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Better VRIK targets replacement
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@SDraw
SDraw committed Nov 28, 2023
1 parent 914bca2 commit 4aaca21
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Showing 4 changed files with 131 additions and 164 deletions.
6 changes: 0 additions & 6 deletions ml_lme/LeapManager.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -185,12 +185,6 @@ internal void OnAvatarSetup()
m_leapTracked.OnAvatarSetup();
}

internal void OnCalibrate()
{
if(m_leapTracked != null)
m_leapTracked.OnCalibrate();
}

internal void OnRayScale(float p_scale)
{
m_leapInput?.OnRayScale(p_scale);
Expand Down
227 changes: 104 additions & 123 deletions ml_lme/LeapTracked.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -9,31 +9,37 @@ namespace ml_lme
[DisallowMultipleComponent]
class LeapTracked : MonoBehaviour
{
struct IKInfo
{
public Vector4 m_armsWeights;
public Vector2 m_elbowsWeights;
public Transform m_leftHandTarget;
public Transform m_rightHandTarget;
public Transform m_leftElbowTarget;
public Transform m_rightElbowTarget;
}

static readonly float[] ms_tposeMuscles = typeof(ABI_RC.Systems.IK.SubSystems.BodySystem).GetField("TPoseMuscles", BindingFlags.Static | BindingFlags.NonPublic).GetValue(null) as float[];
static readonly Quaternion ms_offsetLeft = Quaternion.Euler(0f, 90f, 0f);
static readonly Quaternion ms_offsetRight = Quaternion.Euler(0f, 270f, 0f);

VRIK m_vrIK = null;
Vector4 m_vrIKWeights = Vector4.zero;
bool m_inVR = false;
VRIK m_vrIK = null;
Transform m_hips = null;
Transform m_origLeftHand = null;
Transform m_origRightHand = null;
Transform m_origLeftElbow = null;
Transform m_origRightElbow = null;

bool m_enabled = true;
bool m_fingersOnly = false;
bool m_trackElbows = true;

IKInfo m_vrIKInfo;
ArmIK m_leftArmIK = null;
ArmIK m_rightArmIK = null;
HumanPoseHandler m_poseHandler = null;
HumanPose m_pose;
Transform m_leftHandTarget = null;
Transform m_rightHandTarget = null;
bool m_leftTargetActive = false;
bool m_rightTargetActive = false;
bool m_leftTargetActive = false; // VRIK only
bool m_rightTargetActive = false; // VRIK only

// Unity events
void Start()
Expand Down Expand Up @@ -81,10 +87,6 @@ void OnDestroy()
m_poseHandler = null;

m_vrIK = null;
m_origLeftHand = null;
m_origRightHand = null;
m_origLeftElbow = null;
m_origRightElbow = null;

Settings.EnabledChange -= this.OnEnabledChange;
Settings.FingersOnlyChange -= this.OnFingersOnlyChange;
Expand Down Expand Up @@ -136,76 +138,11 @@ void LateUpdate()
}
}

// Tracking update
void UpdateFingers(LeapParser.LeapData p_data)
{
if(p_data.m_leftHand.m_present)
{
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftThumb1Stretched, -0.5f - p_data.m_leftHand.m_bends[0]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftThumb2Stretched, 0.7f - p_data.m_leftHand.m_bends[0] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftThumb3Stretched, 0.7f - p_data.m_leftHand.m_bends[0] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftThumbSpread, -p_data.m_leftHand.m_spreads[0]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftIndex1Stretched, 0.5f - p_data.m_leftHand.m_bends[1]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftIndex2Stretched, 0.7f - p_data.m_leftHand.m_bends[1] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftIndex3Stretched, 0.7f - p_data.m_leftHand.m_bends[1] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftIndexSpread, p_data.m_leftHand.m_spreads[1]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftMiddle1Stretched, 0.5f - p_data.m_leftHand.m_bends[2]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftMiddle2Stretched, 0.7f - p_data.m_leftHand.m_bends[2] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftMiddle3Stretched, 0.7f - p_data.m_leftHand.m_bends[2] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftMiddleSpread, p_data.m_leftHand.m_spreads[2]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftRing1Stretched, 0.5f - p_data.m_leftHand.m_bends[3]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftRing2Stretched, 0.7f - p_data.m_leftHand.m_bends[3] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftRing3Stretched, 0.7f - p_data.m_leftHand.m_bends[3] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftRingSpread, -p_data.m_leftHand.m_spreads[3]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftLittle1Stretched, 0.5f - p_data.m_leftHand.m_bends[4]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftLittle2Stretched, 0.7f - p_data.m_leftHand.m_bends[4] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftLittle3Stretched, 0.7f - p_data.m_leftHand.m_bends[4] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftLittleSpread, -p_data.m_leftHand.m_spreads[4]);
}

