private static bool LateUpdatePrefix(FullBodyBipedIK __instance)
{
IKTweaksMod.ProcessIKLateUpdateQueue();
if (IkTweaksSettings.FullBodyVrIk && LastCalibrationWasInCustomIk &&
LastInitializedController.field_Private_FullBodyBipedIK_0 == __instance)
{
Update();
if (LastInitializedVRIK != null)
{
LastInitializedVRIK.LateUpdate_ManualDrive();
}
return(false);
}
return(true);
}
private static async Task CalibrateCore(GameObject avatarRoot)
{
var avatarId = avatarRoot.GetComponent <PipelineManager>().blueprintId;
if (IkTweaksSettings.CalibrateStorePerAvatar && HasSavedCalibration(avatarId))
{
await ApplyStoredCalibration(avatarRoot, avatarId);
return;
}
await ManualCalibrateCoro(avatarRoot);
await IKTweaksMod.AwaitVeryLateUpdate();
if (!avatarRoot)
{
return;
}
await ApplyStoredCalibration(avatarRoot, avatarId);
}
private static async Task ManualCalibrateCoro(GameObject avatarRoot)
{
var animator = avatarRoot.GetComponent <Animator>();
var hips = animator.GetBoneTransform(HumanBodyBones.Hips);
var head = animator.GetBoneTransform(HumanBodyBones.Head);
var avatarId = avatarRoot.GetComponent <PipelineManager>().blueprintId;
var avatarRootTransform = avatarRoot.transform;
var nativeMuscles = (Il2CppStructArray <float>)TPoseMuscles;
var dummyMuscles = new Il2CppStructArray <float>(nativeMuscles.Count);
var poseHandler = new HumanPoseHandler(animator.avatar, animator.transform);
var forwardDirection = avatarRootTransform.parent;
var hipsRelativeToForwardDirection = Quaternion.Inverse(forwardDirection.rotation) * hips.rotation;
MelonDebug.Msg($"Calibrating for avatar ID {avatarId}");
var oldHipPos = hips.position;
var oldHipRot = hips.rotation;
await IKTweaksMod.AwaitVeryLateUpdate();
if (!avatarRoot)
{
MelonDebug.Msg("Avatar root was destroyed, cancelling calibration");
return;
}
var headTarget = FullBodyHandling.LastInitializedController.field_Private_FBBIKHeadEffector_0.transform;
var headsetTracker = headTarget.parent;
SetTrackerVisibility(true);
var preClickHeadPos = Vector3.zero;
var preClickHeadRot = Quaternion.identity;
var mirrorCloneRoot = forwardDirection.Find("_AvatarMirrorClone");
HumanPoseHandler mirrorClonePoseHandler = null;
Transform mirrorHips = null;
if (mirrorCloneRoot != null)
{
mirrorClonePoseHandler = new HumanPoseHandler(animator.avatar, mirrorCloneRoot);
var mirrorCloneAnimator = mirrorCloneRoot.GetComponent <Animator>();
if (mirrorCloneAnimator != null)
{
mirrorHips = mirrorCloneAnimator.GetBoneTransform(HumanBodyBones.Hips);
}
}
var willUniversallyCalibrate = false;
while (true)
{
await IKTweaksMod.AwaitIKLateUpdate();
if (avatarRoot == null)
{
break;
}
poseHandler.GetHumanPose(out var humanBodyPose, out var humanBodyRot, dummyMuscles);
poseHandler.SetHumanPose(ref humanBodyPose, ref humanBodyRot, nativeMuscles);
mirrorClonePoseHandler?.SetHumanPose(ref humanBodyPose, ref humanBodyRot, nativeMuscles);
var trigger1 = Input.GetAxisRaw("Oculus_CrossPlatform_PrimaryIndexTrigger");
var trigger2 = Input.GetAxisRaw("Oculus_CrossPlatform_SecondaryIndexTrigger");
if (IkTweaksSettings.CalibrateUseUniversal && UniversalData.Count >= 4)
{
MoveTrackersToStoredPositions();
willUniversallyCalibrate = true;
}
if (IkTweaksSettings.CalibrateHalfFreeze && trigger1 + trigger2 > 0.75f)
{
