fixes

Author: AidanCaruso

packages/engine/src/avatar/functions/avatarFootHeuristics.ts

@@ -23,11 +23,9 @@ All portions of the code written by the Ethereal Engine team are Copyright © 20
 Ethereal Engine. All Rights Reserved.
 */
 
-import { getState } from '@etherealengine/hyperflux'
 import { Euler, Quaternion, Vector3 } from 'three'
 import { V_010 } from '../../common/constants/MathConstants'
 import { Engine } from '../../ecs/classes/Engine'
-import { EngineState } from '../../ecs/classes/EngineState'
 import { getComponent } from '../../ecs/functions/ComponentFunctions'
 import { UUIDComponent } from '../../scene/components/UUIDComponent'
 import { TransformComponent } from '../../transform/components/TransformComponent'
@@ -102,13 +100,10 @@ export const setIkFootTarget = (stepThreshold: number, delta: number) => {
     }
 
     //interpolate foot to next step position
-    ikTransform.position.lerp(nextStep[key].position, getState(EngineState).deltaSeconds * (minSpeed + playerSpeed))
+    ikTransform.position.lerp(nextStep[key].position, delta * (minSpeed + playerSpeed))
     //set foot y to player y until we have step math
     ikTransform.position.y = playerTransform.position.y + 0.1
-    ikTransform.rotation.slerp(
-      quat.copy(playerTransform.rotation).multiply(offset),
-      getState(EngineState).deltaSeconds * (minSpeed + playerSpeed)
-    )
+    ikTransform.rotation.slerp(quat.copy(playerTransform.rotation).multiply(offset), delta * (minSpeed + playerSpeed))
   }
 
   lastPlayerPosition.copy(playerTransform.position)

packages/engine/src/avatar/systems/AvatarAnimationSystem.ts

@@ -205,10 +205,7 @@ const execute = () => {
 
     //right now the only times we want to be using inverse kinematics is when we're in xr mode,
     //or when we're running our own leg calculations for mocap
-    if (
-      (motionCaptureRigComponent && !MotionCaptureRigComponent.solvingLowerBody[entity]) ||
-      getOptionalComponent(entity, XRRigComponent)
-    ) {
+    if (motionCaptureRigComponent || getOptionalComponent(entity, XRRigComponent)) {
       hipsForward.set(0, 0, 1)
 
       const uuid = getComponent(entity, UUIDComponent)
@@ -262,8 +259,9 @@ const execute = () => {
           )
         )
       } else {
-        leftFootTarget.blendWeight.set(1)
-        rightFootTarget.blendWeight.set(1)
+        /**todo: fix foot heuristic function causing ik solve issues */
+        //leftFootTarget.blendWeight.set(1)
+        //rightFootTarget.blendWeight.set(1)
       }
 
       const transform = getComponent(entity, TransformComponent)

packages/engine/src/mocap/MotionCaptureSystem.ts

@@ -40,7 +40,7 @@ import { NormalizedLandmarkList } from '@mediapipe/pose'
 import { addDataChannelHandler, removeDataChannelHandler } from '../networking/systems/DataChannelRegistry'
 
 import { getState } from '@etherealengine/hyperflux'
-import { VRMHumanBoneList } from '@pixiv/three-vrm'
+import { VRMHumanBoneList, VRMHumanBoneName } from '@pixiv/three-vrm'
 import {
   BufferAttribute,
   BufferGeometry,
@@ -151,7 +151,17 @@ const execute = () => {
     for (const boneName of VRMHumanBoneList) {
       const localbone = rigComponent.localRig[boneName]?.node
       if (!localbone) continue
-
+      if (!MotionCaptureRigComponent.solvingLowerBody[entity]) {
+        if (
+          boneName == VRMHumanBoneName.LeftUpperLeg ||
+          boneName == VRMHumanBoneName.RightUpperLeg ||
+          boneName == VRMHumanBoneName.LeftLowerLeg ||
+          boneName == VRMHumanBoneName.RightLowerLeg ||
+          boneName == VRMHumanBoneName.LeftFoot ||
+          boneName == VRMHumanBoneName.RightFoot
+        )
+          continue
+      }
       if (
         MotionCaptureRigComponent.rig[boneName].x[entity] === 0 &&
         MotionCaptureRigComponent.rig[boneName].y[entity] === 0 &&

packages/engine/src/mocap/solveMotionCapturePose.ts

@@ -236,24 +236,26 @@ export function solveMotionCapturePose(
       VRMHumanBoneName.RightUpperLeg,
       VRMHumanBoneName.RightLowerLeg
     )
-    solveFoot(
-      entity,
-      lowestWorldY,
-      landmarks[POSE_LANDMARKS_LEFT.LEFT_ANKLE],
-      landmarks[POSE_LANDMARKS_LEFT.LEFT_HEEL],
-      landmarks[POSE_LANDMARKS_LEFT.LEFT_FOOT_INDEX],
-      VRMHumanBoneName.RightUpperLeg,
-      VRMHumanBoneName.RightFoot
-    )
-    solveFoot(
-      entity,
-      lowestWorldY,
-      landmarks[POSE_LANDMARKS_RIGHT.RIGHT_ANKLE],
-      landmarks[POSE_LANDMARKS_RIGHT.RIGHT_HEEL],
-      landmarks[POSE_LANDMARKS_RIGHT.RIGHT_FOOT_INDEX],
-      VRMHumanBoneName.LeftUpperLeg,
-      VRMHumanBoneName.LeftFoot
-    )
+    /**todo: figure out why we get bad foot quaternions when using solveFoot */
+    //solveFoot(
+    //  entity,
+    //  lowestWorldY,
+    //  landmarks[POSE_LANDMARKS_LEFT.LEFT_ANKLE],
+    //  landmarks[POSE_LANDMARKS_LEFT.LEFT_HEEL],
+    //  landmarks[POSE_LANDMARKS_LEFT.LEFT_FOOT_INDEX],
+    //  VRMHumanBoneName.RightUpperLeg,
+    //  VRMHumanBoneName.RightFoot
+    //)
+    //solveFoot(
+    //  entity,
+    //  lowestWorldY,
+    //  landmarks[POSE_LANDMARKS_RIGHT.RIGHT_ANKLE],
+    //  landmarks[POSE_LANDMARKS_RIGHT.RIGHT_HEEL],
+    //  landmarks[POSE_LANDMARKS_RIGHT.RIGHT_FOOT_INDEX],
+    //  VRMHumanBoneName.LeftUpperLeg,
+    //  VRMHumanBoneName.LeftFoot
+    //)
+
     //check state, if we are still not set to track lower body, update that
     if (!MotionCaptureRigComponent.solvingLowerBody[entity]) {
       MotionCaptureRigComponent.solvingLowerBody[entity] = 1