if(p_data.m_rightHand.m_present)
{
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightThumb1Stretched, -0.5f - p_data.m_rightHand.m_bends[0]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightThumb2Stretched, 0.7f - p_data.m_rightHand.m_bends[0] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightThumb3Stretched, 0.7f - p_data.m_rightHand.m_bends[0] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightThumbSpread, -p_data.m_rightHand.m_spreads[0]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightIndex1Stretched, 0.5f - p_data.m_rightHand.m_bends[1]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightIndex2Stretched, 0.7f - p_data.m_rightHand.m_bends[1] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightIndex3Stretched, 0.7f - p_data.m_rightHand.m_bends[1] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightIndexSpread, p_data.m_rightHand.m_spreads[1]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightMiddle1Stretched, 0.5f - p_data.m_rightHand.m_bends[2]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightMiddle2Stretched, 0.7f - p_data.m_rightHand.m_bends[2] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightMiddle3Stretched, 0.7f - p_data.m_rightHand.m_bends[2] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightMiddleSpread, p_data.m_rightHand.m_spreads[2]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightRing1Stretched, 0.5f - p_data.m_rightHand.m_bends[3]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightRing2Stretched, 0.7f - p_data.m_rightHand.m_bends[3] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightRing3Stretched, 0.7f - p_data.m_rightHand.m_bends[3] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightRingSpread, -p_data.m_rightHand.m_spreads[3]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightLittle1Stretched, 0.5f - p_data.m_rightHand.m_bends[4]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightLittle2Stretched, 0.7f - p_data.m_rightHand.m_bends[4] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightLittle3Stretched, 0.7f - p_data.m_rightHand.m_bends[4] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightLittleSpread, -p_data.m_rightHand.m_spreads[4]);
}
}

// Game events
internal void OnAvatarClear()
{
m_vrIK = null;
m_origLeftHand = null;
m_origRightHand = null;
m_origLeftElbow = null;
m_origRightElbow = null;
m_hips = null;
m_vrIKWeights = Vector4.zero;
m_leftArmIK = null;
m_rightArmIK = null;
m_leftTargetActive = false;
Expand Down Expand Up @@ -300,10 +237,6 @@ internal void OnAvatarSetup()
}
else
{
m_origLeftHand = m_vrIK.solver.leftArm.target;
m_origRightHand = m_vrIK.solver.rightArm.target;
m_origLeftElbow = m_vrIK.solver.leftArm.bendGoal;
m_origRightElbow = m_vrIK.solver.rightArm.bendGoal;
m_vrIK.solver.OnPreUpdate += this.OnIKPreUpdate;
m_vrIK.solver.OnPostUpdate += this.OnIKPostUpdate;
}
Expand All @@ -313,40 +246,34 @@ internal void OnAvatarSetup()
}
}

internal void OnCalibrate()
{
if(m_vrIK != null)
{
m_origLeftHand = m_vrIK.solver.leftArm.target;
m_origRightHand = m_vrIK.solver.rightArm.target;
m_origLeftElbow = m_vrIK.solver.leftArm.bendGoal;
m_origRightElbow = m_vrIK.solver.rightArm.bendGoal;
}
}

// IK updates
// VRIK updates
void OnIKPreUpdate()
{
m_vrIKWeights.Set(
m_vrIK.solver.leftArm.positionWeight,
m_vrIK.solver.leftArm.rotationWeight,
m_vrIK.solver.rightArm.positionWeight,
m_vrIK.solver.rightArm.rotationWeight
);

if(m_leftTargetActive)
{
m_vrIKInfo.m_leftHandTarget = m_vrIK.solver.leftArm.target;
m_vrIKInfo.m_armsWeights.x = m_vrIK.solver.leftArm.positionWeight;
m_vrIKInfo.m_armsWeights.y = m_vrIK.solver.leftArm.rotationWeight;
m_vrIKInfo.m_leftElbowTarget = m_vrIK.solver.leftArm.bendGoal;
m_vrIKInfo.m_elbowsWeights.x = m_vrIK.solver.leftArm.bendGoalWeight;

m_vrIK.solver.leftArm.target = m_leftHandTarget;
m_vrIK.solver.leftArm.positionWeight = 1f;
m_vrIK.solver.leftArm.rotationWeight = 1f;
m_vrIK.solver.leftArm.target = m_leftHandTarget;
m_vrIK.solver.leftArm.bendGoal = LeapTracking.Instance.GetLeftElbow();
m_vrIK.solver.leftArm.bendGoalWeight = (m_trackElbows ? 1f : 0f);
}
if(m_rightTargetActive)
{
m_vrIKInfo.m_rightHandTarget = m_vrIK.solver.rightArm.target;
m_vrIKInfo.m_armsWeights.z = m_vrIK.solver.rightArm.positionWeight;
m_vrIKInfo.m_armsWeights.w = m_vrIK.solver.rightArm.rotationWeight;
m_vrIKInfo.m_rightElbowTarget = m_vrIK.solver.rightArm.bendGoal;
m_vrIKInfo.m_elbowsWeights.y = m_vrIK.solver.rightArm.bendGoalWeight;

m_vrIK.solver.rightArm.target = m_rightHandTarget;
m_vrIK.solver.rightArm.positionWeight = 1f;
m_vrIK.solver.rightArm.rotationWeight = 1f;
m_vrIK.solver.rightArm.target = m_rightHandTarget;
m_vrIK.solver.rightArm.bendGoal = LeapTracking.Instance.GetRightElbow();
m_vrIK.solver.rightArm.bendGoalWeight = (m_trackElbows ? 1f : 0f);
}
Expand All @@ -355,19 +282,19 @@ void OnIKPostUpdate()
{
if(m_leftTargetActive)
{
m_vrIK.solver.leftArm.positionWeight = m_vrIKWeights.x;
m_vrIK.solver.leftArm.rotationWeight = m_vrIKWeights.y;
m_vrIK.solver.leftArm.target = m_origLeftHand;
m_vrIK.solver.leftArm.bendGoal = m_origLeftElbow;
m_vrIK.solver.leftArm.bendGoalWeight = ((m_origLeftElbow != null) ? 1f : 0f);
m_vrIK.solver.leftArm.target = m_vrIKInfo.m_leftHandTarget;
m_vrIK.solver.leftArm.positionWeight = m_vrIKInfo.m_armsWeights.x;
m_vrIK.solver.leftArm.rotationWeight = m_vrIKInfo.m_armsWeights.y;
m_vrIK.solver.leftArm.bendGoal = m_vrIKInfo.m_leftElbowTarget;
m_vrIK.solver.leftArm.bendGoalWeight = m_vrIKInfo.m_elbowsWeights.x;
}
if(m_rightTargetActive)
{
m_vrIK.solver.rightArm.positionWeight = m_vrIKWeights.z;
m_vrIK.solver.rightArm.rotationWeight = m_vrIKWeights.w;
m_vrIK.solver.rightArm.target = m_origRightHand;
m_vrIK.solver.rightArm.bendGoal = m_origRightElbow;
m_vrIK.solver.rightArm.bendGoalWeight = ((m_origRightElbow != null) ? 1f : 0f);
m_vrIK.solver.rightArm.target = m_vrIKInfo.m_rightHandTarget;
m_vrIK.solver.rightArm.positionWeight = m_vrIKInfo.m_armsWeights.z;
m_vrIK.solver.rightArm.rotationWeight = m_vrIKInfo.m_armsWeights.w;
m_vrIK.solver.rightArm.bendGoal = m_vrIKInfo.m_rightElbowTarget;
m_vrIK.solver.rightArm.bendGoalWeight = m_vrIKInfo.m_elbowsWeights.y;
}
}

Expand All @@ -377,17 +304,15 @@ void OnEnabledChange(bool p_state)
m_enabled = p_state;

RefreshArmIK();
if(!m_enabled || m_fingersOnly)
RestoreVRIK();
ResetTargetsStates();
}

void OnFingersOnlyChange(bool p_state)
{
m_fingersOnly = p_state;

RefreshArmIK();
if(!m_enabled || m_fingersOnly)
RestoreVRIK();
ResetTargetsStates();
}

void OnTrackElbowsChange(bool p_state)
Expand All @@ -400,17 +325,14 @@ void OnTrackElbowsChange(bool p_state)
m_rightArmIK.solver.arm.bendGoalWeight = (m_trackElbows ? 1f : 0f);
}

RestoreVRIK();
ResetTargetsStates();
}

// Arbitrary
void RestoreVRIK()
void ResetTargetsStates()
{
if(m_vrIK != null)
{
m_leftTargetActive = false;
m_rightTargetActive = false;
}
m_leftTargetActive = false;
m_rightTargetActive = false;
}

void RefreshArmIK()
Expand All @@ -422,6 +344,65 @@ void RefreshArmIK()
}
}

void UpdateFingers(LeapParser.LeapData p_data)
{
if(p_data.m_leftHand.m_present)
{
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftThumb1Stretched, -0.5f - p_data.m_leftHand.m_bends[0]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftThumb2Stretched, 0.7f - p_data.m_leftHand.m_bends[0] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftThumb3Stretched, 0.7f - p_data.m_leftHand.m_bends[0] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftThumbSpread, -p_data.m_leftHand.m_spreads[0]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftIndex1Stretched, 0.5f - p_data.m_leftHand.m_bends[1]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftIndex2Stretched, 0.7f - p_data.m_leftHand.m_bends[1] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftIndex3Stretched, 0.7f - p_data.m_leftHand.m_bends[1] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftIndexSpread, p_data.m_leftHand.m_spreads[1]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftMiddle1Stretched, 0.5f - p_data.m_leftHand.m_bends[2]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftMiddle2Stretched, 0.7f - p_data.m_leftHand.m_bends[2] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftMiddle3Stretched, 0.7f - p_data.m_leftHand.m_bends[2] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftMiddleSpread, p_data.m_leftHand.m_spreads[2]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftRing1Stretched, 0.5f - p_data.m_leftHand.m_bends[3]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftRing2Stretched, 0.7f - p_data.m_leftHand.m_bends[3] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftRing3Stretched, 0.7f - p_data.m_leftHand.m_bends[3] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftRingSpread, -p_data.m_leftHand.m_spreads[3]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftLittle1Stretched, 0.5f - p_data.m_leftHand.m_bends[4]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftLittle2Stretched, 0.7f - p_data.m_leftHand.m_bends[4] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftLittle3Stretched, 0.7f - p_data.m_leftHand.m_bends[4] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftLittleSpread, -p_data.m_leftHand.m_spreads[4]);
}

if(p_data.m_rightHand.m_present)
{
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightThumb1Stretched, -0.5f - p_data.m_rightHand.m_bends[0]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightThumb2Stretched, 0.7f - p_data.m_rightHand.m_bends[0] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightThumb3Stretched, 0.7f - p_data.m_rightHand.m_bends[0] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightThumbSpread, -p_data.m_rightHand.m_spreads[0]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightIndex1Stretched, 0.5f - p_data.m_rightHand.m_bends[1]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightIndex2Stretched, 0.7f - p_data.m_rightHand.m_bends[1] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightIndex3Stretched, 0.7f - p_data.m_rightHand.m_bends[1] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightIndexSpread, p_data.m_rightHand.m_spreads[1]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightMiddle1Stretched, 0.5f - p_data.m_rightHand.m_bends[2]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightMiddle2Stretched, 0.7f - p_data.m_rightHand.m_bends[2] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightMiddle3Stretched, 0.7f - p_data.m_rightHand.m_bends[2] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightMiddleSpread, p_data.m_rightHand.m_spreads[2]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightRing1Stretched, 0.5f - p_data.m_rightHand.m_bends[3]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightRing2Stretched, 0.7f - p_data.m_rightHand.m_bends[3] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightRing3Stretched, 0.7f - p_data.m_rightHand.m_bends[3] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightRingSpread, -p_data.m_rightHand.m_spreads[3]);

UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightLittle1Stretched, 0.5f - p_data.m_rightHand.m_bends[4]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightLittle2Stretched, 0.7f - p_data.m_rightHand.m_bends[4] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightLittle3Stretched, 0.7f - p_data.m_rightHand.m_bends[4] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightLittleSpread, -p_data.m_rightHand.m_spreads[4]);
}
}

static void UpdatePoseMuscle(ref HumanPose p_pose, int p_index, float p_value)
{
if(p_pose.muscles.Length > p_index)
Expand Down
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