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

No no, that's the blend parameter of the blend tree that just blends between the animations. Click on that "Blend Tree", then on the right side in the Inspector you can the speed of each motion in that blend tree. Looks like a little clock icon.

Pärtel

 

Ok, cool - many thanks

 

Ok, I like to have the full IK but I don't like to have the character's feet slipping from the navmesh. Is there a way to prevent this with an option in Final IK?

 

Hey,
Sorry, no, it's not something the solver can do. If there's nothing to step on, the foot will have to go down. Otherwise if the foot moved slowly towards the edge and over it, the raycasting would make it smoothly slide off the platform and then just snap back up when no raycast hit found.
The only way to solve it would be to make the collider bigger somehow.

Pärtel

 

Hi Partel

I thought it would be cool to do a quick integration of the FinalIK Grounder Bot + Apex Path with Height Navigation, and it seems to work and it looks quite good, particularly the way the Bot deals with angled surfaces and kind of hangs when walking on the edge of a platform.

Here's a 1 minute video if you're interested: https://dl.dropboxusercontent.com/u/10212162/FinalIK_ApexPath.mov

cheers

Nalin

 

Hi Partel

New year greetings

I am trying to add left and right sound footsteps to the MechBot and wondering what is the best way to do this?

I notice that the grounder has an OnPostGrounder delegate which the GrounderIK uses to solve the IK for each leg, but I need to trigger the sounds is when each foot/ankle comes into initial contact with the Terrain. I was thinking maybe to add a sound field for a LimbIK and trigger that at an appropriate time?

Please can you advise on the best way to do this?

cheers

Nalin

 

I think you work is great, but I'm a newbie with a really small budget because I have no income from game development yet. Because of that your assets are a little expensive for my budget right now so I was wondering if a discount is possible towards the purchase of PuppetMaster if I buy Final IK first, or vice-versa.

If it's not possible is ok, I have cero experience in game development and for me to be able to come up with something like this will take ages of learning and frustration. If it's not possible, I'm getting nice value for the money at the price it is right now anyway. I guess it won't hurt anybody to ask first right?

I hope this post is no offense for the developers or any other member. Thanks for reading!

 

Hey, Happy New Year to everyone!

Hey, that looks great, thanks for sharing the vid!

The Grounder doesn't actually even know when the foot is in contact with the ground. But since you are using animation, you can add events in the animation importer, where a foot hits the ground, and use them to play the sound. You can use grounder.solver.legs[index].isGrounded to know if there is ground beneath the foot within the "Max Step" distance.

Hey,
I don't have any tools in the Asset Store Publisher backend to offer individual discounts, sorry.

Pärtel

 

Happy New Year everyone!

Ran into an issue when spawning particle effects with Aim IK applied.
Particles will spawn as if Aim IK isn't being applied.
Its kinda hard to explain so Ive attached some pictures





Any insight into this matter would be greatly appreciated

 

Hey,

it is unfortunately impossible to change when the ParticleSystem updates in Unity.
It does so after Mecanim has applied the animation but before LateUpdate in which IK runs so it will spawn from the animated position no matter how we change it in LateUpdate.

One solution would be to make a new empty gameobject to where the ParticleEmitter is, then unparent the ParticleSystem and make a script that just set's it's position and rotation to match the empty gameobject in LateUpdate. That script needs to run after Final IK so add it to a higher value than Final IK scripts in the Script Execution Order. The problem with that is that your particle position will lag 1 frame behind, but in most cases it is not important.

Another solution would be to disable Animator and IK and update them in Update();
Just disable the components and update them like so:

Code (CSharp):

1. animator.Update(Time.deltaTime);
2. ik.solver.Update();

Disabling the Animator and updating it in Update might interfere with some other things or not work well with your animation code though.

Pärtel

 

hi.

I downloaded "EffectorAnimatorPreview.asset" but I get errors.

 

Thanks Pärtel!

Appreciate all help

 

Hey,

That preview package is very old, a WIP that I have not worked on for almost 2 years. The last Final IK version it worked with was 0.3 or something. But if you think you could use, I got rid of the errors and re-uploaded the package.

Pärtel

 

I am interested in having a head effector, as some others have mentioned. I'm using IK for arm movements from hand position, but we also have head position and rotation from a VR headset. Until .5 comes out, is there a way to do this with the look-at IK? Do you have an estimate for when you think .5 may be done?

 

Hey, you have stumbled upon some very old information, we are already at version 1.2
The head effector is there, check out the "Head Effector" demo scene and also the 3 VR demos.

Cheers,
Pärtel

 

Hey,

It's because in your script, you disable the FBBIK component and call ik.solver.Update() only on the condition of

Code (CSharp):

1. Input.GetKey(KeyCode.F) && dist  < 2.0f

AnimationWarping extends from OffsetModifier (like Inertia, Amplifier, HitReaction, Recoil and others) so it applies it's offsets on the IK only when it is updated. So thats why the warping only takes effect when you hold down F and dist < 2.0f.

Cheers,
Pärtel

 

Looks like the hand IK effector is stuck in where it last was and the effector weight still > 0.
Writing ik.enabled = false here does not help, the component is disabled already in start and it's solver updated by ik.solver.Update();
So you either need to stop calling it or blend the hand effector weight back to 0.

Pärtel

 

I'm using offset pose for carrying a one handed item exactly as you've demonstrated in your Interaction System
Part 2 tutorial video. It works great but the rotation of the hand and object aren't what I want. What would you recommend for offsetting rotation? Thanks!

Edit : I ended up doing this -

ik.solver.rightHandEffector.rotation = Quaternion.Euler(handRotation);
ik.solver.rightHandEffector.rotationWeight = .8f;

Now I just need to figure out how to make it use the elbow bend goal in this situation

 

Hey,

I'm not sure I understand,
can you make a screenshot of the wrong rotation please?

You can use an elbow bend goal if you assign an object as the "Bend Goal" for the limb in the FBBIK inspector and set "Bend Goal Weight" to 1.

Cheers,
Pärtel

 

Hi,

I'm having issues getting Final IK working with UMA2... and was hoping it might be something simple that I have missed.

I've created the character dynamically in UMA.... I then use the example from picking up the sphere 2 handed scene... which is pretty simple. Adding the interaction object etc... when I click on "Pickup Sphere" my character reaches over and picks up the Sphere ok... but then my UMA character starts sliding around the plane on his own whilst holding the ball.

It is always a random direction as well... I obviously don't want him picking up the ball and then that causing him to move around the scene... I just want him to stand there holding the ball as per the example.

I've torn my hair out trying to figure out what is causing it (The ball isKinematic...) Does anyone have any idea what could cause this?

Cheers
Frank

 

Hey, maybe the ball is colliding with the character collider? Set them to different layers and disable collision between them in the Edit/Project Settings/Physics/Layer Collision Matric to make sure if this is indeed the case.

Cheers,
Pärtel

 

Thank you.

I am now using the FBBIK Head Effector script, and Full Body Biped IK for hand IK, with a head mounted display and hand held controllers. I find that slightly turning the head left or right causes the whole body to shift at the hips. I would like to keep the movement as limited to the head and neck as possible. The avatar and user should be seated. I have adjusted the variables in the inspector with this in mind, but the body still moves a lot with the head. Are there any tutorials on the head effector, or demos with seated avatars, that could help me?

Thanks again.

 

Hey,

Just weigh in the body effector to fix the hips and lower spine. If that's not enough, try also increasing the weight of shoulder effectors, but that will start decreasing accuracy.
Also, try decreasing the weight of the "Bend Bones". Expand the array and there's a slider for each bone.

Pärtel

 

hi!
how to limit the turning of arms and legs in fullbodybipedik? rotation limit works only when the hands and feet dont have position weight Oo on target

 

Hey,
The rotation limits work with CCD, FABRIK and AimIK solvers, FBBIK is a different kind of solver. Applying rotation limits on an animated character is usually not a good idea, you'll get snaps from one end of the limit to another and stuff like that. With FBBIK you should limit the position of the end effector instead, make sure it doesn't go where it is not supposed to go, like inside the body. Also, you can use the bend goals to enforce an elbow bending direction.

Pärtel

 

I'm trying to use the aimIK to have my character swing the sword aimed lower or higher based on the enemy height. But I'm having a bit of trouble when the spine is rotating for the animation. The aimIK forces the spine to keep facing the target's direction where I'm looking to get a more vertical lock and allow the spine to rotate with the animation. I'm not sure if this is even possible to make this look correct.

 

I found the boxing demo and I have my first swing working pretty well. I'm wondering if the pin needs to be set separately for each animation. Also should the pin be the position of the last joint finishing position at the end of the animation? I think my main issue is still that the animation makes the character face the opposite direction during the attack animation.

 

I've also found your swing example now and I have it mostly working with my character but it still looks strange. I think the biggest thing that's confusing me is the pin, I don't understand how it works and why.

 

Hey,

The Pin is just a marker that indicates where the stick hits the "target" in the animation clip. You can just play the animation normally and pause it when the stick is supposed to hit something and place the pin there.
So the "Swing Target's" offset from the pin will be a job for AimIK to solve.

You can also tweak the individual bone weights in AimIK to improve the looks, adjust how much each bone in the spine will bend.

