Unity IKControl script

I’ve tried to port a Unity script found here.
Demo here.
It roughly works as expected but not perfect. As I’m totally unfamiliar with Unity I may have missed something or made wrong assumptions.

If someone familiar with Unity could check would be great.

[spoiler][code]
#include “Scripts/Utilities/Sample.as”
#include “Scripts/IKControl.as”

// IK stuff
Node@ upperArmL;
Node@ upperArmR;

float MOVE_SPEED = 1.0f; // Movement speed as world units per second
float MOUSE_SENSITIVITY = 0.1f; // Mouse sensitivity as degrees per pixel

String character = “Jack”;

void Start()
{
SampleStart();
CreateScene();
CreateUI();
SubscribeToEvents();
}

void CreateScene()
{
// SCENE ROOT
scene_ = Scene();
scene_.CreateComponent(“Octree”);
scene_.CreateComponent(“PhysicsWorld”);
scene_.CreateComponent(“DebugRenderer”);

// FLOOR
Node@ floorNode = scene_.CreateChild("Plane");
floorNode.position = Vector3(0.0f, -0.5f, 0.0f);
floorNode.scale = Vector3(100.0f, 1.0f, 100.0f);
StaticModel@ planeObject = floorNode.CreateComponent("StaticModel");
planeObject.model = cache.GetResource("Model", "Models/Box.mdl");
planeObject.material = cache.GetResource("Material", "Materials/StoneTiled.xml");
RigidBody@ body = floorNode.CreateComponent("RigidBody");
CollisionShape@ shape = floorNode.CreateComponent("CollisionShape");
shape.SetBox(Vector3(1.0f, 1.0f, 1.0f));

// ZONE
Node@ zoneNode = scene_.CreateChild("Zone");
Zone@ zone = zoneNode.CreateComponent("Zone");
zone.boundingBox = BoundingBox(-1000.0f, 1000.0f);
zone.ambientColor = Color(0.15f, 0.15f, 0.15f);
zone.fogColor = Color(0.5f, 0.5f, 0.7f);
zone.fogStart = 100.0f;
zone.fogEnd = 300.0f;

// LIGHT
Node@ lightNode = scene_.CreateChild("DirectionalLight");
lightNode.direction = Vector3(0.6f, -1.0f, -0.8f);
Light@ light = lightNode.CreateComponent("Light");
light.lightType = LIGHT_DIRECTIONAL;
light.castShadows = true;
light.shadowBias = BiasParameters(0.00025f, 0.5f);
// Set cascade splits at 10, 50 and 200 world units, fade shadows out at 80% of maximum shadow distance
light.shadowCascade = CascadeParameters(10.0f, 50.0f, 200.0f, 0.0f, 0.8f);

// CAMERA
cameraNode = scene_.CreateChild("Camera");
Camera@ camera = cameraNode.CreateComponent("Camera");
camera.farClip = 300.0f;
cameraNode.position = Vector3(0.0f, 1.2f, 3.5f);
cameraNode.rotation = Quaternion(0.0f, 180.0f, 0.0f);

// VIEWPORT
Viewport@ viewport = Viewport(scene_, camera);
renderer.viewports[0] = viewport;

// BALLS (target position to reach)
Node@ ball = scene_.CreateChild("Ball");
ball.SetScale(0.1f);
ball.position = Vector3(-0.5f, 1.5f, 0.25f);
StaticModel@ ballModel = ball.CreateComponent("StaticModel");
ballModel.model = cache.GetResource("Model", "Models/Sphere.mdl");

Node@ ball2 = ball.Clone();
ball2.name = "Ball2";
ball2.position = Vector3(0.5f, 1.5f, 0.5f);

// CHARACTER & IK CHAINS
if (character == "Jack")
{
	Node@ modelNode = scene_.CreateChild("Character");
	AnimatedModel@ modelObject = modelNode.CreateComponent("AnimatedModel");
	modelNode.CreateComponent("AnimationController"); // Create the animation controller

	modelObject.model = cache.GetResource("Model", "Models/Jack.mdl");
	modelObject.material = cache.GetResource("Material", "Materials/Jack.xml");
	upperArmL = modelNode.GetChild("Bip01_L_UpperArm", true);
	upperArmR = modelNode.GetChild("Bip01_R_UpperArm", true);

	// Take manual control of the arms' bones
	Skeleton@ skel = modelObject.skeleton;
	skel.GetBone("Bip01_L_UpperArm").animated = false;
	skel.GetBone("Bip01_L_Forearm").animated = false;
	skel.GetBone("Bip01_L_Hand").animated = false;
	skel.GetBone("Bip01_R_UpperArm").animated = false;
	skel.GetBone("Bip01_R_Forearm").animated = false;
	skel.GetBone("Bip01_R_Hand").animated = false;