hips.position = oldHipPos;
hips.rotation = oldHipRot;
if (mirrorHips != null)
{
mirrorHips.position = oldHipPos;
mirrorHips.rotation = oldHipRot;
}
}
else if (IkTweaksSettings.CalibrateFollowHead || willUniversallyCalibrate)
{
hips.rotation = forwardDirection.rotation * hipsRelativeToForwardDirection;
var delta = headTarget.position - head.position;
hips.position += delta;
if (mirrorHips != null)
{
mirrorHips.position = hips.position;
}
oldHipPos = hips.position;
oldHipRot = hips.rotation;
preClickHeadPos = headsetTracker.position;
preClickHeadRot = headsetTracker.rotation;
}
else
{
// legacy calibration
hips.position = oldHipPos;
hips.rotation = oldHipRot;
if (mirrorHips != null)
{
mirrorHips.position = oldHipPos;
mirrorHips.rotation = oldHipRot;
}
preClickHeadPos = headsetTracker.position;
preClickHeadRot = headsetTracker.rotation;
}
if (trigger1 + trigger2 > 1.75f || willUniversallyCalibrate)
{
break;
}
}
SetTrackerVisibility(false);
if (avatarRoot == null)
{
return;
}
var steamVrControllerManager = GetControllerManager();
var possibleTrackers = new List <Transform>(steamVrControllerManager.field_Public_ArrayOf_GameObject_0
.Where(it => it != steamVrControllerManager.field_Public_GameObject_1 && it != steamVrControllerManager.field_Public_GameObject_0 && it != null)
.Select(it => it.transform));
(Transform Tracker, Transform Bone)? GetTracker(HumanBodyBones bone, HumanBodyBones fallback = HumanBodyBones.Hips)
{
var boneTransform = animator.GetBoneTransform(bone) ?? animator.GetBoneTransform(fallback);
var bonePosition = boneTransform.position;
var bestTracker = -1;
var bestDistance = float.PositiveInfinity;
for (var index = 0; index < possibleTrackers.Count; index++)
{
var possibleTracker = possibleTrackers[index];
var steamVRTrackedObject = possibleTracker.GetComponent <SteamVR_TrackedObject>();
if (steamVRTrackedObject.field_Public_EnumNPublicSealedvaNoHmDe18DeDeDeDeDeUnique_0 ==
SteamVR_TrackedObject.EnumNPublicSealedvaNoHmDe18DeDeDeDeDeUnique.None)
{
continue;
}
var distance = Vector3.Distance(possibleTracker.position, bonePosition);
if (distance < bestDistance)
{
bestDistance = distance;
bestTracker = index;
}
}
if (bestTracker == -1)
{
MelonLogger.Log($"Null target for bone {bone}");
return(null);
}
var result = possibleTrackers[bestTracker] !;
possibleTrackers.RemoveAt(bestTracker);
return(result, boneTransform);
}
void StoreData(CalibrationPoint point, (Transform tracker, Transform bone)?pair)
{
if (pair == null)
{
return;
}
var tracker = pair.Value.tracker;
var bone = pair.Value.bone;
var serial = GetTrackerSerial((int)tracker.GetComponent <SteamVR_TrackedObject>().field_Public_EnumNPublicSealedvaNoHmDe18DeDeDeDeDeUnique_0);
var trackerRelativeData = new CalibrationData(GetLocalPosition(tracker, bone),
GetLocalRotation(tracker, bone), serial);
Save(avatarId, point, trackerRelativeData);
if (!willUniversallyCalibrate)
{
var avatarSpaceData = new CalibrationData(GetLocalPosition(tracker.parent, tracker),
GetLocalRotation(tracker.parent, tracker), serial);
UniversalData[point] = avatarSpaceData;
}
}
void StoreHand(Vector3 angles, HumanBodyBones handBone, CalibrationPoint point)
{
var handRotation = animator.GetBoneTransform(handBone).rotation;
var bodyRotation = animator.transform.rotation;
