mirror of
https://github.com/NotAKidoS/NAK_CVR_Mods.git
synced 2025-09-03 14:59:23 +00:00
[DesktopVRIK] Clean up VRIK calibration and configuration. Add NetIKPass.
This commit is contained in:
NotAKidoS
parent
9c627d3cce
commit
d21018001e
11 changed files with 681 additions and 593 deletions
28
DesktopVRIK/VRIKHelpers/CachedSolver.cs
Normal file
28
DesktopVRIK/VRIKHelpers/CachedSolver.cs
Normal file
|
|
@ -0,0 +1,28 @@
|
|||
using RootMotion.FinalIK;
|
||||
|
||||
namespace NAK.DesktopVRIK.VRIKHelper;
|
||||
|
||||
// I don't think this was needed at all, but it looks fancy.
|
||||
//https://github.com/knah/VRCMods/blob/master/IKTweaks/CachedSolver.cs
|
||||
|
||||
public struct CachedSolver
|
||||
{
|
||||
public readonly IKSolverVR Solver;
|
||||
public readonly IKSolverVR.Spine Spine;
|
||||
public readonly IKSolverVR.Leg LeftLeg;
|
||||
public readonly IKSolverVR.Leg RightLeg;
|
||||
public readonly IKSolverVR.Arm LeftArm;
|
||||
public readonly IKSolverVR.Arm RightArm;
|
||||
public readonly IKSolverVR.Locomotion Locomotion;
|
||||
|
||||
public CachedSolver(IKSolverVR solver)
|
||||
{
|
||||
Solver = solver;
|
||||
Spine = solver.spine;
|
||||
LeftArm = solver.leftArm;
|
||||
LeftLeg = solver.leftLeg;
|
||||
RightArm = solver.rightArm;
|
||||
RightLeg = solver.rightLeg;
|
||||
Locomotion = solver.locomotion;
|
||||
}
|
||||
}
|
||||
33
DesktopVRIK/VRIKHelpers/VRIKCalibrationData.cs
Normal file
33
DesktopVRIK/VRIKHelpers/VRIKCalibrationData.cs
Normal file
|
|
@ -0,0 +1,33 @@
|
|||
using UnityEngine;
|
||||
|
||||
namespace NAK.DesktopVRIK.VRIKHelper;
|
||||
|
||||
public struct VRIKCalibrationData
|
||||
{
|
||||
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 bool FixTransformsRequired;
|
||||
|
||||
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;
|
||||
FixTransformsRequired = false;
|
||||
}
|
||||
}
|
||||
87
DesktopVRIK/VRIKHelpers/VRIKConfiguration.cs
Normal file
87
DesktopVRIK/VRIKHelpers/VRIKConfiguration.cs
Normal file
|
|
@ -0,0 +1,87 @@
|
|||
namespace NAK.DesktopVRIK.VRIKHelper;
|
||||
|
||||
public class VRIKConfiguration
|
||||
{
|
||||
// Solver settings
|
||||
public float LocomotionWeight { get; set; }
|
||||
public float LocomotionAngleThreshold { get; set; }
|
||||
public float LocomotionMaxLegStretch { get; set; }
|
||||
public float SpineMinHeadHeight { get; set; }
|
||||
public float SolverIKPositionWeight { get; set; }
|
||||
public float SpineChestClampWeight { get; set; }
|
||||
public float SpineMaintainPelvisPosition { get; set; }
|
||||
|
||||
// Body leaning settings
|
||||
public float SpineBodyPosStiffness { get; set; }
|
||||
public float SpineBodyRotStiffness { get; set; }
|
||||
public float SpineNeckStiffness { get; set; }
|
||||
|
||||
// Locomotion settings
|
||||
public float LocomotionVelocityFactor { get; set; }
|
||||
public float LocomotionMaxVelocity { get; set; }
|
||||
public float LocomotionRootSpeed { get; set; }
|
||||
|
||||
// Chest rotation
|
||||
public float SpineRotateChestByHands { get; set; }
|
||||
|
||||
public float SpineHeadClampWeight { get; set; }
|
||||
|
||||
public float SpinePositionWeight { get; set; }
|
||||
public float SpineRotationWeight { get; set; }
|
||||
|
||||
public float SpineMaxRootAngle { get; set; }
|
||||
|
||||
// BodySystem
|
||||
public float SpinePelvisPositionWeight { get; set; }
|
||||
public float LeftArmPositionWeight { get; set; }
|
||||
public float LeftArmRotationWeight { get; set; }
|
||||
public float RightArmPositionWeight { get; set; }
|
||||
public float RightArmRotationWeight { get; set; }
|
||||
public float LeftLegPositionWeight { get; set; }
|
||||
