator.SetLayerWeight(_animLocomotionLayer, locomotionLayerWeight);
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_animator.Update(0f);
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}
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void SetMusclesToValue(float value)
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{
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_humanPoseHandler.GetHumanPose(ref _humanPose);
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for (int i = 0; i < _humanPose.muscles.Length; i++)
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{
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ApplyMuscleValue((MuscleIndex)i, value, ref _humanPose.muscles);
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}
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_humanPose.bodyRotation = Quaternion.identity;
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_humanPoseHandler.SetHumanPose(ref _humanPose);
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}
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void SetMusclesToPose(float[] muscles)
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{
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_humanPoseHandler.GetHumanPose(ref _humanPose);
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for (int i = 0; i < _humanPose.muscles.Length; i++)
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{
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ApplyMuscleValue((MuscleIndex)i, muscles[i], ref _humanPose.muscles);
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}
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_humanPose.bodyRotation = Quaternion.identity;
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_humanPoseHandler.SetHumanPose(ref _humanPose);
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}
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void ApplyMuscleValue(MuscleIndex index, float value, ref float[] muscles)
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{
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if (BoneExists.ContainsKey(IKSystem.MusclesToHumanBodyBones[(int)index]) && BoneExists[IKSystem.MusclesToHumanBodyBones[(int)index]])
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{
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muscles[(int)index] = value;
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}
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}
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}
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