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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
This commit is contained in:
NotAKidoS 2023-07-11 19:37:36 -05:00
parent fca0a32257
commit e925b0cfcc
16 changed files with 1367 additions and 0 deletions
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31
AlternateIKSystem/IK/VRIKHelpers/VRIKCalibrationData.cs Normal file
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using UnityEngine;
namespace NAK.AlternateIKSystem.VRIKHelpers;
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 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;
}
}

125
AlternateIKSystem/IK/VRIKHelpers/VRIKUtils.cs Normal file
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using RootMotion.FinalIK;
using UnityEngine;
namespace NAK.AlternateIKSystem.VRIKHelpers;
public static class VRIKUtils
{
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 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);
}
}