IKT: hide inapplicable settings, add new knee positioner

IKTweaks/CachedSolver.cs

@@ -12,6 +12,9 @@ public struct CachedSolver
         public readonly IKSolverVR.Arm RightArm;
         public readonly IKSolverVR.Locomotion Locomotion;
 
+        public readonly IKSolverVR.VirtualBone[] LeftLegBones;
+        public readonly IKSolverVR.VirtualBone[] RightLegBones;
+
         public CachedSolver(IKSolverVR solver)
         {
             Solver = solver;
@@ -21,6 +24,9 @@ public CachedSolver(IKSolverVR solver)
             RightArm = solver.rightArm;
             RightLeg = solver.rightLeg;
             Locomotion = solver.locomotion;
+
+            LeftLegBones = LeftLeg.bones;
+            RightLegBones = RightLeg.bones;
         }
     }
 }

IKTweaks/IKTweaks.csproj

@@ -4,7 +4,7 @@
     <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
     <LangVersion>latest</LangVersion>
     <VrcReferences>true</VrcReferences>
-    <AssemblyVersion>2.0.0</AssemblyVersion>
+    <AssemblyVersion>2.1.0</AssemblyVersion>
     <UsesNativePatches>true</UsesNativePatches>
   </PropertyGroup>
   <ItemGroup>

IKTweaks/IKTweaksMod.cs

@@ -1,4 +1,5 @@
 using System;
+using System.Collections.Generic;
 using System.Diagnostics;
 using System.Linq;
 using System.Runtime.CompilerServices;
@@ -9,7 +10,7 @@
 using UIExpansionKit.Components;
 using UnityEngine;
 
-[assembly:MelonInfo(typeof(IKTweaksMod), "IKTweaks", "2.0.0", "knah", "https://github.com/knah/VRCMods")]
+[assembly:MelonInfo(typeof(IKTweaksMod), "IKTweaks", "2.1.0", "knah", "https://github.com/knah/VRCMods")]
 [assembly:MelonGame("VRChat", "VRChat")]
 [assembly:MelonOptionalDependencies("UIExpansionKit")]
 
@@ -33,6 +34,32 @@ public override void OnApplicationStart()
         private static void AddUixActions()
         {
             ExpansionKitApi.GetExpandedMenu(ExpandedMenu.SettingsMenu).AddSimpleButton("More IKTweaks...", ShowIKTweaksMenu);
+
+            var settingNameList = new[]
+            {
+                nameof(IkTweaksSettings.StraightSpineAngle), 
+                nameof(IkTweaksSettings.StraightSpinePower), 
+                nameof(IkTweaksSettings.DoHipShifting), 
+                nameof(IkTweaksSettings.PreStraightenSpine), 
+                nameof(IkTweaksSettings.StraightenNeck), 
+                nameof(IkTweaksSettings.PinHipRotation), 
+                nameof(IkTweaksSettings.NeckPriority), 
+                nameof(IkTweaksSettings.SpineRelaxIterations), 
+                nameof(IkTweaksSettings.MaxNeckAngleBack),
+                nameof(IkTweaksSettings.MaxNeckAngleFwd),
+                nameof(IkTweaksSettings.MaxSpineAngleBack),
+                nameof(IkTweaksSettings.MaxSpineAngleFwd),
+            };
+            var updateCallbacks = new List<Action>();
+
+            foreach (var s in settingNameList)
+                updateCallbacks.Add(ExpansionKitApi.RegisterSettingsVisibilityCallback(
+                    IkTweaksSettings.IkTweaksCategory, s, () => IkTweaksSettings.FullBodyVrIk.Value));
+
+            IkTweaksSettings.FullBodyVrIk.OnValueChangedUntyped += () =>
+            {
+                foreach (var it in updateCallbacks) it();
+            };
         }
 
         private static void ShowIKTweaksMenu()

IKTweaks/IkTweaksSettings.cs

@@ -43,6 +43,7 @@ internal static void RegisterSettings()
             NoWallFreeze = category.CreateEntry(nameof(NoWallFreeze), true, "Don't freeze head/hands inside walls");
 
             DisableElbowAvoidance = category.CreateEntry(nameof(DisableElbowAvoidance), false, "Disable IK2 elbow-chest avoidance");
+            IktKneeMode = category.CreateEntry(nameof(IktKneeMode), KneeBendNormalMode.Natural, "Knee angle mode (with no trackers)");
 
             ExperimentalSettingOne = category.CreateEntry(nameof(ExperimentalSettingOne), false, "Experimental setting", dont_save_default: true, is_hidden: true);
 
