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[DesktopVRIK] Clean up VRIK calibration and configuration. Add NetIKPass.

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NotAKidoS 2023-05-19 02:53:41 -05:00
parent 9c627d3cce
commit d21018001e
11 changed files with 681 additions and 593 deletions
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87
DesktopVRIK/VRIKHelpers/VRIKConfiguration.cs Normal file
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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;
}
}