	// Create the IK controllers at the top of the IK chains
	IKControl@ ikLeft = cast<IKControl>(upperArmL.CreateScriptObject(scriptFile, "IKControl"));
	ikLeft.armAxis = Vector3(0.0f, -1.0f, 0.0f);
	ikLeft.target = ball;

	IKControl@ ikRight = cast<IKControl>(upperArmR.CreateScriptObject(scriptFile, "IKControl"));
	ikRight.armAxis = Vector3(0.0f, 1.0f, 0.0f);
	ikRight.target = ball2;
}
else
{
	Node@ modelNode = scene_.InstantiateXML(cache.GetFile("Assets/" + character + "/Objects/" + character + ".xml"), Vector3(0.0f, 0.5f, 0.0f), Quaternion(0.0f, 0.0f, 0.0f));
	modelNode.name = "Character";
	modelNode.SetScale(0.9f);
	AnimatedModel@ modelObject = modelNode.GetComponent("AnimatedModel");
	modelNode.CreateComponent("AnimationController"); // Create the animation controller

	upperArmL = modelNode.GetChild("UpperArm.L", true);
	upperArmR = modelNode.GetChild("UpperArm.R", true);

	// Take manual control of the arms' bones

// Skeleton@ skel = modelObject.skeleton;
// skel.GetBone(“UpperArm.L”).animated = false;
// skel.GetBone(“Forearm.L”).animated = false;
// skel.GetBone(“Hand.L”).animated = false;
// skel.GetBone(“UpperArm.R”).animated = false;
// skel.GetBone(“Forearm.R”).animated = false;
// skel.GetBone(“Hand.R”).animated = false;

	// Create the IK controllers at the top of the IK chains
	IKControl@ ikLeft = cast<IKControl>(upperArmL.CreateScriptObject(scriptFile, "IKControl"));
	ikLeft.armAxis = Vector3(0.0f, -1.0f, 0.0f);
	ikLeft.target = ball;

	IKControl@ ikRight = cast<IKControl>(upperArmR.CreateScriptObject(scriptFile, "IKControl"));
	ikRight.armAxis = Vector3(0.0f, 1.0f, 0.0f);
	ikRight.target = ball2;
}

}

void CreateUI()
{
// Create a Cursor UI element because we want to be able to hide and show it at will. When hidden, the mouse cursor will
// control the camera, and when visible, it will point the raycast target
Cursor@ cursor = Cursor();
cursor.SetStyleAuto(cache.GetResource(“XMLFile”, “UI/DefaultStyle.xml”));
ui.cursor = cursor;
// Set starting position of the cursor at the rendering window center
cursor.SetPosition(graphics.width / 2, graphics.height / 2);

// Construct new Text object, set string to display and font to use
Text@ instructionText = ui.root.CreateChild("Text");
instructionText.text = "Use directional keys & mouse wheel to move the targets\n" "RMB to rotate around the character\n" "F5 to save scene, F7 to load\n" "Space to toggle debug geometry";
instructionText.SetFont(cache.GetResource("Font", "Fonts/Anonymous Pro.ttf"), 15);
instructionText.textAlignment = HA_CENTER;

// Position the text relative to the screen center
instructionText.horizontalAlignment = HA_CENTER;
instructionText.verticalAlignment = VA_CENTER;
instructionText.SetPosition(0, ui.root.height / 4);

}

void SubscribeToEvents()
{
SubscribeToEvent(“Update”, “HandleUpdate”);
SubscribeToEvent(“PostRenderUpdate”, “HandlePostRenderUpdate”);
}

void MoveCamera(float timeStep)
{
// Right mouse button controls mouse cursor visibility: hide when pressed
ui.cursor.visible = !input.mouseButtonDown[MOUSEB_RIGHT];

// Do not move if the UI has a focused element (the console)
if (ui.focusElement !is null)
	return;

// Rotate camera around model when the cursor is hidden (ie when right mouse click)
if (!ui.cursor.visible)
{
	yaw = yaw + MOUSE_SENSITIVITY * input.mouseMove.x;
	cameraNode.RotateAround(scene_.GetChild("Character", true).position, Quaternion(0.0f, yaw * 0.1, 0.0f), TS_WORLD);
}

// Save the scene
if (input.keyPress[KEY_F5])
{
	File saveFile(fileSystem.programDir + "Data/Scenes/IKControlDemo.xml", FILE_WRITE);
	scene_.SaveXML(saveFile);
}

// Load the scene
if (input.keyPress[KEY_F7])
{
    File loadFile(fileSystem.programDir + "Data/Scenes/IKControlDemo.xml", FILE_READ);
    scene_.LoadXML(loadFile);
}

// Toggle debug geometry with space
if (input.keyPress[KEY_SPACE])
	drawDebug = !drawDebug;