public float LeftLegRotationWeight { get; set; }
|
||||
public float RightLegPositionWeight { get; set; }
|
||||
public float RightLegRotationWeight { get; set; }
|
||||
}
|
||||
|
||||
public static class VRIKConfigurator
|
||||
{
|
||||
public static void ApplyVRIKConfiguration(CachedSolver cachedSolver, VRIKConfiguration config)
|
||||
{
|
||||
cachedSolver.Solver.IKPositionWeight = config.SolverIKPositionWeight;
|
||||
cachedSolver.Locomotion.weight = config.LocomotionWeight;
|
||||
cachedSolver.Locomotion.angleThreshold = config.LocomotionAngleThreshold;
|
||||
cachedSolver.Locomotion.maxLegStretch = config.LocomotionMaxLegStretch;
|
||||
|
||||
cachedSolver.Spine.chestClampWeight = config.SpineChestClampWeight;
|
||||
cachedSolver.Spine.maintainPelvisPosition = config.SpineMaintainPelvisPosition;
|
||||
cachedSolver.Spine.minHeadHeight = config.SpineMinHeadHeight;
|
||||
|
||||
cachedSolver.Spine.bodyPosStiffness = config.SpineBodyPosStiffness;
|
||||
cachedSolver.Spine.bodyRotStiffness = config.SpineBodyRotStiffness;
|
||||
cachedSolver.Spine.neckStiffness = config.SpineNeckStiffness;
|
||||
|
||||
cachedSolver.Locomotion.velocityFactor = config.LocomotionVelocityFactor;
|
||||
cachedSolver.Locomotion.maxVelocity = config.LocomotionMaxVelocity;
|
||||
cachedSolver.Locomotion.rootSpeed = config.LocomotionRootSpeed;
|
||||
|
||||
cachedSolver.Spine.rotateChestByHands = config.SpineRotateChestByHands;
|
||||
|
||||
cachedSolver.Spine.headClampWeight = config.SpineHeadClampWeight;
|
||||
|
||||
cachedSolver.Spine.positionWeight = config.SpinePositionWeight;
|
||||
cachedSolver.Spine.rotationWeight = config.SpineRotationWeight;
|
||||
|
||||
cachedSolver.Spine.maxRootAngle = config.SpineMaxRootAngle;
|
||||
|
||||
cachedSolver.Spine.maintainPelvisPosition = config.SpineMaintainPelvisPosition;
|
||||
cachedSolver.Spine.pelvisPositionWeight = config.SpinePelvisPositionWeight;
|
||||
cachedSolver.LeftArm.positionWeight = config.LeftArmPositionWeight;
|
||||
cachedSolver.LeftArm.rotationWeight = config.LeftArmRotationWeight;
|
||||
cachedSolver.RightArm.positionWeight = config.RightArmPositionWeight;
|
||||
cachedSolver.RightArm.rotationWeight = config.RightArmRotationWeight;
|
||||
cachedSolver.LeftLeg.positionWeight = config.LeftLegPositionWeight;
|
||||
cachedSolver.LeftLeg.rotationWeight = config.LeftLegRotationWeight;
|
||||
cachedSolver.RightLeg.positionWeight = config.RightLegPositionWeight;
|
||||
cachedSolver.RightLeg.rotationWeight = config.RightLegRotationWeight;
|
||||
}
|
||||
}
|
||||
53
DesktopVRIK/VRIKHelpers/VRIKConfigurations.cs
Normal file
53
DesktopVRIK/VRIKHelpers/VRIKConfigurations.cs
Normal file
|
|
@ -0,0 +1,53 @@
|
|||
namespace NAK.DesktopVRIK.VRIKHelper;
|
||||
|
||||
public static class VRIKConfigurations
|
||||
{
|
||||
public static VRIKConfiguration DesktopVRIKConfiguration()
|
||||
{
|
||||
return new VRIKConfiguration
|
||||
{
|
||||
// Solver settings
|
||||
LocomotionWeight = 0f,
|
||||
LocomotionAngleThreshold = 30f,
|
||||
LocomotionMaxLegStretch = 1f,
|
||||
SpineMinHeadHeight = 0f,
|
||||
SolverIKPositionWeight = 1f,
|
||||
SpineChestClampWeight = 0f,
|
||||
SpineMaintainPelvisPosition = 1f,
|
||||
|
||||
// Body leaning settings
|
||||
SpineBodyPosStiffness = 1f,
|
||||
SpineBodyRotStiffness = 0.2f,
|
||||
SpineNeckStiffness = 0.0001f, //hack
|
||||
|
||||
// Locomotion settings
|
||||
LocomotionVelocityFactor = 0f,
|
||||
LocomotionMaxVelocity = 0f,
|
||||
LocomotionRootSpeed = 1000f,
|
||||
|
||||
// Chest rotation
|
||||
SpineRotateChestByHands = 0f, //pam, bid, leap motion change
|
||||
|
||||
// LookAtIK priority
|
||||
SpineHeadClampWeight = 0.2f,
|
||||
|
||||