Cheers,
Pärtel

 

Hi Pärtel,

just updated to 1.2 and I'm getting this error: "Trying to update IK solver before initiating it. If you intended to disable the IK component to manage it's updating, use ik.Disable() instead of ik.enabled = false, the latter does not guarantee solver initiation."

And indeed, my FBBIK solver isn't updated anymore. This seems to have something to do with Disable() now being deprecated. I changed solverXY.Disable() to ....enabled = false everywhere (this happens early, during Awake() or Start()), but that seems to mean that the solver is never initialized.

So my question is, how do I initialize it manually (the solver is a component on my character)?

 

Hey, glad to see you're still around
There was a bug that didn't initiate IK components when they were disabled in Awake, but it has been already fixed in 1.3 which is submitted and pending review.

Cheers,
Pärtel

 

Hell yeah. And this will be the year where everyone falls in love with my final IK-supported virtual dog

In the meantime, could you just tell me the correct way of manually initializing the component? Call Initialize with reference to transform?

 

Code (CSharp):

1. ik.solver.Initiate(ik.transform);

Can't wait to see the dog

 

Is it possible to use FinalIK Grounder on a quadruped and have it walk around a spherical object? I have code to simulate the gravity around the spherical object so it is always stuck on the object's surface no matter where it is on the surface, but I'm not sure how to align the model to the surface so it is oriented properly. Then I thought of FinalIK Grounder, which keeps the feet placement precise. However, would this still work even if the character were upside down on a sphere? I'll experiment with it myself when I get to my development computer, but I was just curious if anyone knew if this was possible before I even make the attempt.

 

Hey, it currently works around a sphere as long as you keep "Root Rotation Weight" at 0, because that rotates the root of the quadruped around it's X axis and that does not work upside down.
But if you change the code in GrounderQuadruped.cs private void RootRotation() {} to:

Code (CSharp):

1. private void RootRotation() {
2.             if (rootRotationWeight <= 0f) return;
3.             if (rootRotationSpeed <= 0f) return;
4.  
5.             solver.rotateSolver = true;
6.             forelegSolver.rotateSolver = true;
7.            
8.             // Get the horizontal rotation of the character
9.             Vector3 tangent = characterRoot.forward;
10.             tangent += Vector3.Project(tangent, gravity);
11.  
12.             Quaternion horizontalRotation = Quaternion.LookRotation(tangent, -gravity);
13.  
14.             // Get the direction from root hit to forelegs root hit in the space of the horizontal character rotation
15.             Vector3 hitDirection = forelegSolver.rootHit.point - solver.rootHit.point;
16.             Vector3 hitDirectionLocal = Quaternion.Inverse(horizontalRotation) * hitDirection;
17.            
18.             // Get the angle between the horizontal and hit directions
19.             float angleTarget = Mathf.Atan2(hitDirectionLocal.y, hitDirectionLocal.z) * Mathf.Rad2Deg;
20.             angleTarget = Mathf.Clamp(angleTarget * rootRotationWeight, minRootRotation, maxRootRotation);
21.            
22.             // Interpolate the angle
23.             angle = Mathf.Lerp(angle, angleTarget, Time.deltaTime * rootRotationSpeed);
24.            
25.             // Rotate the character
26.             characterRoot.rotation = Quaternion.Slerp(characterRoot.rotation, Quaternion.AngleAxis(-angle, characterRoot.right) * horizontalRotation, weight);
27.         }

... and add

Code (CSharp):

1. public Vector3 gravity = Vector3.down;

Then you can use the root rotation if you update the gravity vector.

Cheers,
Pärtel

 

Btw, Final-IK 1.3 is available on the Store.
Bunch of fixes and improvements, see the release notes.
If you also have PuppetMaster, make sure to update to PuppetMaster 0.3 simultaneously.

Cheers,
Pärtel

 

Thanks, Partel. I'll definitely give this all a try.

 

Hey Pärtel another question. In the store-description of Final IK, you mention that "Full Body IK" part under "Future plans". It's been sitting there for a year I think, and I remember you mentioning it in 2014 already. Are you still working on that? It would make my life so much easier - getting a humanoid FBBIK to work on a dog (which has longer bone chains on its limbs) is a pain...

 

I have run into the same issue as SVTiare Tom

Red lines are from the eye transform in Update()

Green lines are from the eye transform in a coroutine

Blue lines are from the tip of the barrel (I have it selected - the active gizmo thingy) fired by OnStateEnter in a state machine behavior for shot animation in the animator .

And all FinalIK stuff in LateUpdate().

I notice when I turn off the FinalIK Component everything lines up perferctly (both the eye and barrel transforms)

I am trying to get the blue line's start position to match the tip of the barrel closer. And if possible the green lines one too.

Could you please share any example script(s) of how you would achieve this using the technique you mentioned below.

Thanks a lot.

 

Hi Pärtel, thanks for the update! I'm having a few issues with it though. I deleted the "plugin" folder in my project, downloaded and imported the new version and got a few errors that prevented me from running play mode. I made a new project, redownloaded FinalIK and imported it into the empty project. Seemed to work. I opened my real project again, deleted the "plugin" folder again, exited unity, copied the plugin folder from the fresh project over in the windows explorer, launched unity again and opened my project. This time no errors prevented me from compiling. I don't understand why.
I opened the mech spider demo scene and hit play. It works, but I get a lot of errors in the log window like "Invalid AABB result", "Invalid AABB a", "IsFinite(outDistanceForSort)" and so on. I checked the demo in my clean project that has nothing but the fresh FinalIK 1.3 in it and I get the same errors. So I'm hoping this is not something that I did wrong?!
Can any other users confirm? Im using win7 64 bit, Unity 5.3.1f1 personal edition.
I have yet to really use FinalIK, because I'm not yet in the phase of my project where I'll need it. So I can't know for sure that older versions worked perfectly on my system. There might be incompatibilities that have been present before and/or unity bugs. Let me know if I can help you track this down.

 

Hey guys, sorry for the delay, I'm in half way across the globe, in California so support might be slow this week.

Yes, I've been dreaming of a generic FBIK version for a long time, have not had the time to create one yet though.
I've thought, there's no real point of creating one if it's just gonna be the same as FBBIK, but just a pain to set up.
I've been experimenting with some new techniques instead, maybe I'll find a better solution. In the meanwhile, FBBIK can be used on dogs, you can just skip one of the 4 bones in the limbs.

Hey,

If you fire the blue line in OnStateEnter, then AimIK has not applied yet. You'll need to raise a flag in OnStateEnter and execute the code after AimIK is done.
You can do that by registering a delegate to get a call from AimIK in Start:

Code (CSharp):

1. void Start() {
2. aimIK.solver.OnPostUpdate += AfterAimIK;
3. }
4.  

Then in that function do the stuff you need to do:

Code (CSharp):

1. void AfterAimIK() {
2. // AimIK is done, draw the blue line now
3. }

Hi!
That is one of the most epic bugs with ParticleSystems that we have seen so far.
I think it might have been fixed in the latest patch release.

Cheers,
Pärtel

 

Some people reports p2 fixed it for them, not for me. Unity promised it to be fixed completely in 5.3.2p1, this or next week.

 

Awesome, I wasn't asking the question but I'll need this exact thing I believe .

Thanks for the other answer as well! Sorry to have bothered you about a Unity bug. This is the first time I have encountered it. I hope updating Unity fixes this. Have fun in California!

 

Hi,

Can you please help me. I have spent the last 2 days trying to wrap my mind over my problem. I am using AimIK combined with FBBIK & FBIKHandsOnProp.cs

I want to have FBBIK turned on all the time so my AI can get hit and has a "hit reaction" but I am stumped on how to engage and disengage the FBIKHandsOnProp.cs script when I change animations(such as when the AI equipts his rifle
& holsters it)

If I have FBIKHandsOnProp.cs on my gameobject and start with FBBIK disabled, I wont get hit reactions. Then if I manually turn on FBBIK after my rifle is equipted the FBIKHandsOnProp.cs script kicks in and everything works. But this doesn't help me because I won't have hit reactions in IDLE & other states. Because I can't figure out how to engage/disengage the FBIKHandsOnProp.cs script.

What is the process for this procedure?

 

Thanks, that worked.

I have never used delegates before, just did some reading on them now. I don't fully understand them but I am curious if this method is efficient performance wise? Isn't this delegate bombarding any subscribed scripts with data all the time? Versus requesting the info only when I need it?

 

They're just about nearly the same as direct calls performance wise. OnPostUpdate gets called each time a solver is done updating so it's once a frame. If you don't need it anymore, you can always unregister with -=

Cheers,
Pärtel

 

Yeah that's what I'm doing right now, but of course this stiffens the joint which is skipped. And in the forelegs, this concerns 2 joints because quadrupeds need at least 5 articulated joints in the forelegs to look realistic, so the overall result only looks OK with small movements. So for me, the problem isn't that I don't have a super-generic FBIK solution, but that FBBIK only works with short bone chains. Is that something you would consider changing in the future?

 

I just bought this asset. I've been amazed by it for a while now, but I'm currently working on my first serious project(a modern missile command clone) and though I don't know just how much usage I'll be able to get out of this asset, I'm sure it will be there somewhere, I'm thinking in some of the enemies, aiming before shooting, and maybe some boss tentacles or something. And then I'll have it for other projects where it may be more useful. Once I get some actual usage I will be able to post a review.