}

void MoveTarget(float timeStep)
{
// Read directional keys and move the target to the corresponding direction if they are pressed
Node@ targetBall = scene_.GetChild(“Ball”, true);
Node@ targetBall2 = scene_.GetChild(“Ball2”, true);
Vector3 move = Vector3(0.0f, 0.0f, 0.0f);
if (input.keyDown[KEY_UP]) move += Vector3(0.0f, 1.0f, 0.0f);
if (input.keyDown[KEY_DOWN]) move += Vector3(0.0f, -1.0f, 0.0f);
if (input.keyDown[KEY_LEFT]) move += Vector3(1.0f, 0.0f, 0.0f);
if (input.keyDown[KEY_RIGHT]) move += Vector3(-1.0f, 0.0f, 0.0f);

// Move target in the Z-axis using mouse wheel
if (input.mouseMoveWheel != 0) move += Vector3(0.0f, 0.0f, -input.mouseMoveWheel * 2.0f);

if (!move.Equals(Vector3(0.0f, 0.0f, 0.0f)))
{
	targetBall.Translate(move * MOVE_SPEED * timeStep);
	targetBall2.position = targetBall.position * Vector3(-1.0f, 1.0f, 1.0f);
}

}

void HandleUpdate(StringHash eventType, VariantMap& eventData)
{
float timeStep = eventData[“TimeStep”].GetFloat();

MoveCamera(timeStep);
MoveTarget(timeStep);

// Drag IK effector with left mouse button click
float DRAG_SENSITIVITY = 0.01f;

// Play animation
AnimationController@ animCtrl = scene_.GetChild("Character", true).GetComponent("AnimationController");
if (character == "Jack")
	animCtrl.PlayExclusive("Models/Jack_Walk.ani", 0, true, 0.2);

// else
// animCtrl.PlayExclusive(“Assets/” + character + “/Models/Run.ani”, 0, true, 0.2);
}

void HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
{
if (drawDebug) renderer.DrawDebugGeometry(false);
}

// Create XML patch instructions for screen joystick layout specific to this sample app
String patchInstructions = “”;
[/code][/spoiler]

[spoiler][code]
// Script Object is parented to forearm
// node
// > armIK
// > armRotation

class IKControl : ScriptObject
{

Node@ forearm; //var forearm : Transform;
Node@ hand; //var hand : Transform;
Node@ target; // var target : Transform;
Vector3 armAxis; // Arm rotation axis. Depends on the way the skeleton has been authored.
bool slerp = false;

// float transition = 1.0;
float elbowAngle = 0.0; // ???

Node@ armIK; //private var armIK : Transform;
Node@ armRotation; //private var armRotation : Transform;

float upperArmLength;
float forearmLength;
float armLength;

void Start()
{
forearm = node.children[0];
if (forearm is null)
return;
hand = forearm.children[0];
if (hand is null)
return;

// var armIKGameObject = new GameObject(“Arm IK”);
armIK = scene.CreateChild(“ArmIK”); //armIK = armIKGameObject.transform;
armIK.parent = node; // Parent to shoulder joint (UpperArm)
// var armRotationGameObject = new GameObject(“Arm Rotation”);
armRotation = scene.CreateChild(“ArmRotation”); //armRotation = armRotationGameObject.transform;
armRotation.parent = armIK;
upperArmLength = (forearm.worldPosition - node.worldPosition).length; //Vector3.Distance(transform.position, forearm.position);
forearmLength = (hand.worldPosition - forearm.worldPosition).length; //Vector3.Distance(forearm.position, hand.position);
armLength = upperArmLength + forearmLength;

// Subscribe to the SceneDrawableUpdateFinished event which is triggered after the animations have been updated, so we can apply IK to override them
SubscribeToEvent("SceneDrawableUpdateFinished", "HandleSceneDrawableUpdateFinished");

}

void HandleSceneDrawableUpdateFinished(StringHash eventType, VariantMap& eventData) //function LateUpdate()
{
if (target is null || forearm is null || hand is null || armAxis.IsNaN())
return;

// Store rotation before IK
Quaternion storeUpperArmRotation = node.worldRotation;
Quaternion storeForearmRotation = forearm.worldRotation;

// Upper Arm (node) looks target
armIK.worldPosition = node.worldPosition;
armIK.LookAt(forearm.worldPosition);
armRotation.worldPosition = node.worldPosition;
armRotation.worldRotation = node.worldRotation;
armIK.LookAt(target.position);
node.worldRotation = armRotation.worldRotation;