// Tippytoes
|
||||
SpinePositionWeight = 0f,
|
||||
SpineRotationWeight = 1f,
|
||||
|
||||
// Emotes
|
||||
SpineMaxRootAngle = 180f,
|
||||
|
||||
// BodySystem
|
||||
SpinePelvisPositionWeight = 0f,
|
||||
LeftArmPositionWeight = 0f,
|
||||
LeftArmRotationWeight = 0f,
|
||||
RightArmPositionWeight = 0f,
|
||||
RightArmRotationWeight = 0f,
|
||||
LeftLegPositionWeight = 0f,
|
||||
LeftLegRotationWeight = 0f,
|
||||
RightLegPositionWeight = 0f,
|
||||
RightLegRotationWeight = 0f,
|
||||
};
|
||||
}
|
||||
}
|
||||
164
DesktopVRIK/VRIKHelpers/VRIKUtils.cs
Normal file
164
DesktopVRIK/VRIKHelpers/VRIKUtils.cs
Normal file
|
|
@ -0,0 +1,164 @@
|
|||
using RootMotion.FinalIK;
|
||||
using UnityEngine;
|
||||
|
||||
namespace NAK.DesktopVRIK.VRIKHelper;
|
||||
|
||||
public static class VRIKUtils
|
||||
{
|
||||
public static void ConfigureVRIKReferences(VRIK vrik, bool useVRIKToes)
|
||||
{
|
||||
if (!useVRIKToes)
|
||||
{
|
||||
vrik.references.leftToes = null;
|
||||
vrik.references.rightToes = null;
|
||||
}
|
||||
|
||||
//bullshit fix to not cause death
|
||||
FixFingerBonesError(vrik);
|
||||
}
|
||||
|
||||
private static void FixFingerBonesError(VRIK vrik)
|
||||
{
|
||||
void FixFingerBones(VRIK vrik, Transform hand, IKSolverVR.Arm armSolver)
|
||||
{
|
||||
if (hand.childCount == 0)
|
||||
{
|
||||
armSolver.wristToPalmAxis = Vector3.up;
|
||||
armSolver.palmToThumbAxis = hand == vrik.references.leftHand ? -Vector3.forward : Vector3.forward;
|
||||
}
|
||||
}
|
||||
|
||||
FixFingerBones(vrik, vrik.references.leftHand, vrik.solver.leftArm);
|
||||
FixFingerBones(vrik, vrik.references.rightHand, vrik.solver.rightArm);
|
||||
}
|
||||
|
||||
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)
|
||||
{
|
||||
// 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);
|
||||
}
|
||||
|
||||
public static void CalculateInitialFootsteps(VRIK vrik, ref VRIKCalibrationData calibrationData)
|
||||
{
|
||||
Transform root = vrik.references.root;
|
||||
Transform leftFoot = vrik.references.leftFoot;
|
||||
Transform rightFoot = vrik.references.rightFoot;
|
||||
|
||||
// Calculate the world rotation of the root bone at the current frame
|
||||
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;
|
||||
}
|
||||
|
||||
public static void ResetToInitialFootsteps(VRIK vrik, VRIKCalibrationData calibrationData, float scaleModifier)
|
||||
{
|
||||
var locomotionSolver = vrik.solver.locomotion;
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
public static void SetupHeadIKTarget(VRIK vrik)
|
||||
{
|
||||
// Lazy HeadIKTarget calibration
|
||||
if (vrik.solver.spine.headTarget == null)
|
||||
{
|
||||
vrik.solver.spine.headTarget = new GameObject("Head IK Target").transform;
|
||||
}
|
||||
vrik.solver.spine.headTarget.parent = vrik.references.head;
|
||||
vrik.solver.spine.headTarget.localPosition = Vector3.zero;
|
||||
vrik.solver.spine.headTarget.localRotation = Quaternion.identity;
|
||||
}
|
||||
|
||||
public static void ApplyScaleToVRIK(VRIK vrik, VRIKCalibrationData calibrationData, float scaleModifier)
|
||||
{
|
||||
var locomotionSolver = vrik.solver.locomotion;
|
||||
locomotionSolver.footDistance = calibrationData.InitialFootDistance * scaleModifier;
|
||||
locomotionSolver.stepThreshold = calibrationData.InitialStepThreshold * scaleModifier;
|
||||
ScaleStepHeight(locomotionSolver.stepHeight, calibrationData.InitialStepHeight * scaleModifier);
|
||||
}
|
||||
|
||||
static void ScaleStepHeight(AnimationCurve stepHeightCurve, float mag)
|
||||
{
|
||||
Keyframe[] 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);
|
||||
}
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue