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

Hmm, i have a problem im not really sure how to solve.
My head effector is interfering with the rest of my rig. I use the standard FBBIK rig (not interaction addition) to handle picking up objects and stuff, but after adding the head effector i can no longer pick up stuff because the head stuff is preventing my character to bend down since that would change the head position. And also i dont want to turn of my head effector when picking up objects since that would ruin the Rift headtracking stuff : /

 

Yes, I cant really say how it's usually done, because it has not been done before, it's uncharted territory. Thats probably why you mostly see objects jumping to player's hands in VR games so far.

Since you can't force the player to put his head down to reach for something and you don't want the head to be pulled away from the tracked position, I guess the only solution would be to hint the player to actually bend down before picking something up from the ground (which is kinda cool I think) and only enable the interaction when the object is in range.

Cheers and happy new year's eve!
Pärtel

 

Pärtel, I was reading over your manual and was wondering, I have twisty bones for the upper arm, forearm, upper thigh and lower leg, also extra bones for the elbow and knee.

Can I use the interaction system to build relational constraints between the different bones e.g. have the upper twisty bone of the forearm effect the rotation of the elbow bone as it bends and set a weight of like 50%, same for the knee bone with the upper twisty bone of the lower leg?

And also as you turn the hand it effect the rotation of the lower twisty bone of the forearm etc.

Thanks for your help and Happy New Year!

 

i have problem with

1. if (animator != null) return animator.updateMode == AnimatorUpdateMode.AnimatePhysics;

dose not contain a definition for updatemode

 

can u help me with how to animate bike rider with this final ik

 

i have a problem when i import final ik to my project my bike get slow why is that ?

 

Hi!
Here is a snippet for you:

Code (CSharp):

1. using UnityEngine;
2. using System.Collections;
3.  
4. public class TwistBone : MonoBehaviour {
5.  
6.     [Tooltip("The target bone to match twist to")] public Transform target;
7.     [Tooltip("Local axis of the target Transform that is not aligned with the direction towards the target.")] public Vector3 axis = Vector3.forward;
8.     [Tooltip("Weight of keeping the twist locked relative to the target.")][Range(0f, 1f)] public float weight = 1f;
9.  
10.     private Quaternion r; // Rotates vectors to the space defined by axis and the direction towards the target
11.     private bool sampled;
12.  
13.     void Start() {
14.         Sample();
15.     }
16.  
17.     // Sample the current rotation of the target axis
18.     public void Sample() {
19.         // Store the inverse of the current axis rotation
20.         r = Quaternion.Inverse(GetAxisRotation());
21.  
22.         sampled = true;
23.     }
24.  
25.     // If you need to call this at a specific time, disable this component and call LateUpdate manually
26.     public void LateUpdate() {
27.         if (weight <= 0f) return;
28.         if (!sampled) {
29.             Debug.LogWarning("Sample() needs to be called before updating the TwistBone!");
30.             return;
31.         }
32.  
33.         // Remember target rotation so we can rotate back to it
34.         Quaternion targetRotation = target.rotation;
35.  
36.         // Find the current twist offset angle
37.         Vector3 v = (r * GetAxisRotation()) * Vector3.forward;
38.         float angle = Mathf.Atan2(v.x, v.z) * Mathf.Rad2Deg;
39.  
40.         // Rotate this bone so it's twisted the same way relative to the target as it was when Sample() was last called
41.         transform.rotation = Quaternion.AngleAxis(weight * angle, target.position - transform.position) * transform.rotation;
42.  
43.         // Rotate the target back to where it was
44.         target.rotation = targetRotation;
45.     }
46.  
47.     // Gets the Quaternion that is looking at the target axis and is aligned with the direction towards the target
48.     private Quaternion GetAxisRotation() {
49.         Vector3 a = target.rotation * axis;
50.         Vector3 normal = target.position - transform.position;
51.         Vector3.OrthoNormalize(ref normal, ref a);
52.        
53.         return Quaternion.LookRotation(a, normal);
54.     }
55. }
56.  

Attach this to say a forearm twist bone, assign the hand as the Target and set Axis to be one of the 2 local axes of the hand bone that is not aligned with the direction from the forearm to the hand.

That will keep the forearm bone twist locked (defined by the Weight value) relative to the hand bone.

If you are rotating the hand bone with IK, you'll have to make sure TwistBone updates after that IK, otherwise it will ignore the effect of it. You can do it by disabling the component and call twistBone.LateUpdate manually after updating IK.

Cheers,
Pärtel

 

It's because you are using an older version of Unity.
Animator.updateMode was introduced in 4.5 if I'm not mistaking.

If you can't update Unity for some reason, you can make it work if you change the line that throws the error (SolverManager.cs, line 44) to:

Code (CSharp):

1. if (animator != null) return animator.animatePhysics;

Did you see the "Driving" demo scene? It's basically the same, just replace the car parts with bike parts.

What do you mean by "bike get slow"?

Cheers and Happy New Year!
Pärtel

 

Pärtel

Thanks for the code snippet... will try this out right away...

As always fantastic support!

Just a thought... do I need to set this up while the character is in a T pose?

 

No, just the twist between the 2 bones should be normal, relaxed.

 

can you help me to change my player like this

by pressing right arrow key
and after release the right arrow key player have to come default position again

please help

i have assign body effecter target to hipspostion game object(empty)

 

Hi, sure you can do it like this for example:

Code (CSharp):

1. public Transform target; // Target of the body effector
2.     public Vector3 offset; // Offset of the target when right arrow is pressed
3.     public float smoothTime = 0.2f; // Time to blend in/out the offset
4.  
5.     private Vector3 defaultLocalPosition;
6.     private Vector3 t, tVel;
7.  
8.     void Start() {
9.         defaultLocalPosition = target.localPosition;
10.     }
11.  
12.     void LateUpdate() {
13.         // Smoothly interpolate t towards offset when the right arrow is down
14.         t = Vector3.SmoothDamp(t, (Input.GetKey(KeyCode.RightArrow)? offset: Vector3.zero), ref tVel, smoothTime);
15.  
16.         target.localPosition = defaultLocalPosition + t;
17.     }
18.  

 

Any news on the DK2 test scene stuff? : D

 

Its going great, just trying to come up with a way to setup the character right for the full body experience.
There are a number of problems to consider like how to get the pose matching and how to get the camera position right relative to the head so the shoulders wouldn't seem out of place when you look down and so forth. It's really a challenge to map a virtual character to a real person when you only know where the head is.

But you can check my progress if you download this (Win only) package and try for yourself and I appreciate any feedback.

It's just a setup for mapping the character to a standing player, but once I have that I will try movement and see if it's any good aiming weapons like that and who knows what else... really feels like doing something for the future

There are some problems like when the camera is at the real position of the eyes, it doesn't feel right when you look down, I mean the torso appears too close and you can't see your feet. It's better when you move the cam forward and up a bit, but positioning the head will not be right anymore when you do that and the feet will fly if you look down. I don't know how to solve that yet anyway.

Cheers,
Pärtel

 

Yeah, i agree that its a very tricky problem to solve, with the DK1 its pretty easy since you only have the rotation to worry about and everything looks pretty good as long as you rotate the camera/head with the neck as the center. Positional tracking really adds a totally new dimension of complexity : D

Sadly i dont have a DK2 yet, but i probably have to buy one if i want to continue developing for the Rift, but i will have a look at your package anyway just to see how you have solved things so far : )

 

thank you it worked and how i can detach player after bike crashed like rigidboday?

 

Your character needs to have the ragdoll components attached. Then you would just make all the rigidbodies non-kinematic and disable animation and IK.

 

how to disable animation and IK. ?

 

Hi,

character.GetComponent<Animator>().enabled = false;
character.GetComponent<FullBodyBipedIK>().Disable();

 

Hi all,

Working on the OVR demo, I managed to dramatically improve the Head Effector, please get the updated package from here. I added some spine/neck bending parameters that work much better than the CCD pass solution did and you can now rotate the body by rotating the head effector.

I updated the OVR demo build as well, managed to get much better accuracy with the new head effector, so if you got Windows and DK2, please give it a try.

Cheers,
Pärtel

 

Awesome, will check out the new package asap! : )

 

how i animate to this position from default position

did i have to use same method like this

1. public Transform target; // Target of the body effector
2. public Vector3 offset; // Offset of the target when right arrow is pressed
3. public float smoothTime = 0.2f; // Time to blend in/out the offset
4. 
   
5. private Vector3 defaultLocalPosition;
6. private Vector3 t, tVel;
7. 
   
8. void Start() {
9. defaultLocalPosition = target.localPosition;
10. }
11. 
    
12. void LateUpdate() {
13. // Smoothly interpolate t towards offset when the right arrow is down
14. t = Vector3.SmoothDamp(t, (Input.GetKey(KeyCode.RightArrow)? offset: Vector3.zero), ref tVel, smoothTime);
15. 
    
16. target.localPosition = defaultLocalPosition + t;
17. }

if i use this i have to have 7 offset; values is there is another way to animate like this

 

Hey Partel,

I've got a problem with Full Body Biped IK component, when i add it and run the game, my character's arms mess up, one get's twisted, the other one looks wierd. In scene, there's two red squares on arms bones... When i click on the red square it says: "The limb is completely stretched out. Full Body Biped IK does not know which way the limb should be bent. Please rotate this bone slightly in it's bending direction." in the debug console. I don't get it, what bending direction, how would i rotate it, it would mess everything up... What do i do to make it work normally ? btw. all the other bones are normal, and i can't send a picture, i don't want anyone seeing my project.

 

I saw this in one of the early tutorials. If you have a T-pose with the arms straight, Final IK does not know which way the arms are supposed to rotate. So you must bend the arms a little in the right direction. Use your own arms as an example, since your arms cannot bend in the wrong direction! That should give Final IK the hint it needs.

 

This seems rather interesting, I will try it with my DK2
I would like to ask for advice if possible, I am not sure how to do this yet, and checking if final IK will help (I think so probably ), I want a human's head to follow an object whereever it goes in a scene so it looks like the human is always looking at the moving object, can this be achieved, I know how to rig the human with IK as I have done that before, but can I then use a standard smoothlookat unity script to follow the object, or how could I approach that? Any advice would be much appreciated.

 

Actually can I use AIM IK for tracking head to moving object?

 

You could animate the 7 body target positions with Unity's Animation Window in play mode, then use Mecanim to blend between them.

Hi,
OnePxl is right, please take a look at this video from 1:50 to see how exactly to solve this. Don't worry about messing up your character, animation will overwrite it's pose anyway so it doesn't really matter how the bones are rotated in the editor.

Hi,
Yes, you can do it with both AimIK and LookAtIK components, whichever works for you best.

AimIK rotates any hierarchy so that a child of that hierarchy (the "Aim Transform") ends up facing the target, it is a heuristic iterative solver. LookAtIK is an analytic solver that was designed specifically for biped characters, but essentially both can do the job.

Best Regards,
Pärtel

 

Could I ask if you make the source available for FinalIKOVR?

 

Yes, but once it's ready and properly organised.

 

Ok, good stuff about DK2 looks very nice!
I just tried AIM IK on my human model after reviewing the tutorial video, I want it to follow a gameobect, set the bones and aim target but it does some funny spine bending see screenshot:


I have a rigidbody on the human model but even if I take it off the poor guy is doing some crazy houdini moves , am I missing something obvious?

 

Yes, the Aim Transform (purple cone) should not be the object to follow, it should be the Transform that you need to follow the object, in your case the head. Also make sure "Axis" is the local axis of the head facing forward.

 

Horray, that works! Thanks Partel, awesome work!

 

Partel
Your Final IK asset is great but I have had an impossible time creating hands for my Character for use in the Interaction IK use . When I have tried to copy the hands of my character in the play mode and move them down to the object that I want to interact with and then delete the copy of the Character the hands I am trying to create disappear also?
I have tried to follow the Tutorial many times and stepped through it many times and attempted to write down what I thought I saw going on in the video; but as simple as this sounds just haven't gotten working hands to grasp objects.......
Confused..............
Ron

 

Hi, Ron,

The hands disappear because the skinned mesh gets deleted when you remove the rest of the hierarchy. But the hand bones are actually still there. If you add the InteractionTarget component to the copied hand, you'll see the hand bone hierarchy. Make sure to also add the HandPoser script to the real hands (not the duplicate ones) of the character and also a HandPoser weight curve in the InteractionObject (if you have the latest Final IK).

Oh and you don't need to copy the hands from play mode, you could just as well make a duplicate in the Editor. I dont know why I did it in play mode in the video, probably a classic case of over thinking.

 

Alright, i'll try it out... Oh, and thanks, i tought i'd mess up bones mapping and rigs by rotating bones in editor, but i guess you're right about that. Thanks, i'll post another reply to let you know if it solved my issue.

 

Thanks Partel
I will try that again ....................hope that does it as I have many uses for this Asset and I bought it early on because I could see the strength in it and the many uses for my needs.............
You sure take care of your users and that is well appreciated by me and I am sure all of us!
Ron

 

Hi, I do some character animations in Unity.
I would like to see the results of the IK while animating the targets in Editor.
Would it be possible to run the IK solving in the editor maybe with [ExecuteInEditMode]?
A not supported and hacky solution would work for me, if there is one.

 

Hi, Fabian.

You can animate just the same in play mode, it records nicely and you can use IK. I have avoided ExecuteInEditMode knowingly for the risk of messing up your characters and scenes irreversibly.

 

Ok, Thank you!

 

Not sure if you might be interested how I wanted to use your asset, but see video of my radio control flight simulator, I'm using aimik to make the pilot look wherever the rc aircraft goes:

 

Partel
I did try your suggestions and did manage to see the hand bones attached to my ball object being used as the Interaction Object but could only seem to create the duplicate hand in the play mode after setting LHand bone effector Position Weight and Rotation Weights to 1 then could manipulate the Character and position the hand, I could parent the duplicate hand to the interaction object Ball. Two problems still get me and haven't figured the way around this yet one I copied the Interaction Target component to the hierarchy copied hand bone and added the HandPoser script to the original Characters LHand bone but the character hand misses the target posed hand bones when I enable the screen prompt Interact with Ball ? And the biggest problem is I have only been able to do this in Play Mode not editor mode and then I can't save any of the changes due to not being able to save in Play???? I have to be missing something so simple along the way.............
Ron

 

Hi Partel,
thanks for an awesome plugin

I have a question about rotation limits, I assigned some on the spine of my creature - together with an aim solver.
When I run, some of the angle constraints get disabled. Is this expected?
I tried to maximize all the angles but it is still happening. If I remove the aim they do stay enabled..

Thanks for any help!
Seb

 

Partel
I got it working now the key is it must be done in the editor mode and tweaking of hand position can be done later by selecting the created hand bone which is associated to the game interaction object...........the confusing thing now is when I am positioning the hand it stretches the arm way out and the body doesn't follow before I make a duplicate also I duplicated only the hand of the hierarchy bones then no need to delete anything?!
Thanks for all the help
Ron

 

Hi Hi, any plans to update the demos to be Unity 5.0 ready

Much obligedness.

 

Hi!

Of course I'm interested to see what you guys are up to with Final IK. Nice work with the RC planes man!
Perhaps decrease the weight of lower spine bones a bit in the AimIK inspector, I don't think people bend their backs so much when they look up.

Hi, Ron,

I'm guessing, as you are doing all that work in play mode, the InteractionObject will not find the InteractionTarget, as it is only looking for it in Start(). So please follow these instructions:

1. Have your character ready with FBBIK, Interaction System and HandPoser on the hand bone.
2. make a duplicate of that character in the editor, move it a little so you know which is which.
3. pose the hand bone of the duplicate character to the ball. Don't worry about dislocating the joint, no need to get the entire arm right, just move the hand bone. You will delete the rest of the character anyway.
4. reparent the duplicate hand bone to the Interaction Object, delete the rest of the character.
5. add the InteractionTarget component to the severed hand. Make sure the tag of that game object is empty or is matching the "Target Tag" parameter of the InteractionSystem component on the character.
6. Play the scene, start the interaction

Hi,

Yes, it is expected. Thing is that AimIK is disabling them to take control of their updating order and timing. They will be updated when AimIK updates.

Hi, I have already tried most of them in 5.0, seem to work without problems. Have you found one that doesn't?

Cheers,
Pärtel

 

Hmm... it was actually a bit of a weird "corner situation" I suppose in retrospect. More about the assets themselves.

Your demos worked perfectly. I was tired when I wrote that - my apologies.

I suppose I should have said more accurately "are you planning to update the demos to use the new assets when 5_0 comes out, to use the 5_0 Sample Assets packages scripts and parts". Or the opposite, will you veer toward the oldest - and non-updated models from Unity "yesteryear". Or even better, are you going to avoid using anything from the Sample or Standard Assets packages in the future?

I already covered this with you once about the Ethan model. Basically it boils down to a good old fashioned Dependency HELL situation with the model versions in the Standard, (and now) Sample Assets packages.

Here is an example: I was fiddling around the other day with the Dummy model from the demo (yes, I know the dummy model is certainly not the point of your package, nor the point of the demos, and possibly is not even yours, I think it's an old unity one) and /somewhat/ stupidly - but more in an exploratory vein - just dumped an entire 4_6 project into 5_0. After a good long while of foot tapping and watching progress bars (and a reboot, and manually stripping out the old dead Assets folders that made the convertor barf) 5.0 did eventually load my FinalIK project

No problem running your demos (yup, your stuff is great) (however the dummy model when used with the /new/ 3rd person controller scripts required a tiny bit of love to get it to stick to the floor: not your stuffs problem, the Assets again). However some of the avatars for the dummy were mangled, which I could not understand since there ARE NO new Dummy avatar definitions in the new Sample Assets package, No Dummy model to overwrite any other things I could think of. Honestly I just could not understand why it malformed the avatar definition. Now, short of going back through the avatar setup page ( for no obvious gain as I looked at it and it looked fine) I ran out of ideas on fixing them. "Humanoid Idle" was the only definition which seemed unmangled, and I ended up with that.

This also happened with the Ethan model that is used by a bazzillion demos out there too. The new versions skinning is significantly different enough to the the previous versions to make for some horrifically malformed monstrosities when trying to simply port from one versions of the assets to the next. There is no quick way to fix this short of ripping the guts out of the your current character setup and just shovelling the new one in by hand (that I have found so far)



So yeah, given that there is currently issues with a) changed namespaces to prevent collisions b) the meta data not matching the actually imported locations so tons of errors [which IMHO should be reported as warnings] c) weirdly mangled avatars in unexplainable ways d) horribly mangled skinning changes d) subtle differences in the way scripts act (the car will not go above 3rd gear when updated, your feet will float off the floor without a slight Ground Seek Length increase, blah, blah, blah), parameters in Third Party Animator Controller have changed to just be extra helpful, et cetera,

Can I put you down on the "I faithfully promise to avoid using Samples assets in my demos" list

There is a lot of heartache and time to be wasted I think around this area, especially for noobs who are like "WHUT DID I DO WRONG!!!!!!!!!!!!!!! X_________x ????? ", but they didn't do anything "wrong". Support agony I would say.


Cheers.

 

Actually I have already taken out Ethan from the work-in-progress next version of FinalIK, so yes, you can put me down on the "I faithfully promise to avoid using Samples assets in my demos" list. Sorry for the headaches and for now, you can use FinalIK with a project already containing Sample assets if you don't include the RootMotion/FinalIK/_DEMOS folder if you import.

 

Yeah , this was absolutely not actually about the solution, (which is awesome by the way any future readers of this post) just about how to stop the dependency hell spreading.

thanks mate

 

Thanks for all the help Partel
I got my Fuse model Character modified and picking up the a ball InteractionObject with either the left or right hands now and also running around in my own terrain carrying the ball for 15 seconds then it drops the ball back to the original position also have FullBody IK and Grounder IK utilized so far so good.......
Took me awhile to catch on and am still trying to figure it all out; but is slowly making more sense! Also a thank you to
sschoellhammer for his little note this morning !
Still working on how to set up the Door open and Button press objects but had to tackle the ball interaction first then move forward with more challenges!
Ron