var storedData = new CalibrationData(Vector3.zero,
Quaternion.Euler(angles) * Quaternion.Inverse(bodyRotation) * handRotation, point.ToString());
Save(avatarId, point, storedData);
}
void StoreBendGoal(CalibrationPoint point, (Transform tracker, Transform bone)?pair, Vector3 offset, ref float weight)
{
weight = 0f;
if (pair == null)
{
return;
}
var tracker = pair.Value.tracker;
var bone = pair.Value.bone;
var serial = GetTrackerSerial((int)tracker.GetComponent <SteamVR_TrackedObject>().field_Public_EnumNPublicSealedvaNoHmDe18DeDeDeDeDeUnique_0);
var trackerRelativeData = new CalibrationData(tracker.InverseTransformPoint(bone.position + offset),
Quaternion.identity, serial);
Save(avatarId, point, trackerRelativeData);
if (!willUniversallyCalibrate)
{
var avatarSpaceData = new CalibrationData(GetLocalPosition(tracker.parent, tracker),
GetLocalRotation(tracker.parent, tracker), serial);
UniversalData[point] = avatarSpaceData;
}
weight = 1f;
}
var hipsTracker = GetTracker(HumanBodyBones.Hips);
var leftFootTracker =
GetTracker(IkTweaksSettings.MapToes ? HumanBodyBones.LeftToes : HumanBodyBones.LeftFoot,
HumanBodyBones.LeftFoot);
var rightFootTracker =
GetTracker(IkTweaksSettings.MapToes ? HumanBodyBones.RightToes : HumanBodyBones.RightFoot,
HumanBodyBones.RightFoot);
StoreData(CalibrationPoint.Hip, hipsTracker);
StoreData(CalibrationPoint.LeftFoot, leftFootTracker);
StoreData(CalibrationPoint.RightFoot, rightFootTracker);
var leftLowerLegPosition = animator.GetBoneTransform(HumanBodyBones.LeftLowerLeg).position;
var rightLowerLegPosition = animator.GetBoneTransform(HumanBodyBones.RightLowerLeg).position;
var avatarForward = Vector3.Cross(rightLowerLegPosition - leftLowerLegPosition, Vector3.up).normalized;
if (IkTweaksSettings.UseElbowTrackers)
{
var leftElbowTracker = GetTracker(HumanBodyBones.LeftLowerArm);
var rightElbowTracker = GetTracker(HumanBodyBones.RightLowerArm);
StoreBendGoal(CalibrationPoint.LeftElbow, leftElbowTracker, avatarForward * -0.1f, ref FullBodyHandling.LeftElbowWeight);
StoreBendGoal(CalibrationPoint.RightElbow, rightElbowTracker, avatarForward * -0.1f, ref FullBodyHandling.RightElbowWeight);
}
if (IkTweaksSettings.UseKneeTrackers)
{
var leftKneeTracker = GetTracker(HumanBodyBones.LeftLowerLeg);
var rightKneeTracker = GetTracker(HumanBodyBones.RightLowerLeg);
StoreBendGoal(CalibrationPoint.LeftKnee, leftKneeTracker, avatarForward * 0.1f, ref FullBodyHandling.LeftKneeWeight);
StoreBendGoal(CalibrationPoint.RightKnee, rightKneeTracker, avatarForward * 0.1f, ref FullBodyHandling.RightKneeWeight);
}
if (IkTweaksSettings.UseChestTracker)
{
var chestTracker = GetTracker(HumanBodyBones.UpperChest, HumanBodyBones.Chest);
StoreBendGoal(CalibrationPoint.Chest, chestTracker, avatarForward * .5f, ref FullBodyHandling.ChestWeight);
}
StoreHand(new Vector3(15, 90 + 10, 0), HumanBodyBones.LeftHand, CalibrationPoint.LeftHand);
StoreHand(new Vector3(15, -90 - 10, 0), HumanBodyBones.RightHand, CalibrationPoint.RightHand);
if (!willUniversallyCalibrate)
{
var trackerParent = hipsTracker.Value.Tracker.parent;
UniversalData[CalibrationPoint.Head] = new CalibrationData(
GetLocalPosition(trackerParent, preClickHeadPos),
GetLocalRotation(trackerParent, preClickHeadRot), "HEAD");
}
}