@@ -73,6 +74,8 @@ internal static void RegisterSettings()
         public static MelonPreferences_Entry<bool> Unrestrict3PointHeadRotation;
         public static MelonPreferences_Entry<bool> NoWallFreeze;
         public static MelonPreferences_Entry<bool> DisableElbowAvoidance;
+        public static MelonPreferences_Entry<KneeBendNormalMode> IktKneeMode;
+
         public static MelonPreferences_Entry<bool> ExperimentalSettingOne;
 
         public static MelonPreferences_Entry<Vector3> HandAngleOffset;
@@ -97,4 +100,14 @@ public enum IgnoreAnimationsMode
         [Description("Ignore all (always slide around)")]
         All = HandAndHead | Others
     }
+
+    public enum KneeBendNormalMode
+    {
+        [Description("IK2 Default")]
+        Default,
+        [Description("IKT Classic")]
+        Classic,
+        [Description("IKT Natural")]
+        Natural
+    }
 }

IKTweaks/Math.cs

@@ -99,6 +99,9 @@ public static Float3 ProjectOnPlane(Float3 a, Float3 planeNormal)
             planeNormal = planeNormal.normalized;
             return a - planeNormal * Dot(planeNormal, a);
         }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Float3 Lerp(Float3 a, Float3 b, float t) => a * (1 - t) + b * t;
 
         public override string ToString()
         {

IKTweaks/VrIkHandling.cs

@@ -31,6 +31,8 @@ public static void HookVrIkInit()
             NativePatchUtils.NativePatch(typeof(IKSolverVR.Spine).GetMethod(nameof(IKSolverVR.Spine.Solve))!, out ourOriginalSolveSpine, SolveSpinePatch);
 
             NativePatchUtils.NativePatch(typeof(IKSolverVR.Arm).GetMethod(nameof(IKSolverVR.Arm.VrcAvoidElbowClipping))!, out ourOriginalElbowClipping, ElbowClippingPatch);
+
+            NativePatchUtils.NativePatch(typeof(IKSolverVR.Leg).GetMethod(nameof(IKSolverVR.Leg.Solve))!, out ourOriginalLegSolve, LegSolvePatch);
         }
 
         [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
@@ -46,6 +48,7 @@ public static void HookVrIkInit()
         private static VoidDelegate ourOriginalSolverVrLateUpdate;
         private static VoidDelegate ourOriginalSolverUpdate;
         private static BoolDelegate ourOriginalElbowClipping;
+        private static BoolDelegate ourOriginalLegSolve;
 
         private static VoidDelegate ourOriginalSolvePelvis;
         private static SolveSpineDelegate ourOriginalSolveSpine;
@@ -141,10 +144,62 @@ private static void SolveSpinePatch(IntPtr thisPtr, IntPtr rootBonePtr, IntPtr l
 
         private static void ElbowClippingPatch(IntPtr thisPtr, byte boolValue, IntPtr methodPtr)
         {
-            if (thisPtr != ourCachedSolver.LeftArm?.Pointer && thisPtr != ourCachedSolver.RightArm?.Pointer || !IkTweaksSettings.DisableElbowAvoidance.Value)
+            if (!IkTweaksSettings.DisableElbowAvoidance.Value || thisPtr != ourCachedSolver.LeftArm?.Pointer && thisPtr != ourCachedSolver.RightArm?.Pointer)
                 ourOriginalElbowClipping(thisPtr, boolValue, methodPtr);
         }
 
