FINAL IK - Full Body IK, Aim, Look At, FABRIK, CCD IK... [1.0 RELEASED]

I think I found the cause
I don't think there's a problem right now,
but I'll try a little more and ask you again if there's a problem.


The initialization of LookAtIK was the cause.
It's a little messy to explain the whole accurate process in words,
To sum it up briefly,
I was initializing LookAtIK in this way.

Code (CSharp):

1. var br = new BipedReferences();
2.         BipedReferences.AutoDetectReferences(ref br, target.transform, BipedReferences.AutoDetectParams.Default);
3.         LookAtIK.solver.SetChain(br.spine, br.head, br.eyes, br.root);

I switched to LookAtIK.solver.SetChain through "fbbik.references",
It look good.


Maybe I misunderstood something and used it.

 

I need to add some weapon place under the character's hand, but after doing this, the hand interaction targets no longer work (fingers won't match anymore) because they need to have the same hierarchy as the hand. Is there a way for this? Thanks.

 

Hello Pärtel,
I've been using FinalIK for a while now, and it really is one of the best assets for unity.

However, I have a small problem with the behavior of weight.

I'm using a FBBIK with targets for all limbs. In my animation system, those targets blend their transforms with transitions when needed to correct for animation jitter and surface differences. Now I would like to also blend the weight of the IK target, since in some states, not all IK targets need to be actually active, so I would like to progressively blend their weight towards 0, and then disable them during my animation transitions.

The system I have does this already, but I noticed that there is a small "curve" the arms and legs do when the foot/hand IK target weight goes from 1 towards 0 (while animation is playing). Is there a way to blend so it looks more linear?

Here is a video of what I mean since it's a bit hard to explain: https://imgur.com/D8d9oKz

The goal would be that the foot goes into "locked to IK" mode without making that small curve. It's probably not trivial to do, but it would greatly enhance the fidelity of my animation transitions.

cheers,
- schema

 

Hey,
Replace HandPoser component on the character's hands with GenericPoser. It is not as fast as HandPoser, but doesn't have the requirement of identical hierarchies.

Hey and thank you!
Could try also blending IK target position as you blend the weight to move it closer to the animated position of the bone:

ik.solver.leftFootEffector.position = Vector3.Lerp(ik.solver.leftFootEffector.bone.position, leftFootTargetPos, ik.solver.leftFootEffector.positionWeight);

Best,
Pärtel

 

Oh thank you, that's a great idea. I'll try that.

 

Hey @Partel-Lang I sent in another ticket but it looks like you're active here too! I have rearranged my Pun instantiation so that it just instantiates a prefab with vrik and vrik pun player script attached. It looks like it works but when the second player enters the room and their prefab is instantiated they freeze up and can't move. Maybe the head moves?? But the locomotion from the continuous move provider stops as well. But the animations from the xr origins hands underneath are still working. So it makes me wonder.

EDIT: solved. Had to deactivate my XR Origins on the prefabs and let the VRIK components activate them when necessary.

 

Hey @Partel-Lang ,

First off, congratulations on implementing such a sophisticated plugin - absolute game changer!

I'm currently experiencing a couple of LookAtIK related issues and I was hoping you'd be able to help out.


1. When using LookAtIk I sometimes get the wrong look at direction on some of the characters.
If I check in the Editor, the lines are definitely pointing to the correct target, but the body/head seems to be rotated incorrectly.

As a temporary way round I'm now using the below the re-initiate the solver right before LookAtIK is used:

Code (CSharp):

1. Transform root = lookAtIK.solver.GetRoot();
2. lookAtIK.solver.Initiate(root);

This mostly works, however there are still a few occasions in which this doesn't do the trick.
Please note that this doesn't happen if I replace LookAtIK with AimIK, however I need to be able to control the head/eyes weight separetely (which is not possible with AimIK), therefore I need to stick to LookAtIK for this.

I've also tried to swap the execution order and place LookAtIK before AimIk - but to no avail.

I'm still puzzled as to why this only happens on certain characters (they all share the same rig) - I believe it might be down to their initial animation/body orientation.
Either way, any suggestions on a more effective way to offset and correct the initial body orientation would be appreciated.


