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[AlternateIKSystem] Initial commit - Testing

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shit this out in a day, going to see how much i can do before exploding
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NotAKidoS 2023-07-11 19:37:36 -05:00
parent fca0a32257
commit e925b0cfcc
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AlternateIKSystem/IK/IKCalibrator.cs Normal file
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using RootMotion.FinalIK;
using UnityEngine;
namespace NAK.AlternateIKSystem.IK;
internal static class IKCalibrator
{
public static VRIK SetupVrIk(Animator animator)
{
if (animator.gameObject.TryGetComponent(out VRIK vrik))
UnityEngine.Object.DestroyImmediate(vrik);
vrik = animator.gameObject.AddComponent<VRIK>();
vrik.AutoDetectReferences();
if (!ModSettings.EntryUseVRIKToes.Value)
{
vrik.references.leftToes = null;
vrik.references.rightToes = null;
}
vrik.solver.SetToReferences(vrik.references);
GuessWristPalmAxis(vrik.references.leftHand, vrik.references.leftForearm, vrik.solver.leftArm);
GuessWristPalmAxis(vrik.references.rightHand, vrik.references.rightForearm, vrik.solver.rightArm);
SafePalmToThumbAxis(vrik.references.leftHand, vrik.references.leftForearm, vrik.solver.leftArm,
animator.GetBoneTransform(HumanBodyBones.LeftThumbProximal));
SafePalmToThumbAxis(vrik.references.rightHand, vrik.references.rightForearm, vrik.solver.rightArm,
animator.GetBoneTransform(HumanBodyBones.RightThumbProximal));
AddTwistRelaxer(vrik.references.leftForearm, vrik, vrik.references.leftHand);
AddTwistRelaxer(vrik.references.rightForearm, vrik, vrik.references.rightHand);
//vrik.solver.leftArm.shoulderRotationMode = (IKSolverVR.Arm.ShoulderRotationMode)IkTweaksSettings.ShoulderMode;
//vrik.solver.rightArm.shoulderRotationMode = (IKSolverVR.Arm.ShoulderRotationMode)IkTweaksSettings.ShoulderMode;
// zero all weights controlled by BodyControl
vrik.solver.locomotion.weight = 0f;
vrik.solver.IKPositionWeight = 0f;
vrik.solver.spine.pelvisPositionWeight = 0f;
vrik.solver.spine.pelvisRotationWeight = 0f;
vrik.solver.spine.positionWeight = 0f;
vrik.solver.spine.rotationWeight = 0f;
vrik.solver.leftLeg.positionWeight = 0f;
vrik.solver.leftLeg.rotationWeight = 0f;
vrik.solver.rightLeg.positionWeight = 0f;
vrik.solver.rightLeg.rotationWeight = 0f;
vrik.solver.leftArm.positionWeight = 0f;
vrik.solver.leftArm.rotationWeight = 0f;
vrik.solver.rightArm.positionWeight = 0f;
vrik.solver.rightArm.rotationWeight = 0f;
vrik.solver.leftLeg.bendGoalWeight = 0f;
vrik.solver.rightLeg.bendGoalWeight = 0f;
// these weights are fine
vrik.solver.leftArm.shoulderRotationWeight = 0.8f;
vrik.solver.rightArm.shoulderRotationWeight = 0.8f;
vrik.solver.leftLeg.bendToTargetWeight = 0.75f;
vrik.solver.rightLeg.bendToTargetWeight = 0.75f;
// hack to prevent death
vrik.fixTransforms = !animator.enabled;
// purposefully initiating early
vrik.solver.Initiate(vrik.transform);
vrik.solver.Reset();
return vrik;
}
private static void GuessWristPalmAxis(Transform hand, Transform forearm, IKSolverVR.Arm arm)
{
arm.wristToPalmAxis = VRIKCalibrator.GuessWristToPalmAxis(
hand,
forearm
);
}
private static void SafePalmToThumbAxis(Transform hand, Transform forearm, IKSolverVR.Arm arm, Transform thumbBone = null)
{
if (hand.childCount == 0)
{
arm.palmToThumbAxis = Vector3.one;
return;
}
arm.palmToThumbAxis = VRIKCalibrator.GuessPalmToThumbAxis(
hand,
forearm,
thumbBone
);
}
private static void AddTwistRelaxer(Transform forearm, VRIK ik, Transform hand)
{
if (forearm == null) return;
TwistRelaxer twistRelaxer = forearm.gameObject.AddComponent<TwistRelaxer>();
twistRelaxer.ik = ik;
twistRelaxer.weight = 0.5f;
twistRelaxer.child = hand;
twistRelaxer.parentChildCrossfade = 0.8f;
}
public static void ConfigureDesktopVrIk(VRIK vrik)
{
// From DesktopVRIK
// https://github.com/NotAKidOnSteam/NAK_CVR_Mods/blob/fca0a32257311f044d1a9d6e68269baa4a65a45c/DesktopVRIK/DesktopVRIKCalibrator.cs#L219C2-L247C103
vrik.solver.spine.bodyPosStiffness = 1f;
vrik.solver.spine.bodyRotStiffness = 0.2f;
vrik.solver.spine.neckStiffness = 0.0001f;
vrik.solver.spine.rotateChestByHands = 0f;
vrik.solver.spine.minHeadHeight = 0f;
vrik.solver.locomotion.angleThreshold = 30f;
vrik.solver.locomotion.maxLegStretch = 1f;
vrik.solver.spine.chestClampWeight = 0f;
vrik.solver.spine.headClampWeight = 0.2f;
vrik.solver.spine.maintainPelvisPosition = 0f;
vrik.solver.spine.moveBodyBackWhenCrouching = 0f;
vrik.solver.locomotion.velocityFactor = 0f;
vrik.solver.locomotion.maxVelocity = 0f;
vrik.solver.locomotion.rootSpeed = 1000f;
vrik.solver.spine.positionWeight = 0f;
vrik.solver.spine.rotationWeight = 1f;
vrik.solver.spine.maxRootAngle = 180f;
vrik.solver.plantFeet = true;
}
public static void ConfigureHalfBodyVrIk(VRIK vrik)
{
// From IKTweaks
// https://github.com/knah/VRCMods/blob/a22bb73a5e40c75152c6e5db2a7a9afb13e42ba5/IKTweaks/FullBodyHandling.cs#L384C1-L394C71
vrik.solver.spine.bodyPosStiffness = 1f;
vrik.solver.spine.bodyRotStiffness = 0f;
vrik.solver.spine.neckStiffness = 0.5f;
vrik.solver.spine.rotateChestByHands = .25f;
vrik.solver.spine.minHeadHeight = -100f;
vrik.solver.locomotion.angleThreshold = 60f;
vrik.solver.locomotion.maxLegStretch = 1f;
vrik.solver.spine.chestClampWeight = 0f;
vrik.solver.spine.headClampWeight = 0f;
vrik.solver.spine.maintainPelvisPosition = 0f;
vrik.solver.spine.moveBodyBackWhenCrouching = 0f;
vrik.solver.locomotion.velocityFactor = 0.4f;
vrik.solver.locomotion.maxVelocity = 0.4f;
vrik.solver.locomotion.rootSpeed = 20f;
vrik.solver.spine.positionWeight = 1f;
vrik.solver.spine.rotationWeight = 1f;
vrik.solver.spine.maxRootAngle = 0f;
vrik.solver.plantFeet = false;
}
// TODO: figure out proper Desktop & VR organization
public static void SetupHeadIKTargetDesktop(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;
}
}