+        private static void LegSolvePatch(IntPtr thisPtr, byte boolValue, IntPtr methodPtr)
+        {
+            var kneeMode = IkTweaksSettings.IktKneeMode.Value;
+
+            if (kneeMode != KneeBendNormalMode.Default && ourLastIkController.field_Private_IkType_0 == IkController.IkType.SixPoint && (thisPtr == ourCachedSolver.LeftLeg.Pointer || thisPtr == ourCachedSolver.RightLeg.Pointer))
+            {
+                var isLeftLeg = thisPtr == ourCachedSolver.LeftLeg.Pointer;
+                var currentLeg = isLeftLeg
+                    ? ourCachedSolver.LeftLeg
+                    : ourCachedSolver.RightLeg;
+
+                var weight = currentLeg.bendGoalWeight;
+                var oldUseKneeTarget = currentLeg.vrcUseKneeTarget;
+                if (weight < 1)
+                {
+                    Float3 newNormal;
+                    var currentLegBones = isLeftLeg ? ourCachedSolver.LeftLegBones : ourCachedSolver.RightLegBones;
+                    if (kneeMode == KneeBendNormalMode.Classic)
+                    {
+                        newNormal = (Quat)currentLeg.IKRotation * currentLeg.vrcBendNormalRelToFoot;
+                    }
+                    else
+                    {
+                        var baseFootUpDirectionG = currentLegBones[1].solverPosition - (Float3)currentLegBones[2].solverPosition;
+                        var baseKneeBendGoalDirectionRelToFoot = (Quat)currentLeg.rotation * Quat.Inverse(currentLegBones[2].solverRotation) * baseFootUpDirectionG;
+                        var legRootToFoot = (Float3)currentLeg.position - (Float3)currentLegBones[0].solverPosition;
+                        var newNormalCandidate = Float3.Cross(baseKneeBendGoalDirectionRelToFoot.normalized, legRootToFoot.normalized);
+
+                        // mix between "dumb" normal and "smart" one based on cross product length;
+                        // longer cross = presumably higher precision so mix more of "smart" normal in
+                        var newNormalLength = newNormalCandidate.magnitude;
+                        var baseNormal = (Quat)currentLeg.IKRotation * currentLeg.vrcBendNormalRelToFoot;
+                        newNormal = Float3.Lerp(baseNormal.normalized, newNormalCandidate, newNormalLength).normalized;
+                    }
+
+                    // this neat little thing seemingly makes VRC recalculate the normal in some weird way
+                    // but also... we set it ourself? whatever
+                    currentLeg.vrcUseKneeTarget = false;
+
+                    currentLeg.bendNormal = Float3.Lerp(newNormal, currentLeg.bendNormal, weight);
+                }
+
+                ourOriginalLegSolve(thisPtr, boolValue, methodPtr);
+
+                currentLeg.vrcUseKneeTarget = oldUseKneeTarget;
+
+                return;
+            }
+
+            ourOriginalLegSolve(thisPtr, boolValue, methodPtr);
+        }
+
         private static byte VrIkInitReplacement(IntPtr thisPtr, IntPtr vrcAnimController, IntPtr animatorPtr, IntPtr playerPtr, byte isLocalPlayer, IntPtr nativeMethod)
         {
             var __instance = new VRCVrIkController(thisPtr);

README.md

@@ -232,9 +232,10 @@ Features:
 It's recommended to use a normal humanoid rig without any rig hacks (so no neck fix, no FBT fix, no inverted hip, no zero-length spine bones).  
 
 **Canny tickets**:
-* [Add an option to disable locomotion animations on all avatars](https://feedback.vrchat.com/vrchat-ik-20/p/add-an-option-to-disable-locomotion-animations-on-all-avatars)
 * [Stop locking avatars in place when players walk through walls](https://feedback.vrchat.com/vrchat-ik-20/p/stop-locking-avatars-in-place-when-players-walk-through-walls)
 * [Provide in-depth IK configuration options for enthusiasts](https://feedback.vrchat.com/vrchat-ik-20/p/provide-in-depth-ik-configuration-options-for-enthusiasts)
+* [Add calibration mirror or something similar.](https://vrchat.canny.io/vrchat-ik-20/p/feature-request-add-calibration-mirror-or-something-similar)
+* [Add support for one-handed calibration](https://vrchat.canny.io/vrchat-ik-20/p/featureaccessibility-add-support-for-one-handed-calibration)
 * ... and the rest of IK 2.0 Beta board (assuming it stays)
 
 ### Brief settings description
@@ -255,6 +256,7 @@ Given that this mod is still work in progress, these are subject to change.
  * Allow more head rotation in 3/4-point tracking - ever tried to look up when close to the ground in 3/4-point tracking? Now you can, even if it breaks your neck.
  * Don't freeze head/hands inside walls - prevents your hands/head from freezing if your head gets inside a wall.
  * Disable IK2 elbow-chest avoidance - brings behavior of elbows closer to old 3-point IK, solving some issues with elbows spazzing out in some poses
+ * Knee angle mode - affects how knee angle is chosen when you have leg trackers but not knee trackers. "IKT classic" should be the old knee positioner, which is... Bad. "IKT Natural" attempts to bend knees into a more relaxed pose.
  * Hand angles/offsets (found in VRChat Settings menu -> left blue panel -> More IKTweaks -> Adjust hand angles/offsets) - you can configure how avatar hands are positioned relative to controllers. Defaults were tuned for Index controllers, but should be applicable to most other controllers too.
 
 ## JoinNotifier

ReleaseChangelog.md

@@ -3,6 +3,8 @@ Read the [Malicious Mods and you](https://github.com/knah/VRCMods/blob/master/Ma
 Changes:
  * Advanced Safety: updated BundleVerifier to catch more types of corrupted bundles
  * FavCat: fixed some worlds not appearing in favorites. Re-fetch favorites via "More FavCat..." menu and restart the game to fix already-missing ones.
+ * IKTweaks: if IKT spine solver is disabled, settings relevant only to it will be hidden
+ * IKTweaks: added an option to change knee angles when not using knee trackers (enabled by default)
  * ScaleGoesBrr: fixed shoulders moving wrong if shoulder trackers are in use
 
 **USE IT AT YOUR OWN RISK.** Modding the client is against VRChat ToS. I am not responsible for any bans or other punishments you may get by using these mods!