2. Is there any way to preserve full head movement while using LookAtIK?
While this runs on top of the animator, if I have LookAtIK active on top of a face animation, the face movement is toned down by the look at.
Ideally I'd like to preserve full face animation while having the character still look at the target.

As a possible solution, I was thinking of multiplying the character's source head rotation (i.e. before LookAtIK is evaluated) with the current look at target rotation. Something like this:

Code (CSharp):

1. lookAtIK.solver.target.rotation *= headRotation;

Would you think this is the right way to go about this? If that's the case, how is it possible to retrieve the source head rotation unaffected by LookAtIK calculations?
Otherwise, please feel free to suggest a different way.

Many thanks in advance.

 

Hey !
Ok I see what you mean now ! I misunderstood what you meant.
Here is my avatar rig hierarchy :


Do you see anything that could cause that ? Because my hands are not really parented to the head, from what I understand of my rig.

 

Hey @Partel-Lang,

I'm having a bit of trouble with combining the Hand Effector on the FBBIK in combo with the Interaction System.

On the interaction object, I have a position weight for the right hand which is grabbing onto a gun, I then try to go from holding it into a aim animation where I want to use the FBBIK Hand effectors to place the weapon neatly on the gun but they keep getting overriden by the interaction object setting it to 0 again, even after the interaction should have been stopped.

The only way I've found so far was to set a quite long wait timer in a coroutine that sets the weight on the right hand effector again, but this also makes it look a bit wonky.

Is there any good way to stop having the interact object effect the hand effector earlier or in some other way interrupt it by setting my own weight in the FBBIK (instead of it following the curve of the position weight for way longer than I feel it should)

Thanks in advance!

 

Hey,
Normally LookAtIK calculates the forward facing axes of the bones when it runs for the first time. So make sure the character is in the same pose when that happens (Start). Usually people have this problem when they have LookAtIK disabled by default and they enable it at a random time when they need it. So best to keep it enabled and disable it after it has initialized.
Also, this is how you can set axes for spine, head and eyes manually:

Code (CSharp):

1. using UnityEngine;
2. using RootMotion.FinalIK;
3.  
4. public class LookAtInit : MonoBehaviour {
5.  
6.     public LookAtIK ik;
7.  
8.     public Vector3 spineForwardAxis;
9.     public Vector3 headForwardAxis;
10.     public Vector3 eyeForwardAxis;
11.  
12.    
13.     void Update () {
14.         if (!ik.solver.initiated) return;
15.  
16.         ik.solver.head.axis = headForwardAxis;
17.         foreach (IKSolverLookAt.LookAtBone spineBone in ik.solver.spine)
18.         {
19.             spineBone.axis = spineForwardAxis;
20.         }
21.         foreach (IKSolverLookAt.LookAtBone eyeBone in ik.solver.eyes)
22.         {
23.             eyeBone.axis = eyeForwardAxis;
24.         }
25.  
26.         Destroy(this);
27.     }
28. }

About inheriting head turning motion from animation, you'll have to update ik.solver.head.axis in every LateUpdate:

Code (CSharp):

1.   private void LateUpdate()
2.     {
3.         ik.solver.head.axis = ik.solver.head.transform.InverseTransformVector(character.forward);
4.     }

Hey,
I meant the hand IK targets that you have assigned (if you have them assigned) as hand targets in VRIK arm settings, what are they parented to?
If you don't have any hand targets, set position and rotation weight to 0 for the hands in VRIK arm settings.

Hey,
InteractionSystem needs to use the hand effectors so it is fighting with your script that tries to do the same thing. You can use hand effector positionOffsets to move the hands though. So instead of writing ik.solver.leftHandEffector.position = targetPos, write ik.solver.leftHandEffector.positionOffset += targetPos - ik.solver.leftHandEffector.bone.position; in LateUpdate.

Best,
Pärtel

 

Hello everyone,

I'm facing an issue with my character that has a scale of -1, 1, 1, meaning the X-axis is flipped. When I apply Full Body Biped IK from Final IK, the character ends up looking distorted.

When I revert the scale back to 1, 1, 1, everything works just fine. I'm specifically interested in keeping the -1 scale on the X-axis for reasons beyond the scope of this post.

I'm also open to using the Biped IK component. When I tried this, the arm did move, but in the opposite direction of the target. Interestingly, the character was not distorted.

Is there any workaround to make Final IK's Full Body Biped IK compatible with a character that has a negative scale? I'm open to hacky solutions for the time being.

Looking forward to your suggestions!

Sovlved. just call _fullBodyBipedIK.solver.Initiate(_fullBodyBipedIK.transform); when you flip the character

 

Hi everyone and @Partel-Lang!

I'm developing a game where the magician needs to arrange enchanted gems on shelves in a specific sequence (in a specific scene). I've learned how to implement the gem-picking mechanic from the Interactions demo in the FinalIK package. However, I'm struggling to find an example of how to place these gems back onto specific shelf locations. I'm currently considering using Effectors for this, but I'm not sure if it's the correct approach. How can I implement this placement mechanic?

 

I was curious whether Twist Relaxer worked on Biped IK or Full Body Biped IK? It seems I can only get this to work on a Limb IK, since the Twist Relaxer has an IK property that doesn't accept the Biped IK. Is there some trick to getting twist relaxer to work on Biped IK? Thanks.

 

Hey,
If using interaction system, then I would create another InteractionObject, parent it to the root of the character, place it somewhere in front of him, make the position weight curve go up to 1 and back down to 0 and add an event in the middle that calls a function in your scripts to unparent the gem from the hand and add a rigidbody or something like that. Start that interaction when you need to drop the gem.

Hey,
Yeah, that's a bit of a problem because BipedIK is not actually an IK component, rather a collection of multiple solvers.
Anyway, here's a more generic version of TwistRelaxer for you:

Code (CSharp):

1. using UnityEngine;
2. using RootMotion.FinalIK;
3.  
4. public class TwistRelaxerGeneric : MonoBehaviour
5. {
6.     [Tooltip("If using multiple solvers, add them in inverse hierarchical order - first forearm roll bone, then forearm bone and upper arm bone.")]
7.     public TwistSolver[] twistSolvers = new TwistSolver[0];
8.  
9.     public void Start()
10.     {
11.         foreach (TwistSolver twistSolver in twistSolvers)
12.         {
13.             twistSolver.Initiate();
14.         }
15.     }
16.  
17.     private void Update()
18.     {
19.         foreach (TwistSolver twistSolver in twistSolvers)
20.         {
21.             twistSolver.FixTransforms();
22.         }
23.     }
24.  
25.     void LateUpdate()
26.     {
27.         foreach (TwistSolver twistSolver in twistSolvers)
28.         {
29.             twistSolver.Relax();
30.         }
31.     }
32. }
33.  

Just add it to the Script Execution Order to a higher value than BipedIK has so its LateUpdate would be call after BipedIK's.

Best,
Pärtel

 

@Partel-Lang thanks for your feedback and help !
Just recently, I've solved my problem using your answer from this thread:
FINAL IK - Full Body IK, Aim, Look At, FABRIK, CCD IK... [1.0 RELEASED] | Page 99 - Unity Forum

 

I am using Final IK's VRIK to control a Humanoid model.
I want to Instantiate and display the Humanoid model at the specified head position.
My Humanoid model is applying Animated locomotion.
When I run the program, the Humanoid model will motion like running or vibrate for a moment right after it is displayed.
I presume that it is an illusion that the Humanoid model has moved from the origin to the specified position at high speed.
As a temporary workaround, I have created a script that does not render the mesh for a second or so after instantiating the Humanoid model to stabilize the display, but this is not ideal.
Is there any solution to this problem?

Thanks for your help!

 

Hi, want to adjust position a bit, for example, I want to move hand a bit higher, which kind of IK that I should use?

I've try LimbIK, I put the target transform as hand bone's child, bend target transform as fore arm bone's child, but the shoulder bone twisted and it looks not good.





- _MainHandTarget is target transform
- _MainHandHint is bend target transform

 

Oh, as I try, seems like CCD IK is work as I wanted

 

But I still want to find how to fix LimbIK twisting

https://gyazo.com/39c3409be882d206985e34eb6b1c8343

 

Please try calling ik.solver.Reset(); after you have spawned and moved the model.

Hey,
Will it stop spinning if you unparent the bend target transform from the character?

Best,
Pärtel

 

Hello Partel-Lang or to whom this may concern,
-
I'm attempting to achieve smooth hand transitioning between Interaction Object/ Targets, this is due to guns in my game having multiple hand positions (Charging Handle, Under barrel grips, and different sized mags). I have run into something I cant work my head around. I call some code in Image "A" to start a interaction and the hand goes to said location after snapping from the idle animation state spot. Here is a video of it happening: https://streamable.com/helk8w.
-
Is there a way to make it not do this? would mean so much to me if there is a cure... to this ailment.
-

-
-
Image Below is of how every hand is set up.
-

-
-
This is how the player body is set up with Full Body Biped IK and Interaction System.
-

-

 

Hello Partel,
There is an issue that I have had consistently with LookAtIK, where it seems to be inverted in that if I want it to look left, the target it is looking at has to be to its right and the same with up and down. I always assumed it was something to do with rigging, that bones not properly oriented had that influence. Is this correct? Is there any other reason it would not be working? When using the AnimationRigging unity package with its native "look at" IK function it seems not to have issues. Thanks

 

Even though I assume this is something obvious, I've run out of ideas as to what to try. I'm having an issue where pinning the hand effector to a position that is a child of the camera is not staying directly synced with the actual effector position when a walk/jog animation loop is running. This causes the hand to bob around the effector target rather than appearing fixed to it.

In this video, the white sphere is an effector target object that is a child of the camera. The blue square is the gizmo shown by Final IK for the left hand IK position. Any ideas on what could cause these to not perfectly match?

 

Hi Partel-Lang, do you have any tutorial about how to setup 4 legs IK for animal?

 

No, it is spinning, is it might be because of my character model's rigging (weight painting)?

 

Hey,
Instead of having separate interaction objects for each hand position, you should use a single one and just animate it between charging handle and other grips. If the interaction object is parented to the gun, add an Animator to it and you can create those animations pretty easily with the Animation window.

Hey,
LookAtIK (and other IK components) sample the pose when it first runs to find out which axes of the bones point forward etc, so even if you don't want to use LookAtIK right away, keep it enabled in Editor and disable it after it has initialized in Start. You can also overwrite LookAtIK's bone axes with a script like this.

Hey,
Looks like an issue with the update order of things. I think your camera updates after the IK, so even if the IK solves correctly to the position of the target that is parented to the camera, the next update of the camera before the end of the frame makes it appear wrong. You can change when you update the IK by disabling the IK component in Start and calling ik.solver.Update() whenever you need to or change the update order of your camera script in the Script Execution Order.

Hey,
If it's for GrounderQuadruped, it's better to use LimbIK. Go to the "Grounder" demo and copy the Grounder hierarchy from the wolf over to your own animal, then just replace all bone references in the Grounder and the LimbIK components that are parented to it. LimbIK uses 3 bones only, but even if you have more bones, you can skip some and choose the 3 bone that you want the IK to use.

Hey,
I don't think it's because of rigging, but I don't know what to suggest without knowing more or being able to see what your IK setup looks like. If you could package that up and send me some kind of a repro, I would take a look.

Best,
Pärtel

 

Hello Partel-Lang!

I have an issue with VRIK. I followed the tutorial and also read this thread.
I managed to solve some issues with the model position and the arms by setting the model from generic to humanoid.
But there are still some issues with the legs not bending and also when moving the head to the left and to the right the model bends from the middle. See the video below:

I have sent an e-mail to support@root-motion.com, with more details and also a link to the model.
Is that e-mail still valid? Because I didn't get any response.

 

The method you advised worked well.
thank you!

 

Hello, where and how should I sent the files? should I just upload to google drive and send to your email?

 

Hey,
That old procedural locomotion was not designed for thumbstick locomotion, it would be much better to use animated locomotion, please check out the "VRIK (Animated Locomotion)" demo about that and the Locomotion section on this page.

Hey,
Yes, please use support@root-motion.com.

Best,
Pärtel

 

Hello Pärtel,

I want to make a full body using 6 trackers for vrik, hands, waist, head, and feet.

First, Change scale by calibration with T-Pose, but if you put your arm forward or up, your arm will look short or long. If I have to adjust the arm mlp by adjusting it, can you give me a hint?

 

I have some logic I need to run that depends on the positioning of bones after all the Final IK code updates. For example raycasting where the origin and direction are dependent on the gun position.

How can I call this logic where everything Final Ik needs to do has been done already? Right now I get all the pre-Ik values when using Update or LateUpdate().

I tried

Code (CSharp):

1. yield return new WaitForEndOfFrame()

and this works for most, but I am finding this does not work for particle effects that are children of the weapon.

Is there something I have missed that can address this?

 

You can subscribe to the OnPostUpdate event
Example:

Code (CSharp):

1. FullBodyBipedIK yourIk;
2. yourIk.solver.OnPostUpdate += YourFunction;

YourFunction will get called after FullBodyBipedIK or any ik solver you use has written the solved pose
there are others events as well (OnPostSolve, OnPostIteration etc)

I guess one other way would be putting your script last in Unity's Project Settings > Script Execution Order

 

Thanks! I had forgot about Script Execution Order until I started testing things out. In the case of using this event though, how would I deal with all the Ik components I have? For example, my character uses Limb, Aim, Look and FBBIK - how would I go about getting the data once every component is solved? The only way I can think of is building a helper class with a frame tracker that uses these events to know when each frame has completed all Ik solves. Do-able but not as concise as I'd like.

I guess that is what I could do. Make a helper that controls the updates manually and then have it have an event at the end of the frame that I could subscribe to. Good tip, I think that will work for me.

Turns out my issue with ParticleSystems was solved by changing 'Simulation Space' to 'Local'. When set to 'World' nothing I did would give the final position.

 

Hey,
If you calibrate in T-Pose, you can get the distance from left to right controller and compare it to the wing span of the model (2x arm length + (left shoulder - right shoulder).magnitude. So arm length multiplier should be ((controllerDistance - shoulderWidth) / 2f) / armLength;

You should also try using the automated arm stretching, it just takes care of most of the arm length issues like elbow popping and too short arms. Go to the "VRIK (Basic)" demo and copy the "Stretch Curve" over from the Pilot's arm settings to your own to get a good optimal value for it.

Hey,
Yeah, what WonkyDonky said, but you can also just make your own IK update manager, like disable all the IK components in Start and update their solvers manually by calling ik.solver.Update() on them from LateUpdate in whichever order you need, then you can process stuff before and after every solver update. If some bones start rolling, also call ik.solver.FixTransforms() from Update on all the IK components.

Best,
Pärtel

 

Thank you for your answer. Pärtel

It could be a similar question
If the arm length of the model looks longer when the arm is raised up, do I have to correct the length of the arm?

 

Probably just appears longer because the shoulder bones are rotated up when you raise your arms. Can set shoulder rotation weight to 0 if you don't like that.

Best,
Pärtel

 

Hi Pärtel,

What could be a reason for this kind of behaviour?

When I try to adjust hands IK, it's bended opposite side. Wrists are twisted around itself, while the whole hand keep rotating around it's shoulder.

Check the gif by this link
https://cdn.discordapp.com/attachme...b09d6705227f5d3ce98eb2baa8970f48a2d4de234898&

The IK setup configured correctly


Some days before it was completely alright and working correctly, but then for some reason it appeared to twist like that and I can't find a reason why it happened (the rig wasn't changed).
Can you give me a hint what could provoke it?

Update: For some reason in the build it works as supposed, but issue exists in the editor view.

 

Hey,
Do you have the IK component disabled when you start the scene? FBBIK samples the pose when it first runs to find out which way to bend the limbs etc, so it's best to keep it enabled by default, disable it in Start if you need to, after it has initialized. If it doesn't happen in build, it's probably a race condition of something (animation?) changing the pose before FBBIK inits.

Best,
Pärtel

 

Hello, I want to use FullBodyBipedIk to control the hand, but the bones of the head are subdivided into multiple twist bones, which are at the same level as the hand bones. At this time, deformation occurs. Is there a solution? Thank you!