// Upper Arm IK angle
float targetDistance = (target.position - node.worldPosition).length; //Vector3.Distance(transform.position, target.position);
targetDistance = Min(targetDistance, armLength - 0.00001); //Mathf.Min(targetDistance, armLength - 0.00001);
float adjacent = ((upperArmLength * upperArmLength) - (forearmLength * forearmLength) + (targetDistance * targetDistance)) / (2 * targetDistance);
float angle = Acos(adjacent / upperArmLength); //Mathf.Acos(adjacent / upperArmLength) * Mathf.Rad2Deg;
node.RotateAround(node.worldPosition, Quaternion(angle, armAxis), TS_WORLD); //node.RotateAround(transform.position, transform.forward, -angle);

// Forearm looks target
armIK.worldPosition = forearm.worldPosition;
armIK.LookAt(hand.worldPosition);
armRotation.worldPosition = forearm.worldPosition;
armRotation.worldRotation = forearm.worldRotation;
armIK.LookAt(target.position);
forearm.worldRotation = armRotation.worldRotation;

// Elbow angle
node.RotateAround(node.worldPosition, Quaternion(elbowAngle, target.position - node.worldPosition), TS_WORLD); //node.RotateAround(node.position, target.position - node.position, elbowAngle);

// Transition IK rotations with animation rotation.
if (slerp)
{
	float transition = eventData["TimeStep"].GetFloat() * 8; //Mathf.Clamp01(transition);
	node.worldRotation = storeUpperArmRotation.Slerp(node.worldRotation, transition); //Quaternion.Slerp(storeUpperArmRotation, node.rotation, transition);
	forearm.worldRotation = storeForearmRotation.Slerp(forearm.worldRotation, transition); //Quaternion.Slerp(storeForearmRotation, forearm.rotation, transition);
}

}

}
[/code][/spoiler]

In video i see pole target (it specify the direction of the elbow), but in this example it missing

EDIT: Pole target in blender youtube.com/watch?v=4C1ssz8qCq0&t=242

Thanks, IKControl.js is certainly incomplete, will check the other script. Pole target aside, some rotation resets are certainly missing.

EDIT: [color=#FF0000]resetting rotations greatly improves the behavior[/color]

Modified version:

[code] // Script Object is parented to forearm
// node
// > armIK
// > armRotation

class IKControl : ScriptObject
{

   Node@ forearm; //var forearm : Transform;
   Node@ hand; //var hand : Transform;
   Node@ target; // var target : Transform;
   Vector3 armAxis; // Arm rotation axis. Depends on the way the skeleton has been authored.
   bool slerp = false;

//  float transition = 1.0;
   float elbowAngle = 0.0; // ?????

   Node@ armIK; //private var armIK : Transform;
   Node@ armRotation; //private var armRotation : Transform;

   float upperArmLength;
   float forearmLength;
   float armLength;
   
   Quaternion storeUpperArmRotation;
   Quaternion storeForearmRotation;


void Start()
{
   forearm = node.children[0];
   if (forearm is null)
      return;
   hand = forearm.children[0];
   if (hand is null)
      return;

   storeUpperArmRotation = node.worldRotation;
   storeForearmRotation = forearm.worldRotation;

//  var armIKGameObject = new GameObject("Arm IK");
   armIK = scene.CreateChild("ArmIK"); //armIK = armIKGameObject.transform;
   armIK.parent = node; // Parent to shoulder joint (UpperArm)
//  var armRotationGameObject = new GameObject("Arm Rotation");
   armRotation = scene.CreateChild("ArmRotation"); //armRotation = armRotationGameObject.transform;
   armRotation.parent = armIK;
   upperArmLength = (forearm.worldPosition - node.worldPosition).length; //Vector3.Distance(transform.position, forearm.position);
   forearmLength = (hand.worldPosition - forearm.worldPosition).length; //Vector3.Distance(forearm.position, hand.position);
   armLength = upperArmLength + forearmLength;

   // Subscribe to the SceneDrawableUpdateFinished event which is triggered after the animations have been updated, so we can apply IK to override them
   SubscribeToEvent("SceneDrawableUpdateFinished", "HandleSceneDrawableUpdateFinished");
}


void HandleSceneDrawableUpdateFinished(StringHash eventType, VariantMap& eventData) //function LateUpdate()
{
   if (target is null || forearm is null || hand is null || armAxis.IsNaN())
      return;

	// Store rotation before IK
	node.worldRotation = storeUpperArmRotation;
	forearm.worldRotation = storeForearmRotation;

   // Upper Arm (node) looks target
   armIK.worldPosition = node.worldPosition;
   armIK.LookAt(forearm.worldPosition);
   armRotation.worldPosition = node.worldPosition;
   armRotation.worldRotation = node.worldRotation;
   armIK.LookAt(target.position);
   node.worldRotation = armRotation.worldRotation;

   // Upper Arm IK angle
   float targetDistance = (target.position - node.worldPosition).length; //Vector3.Distance(transform.position, target.position);
   targetDistance = Min(targetDistance, armLength - 0.00001); //Mathf.Min(targetDistance, armLength - 0.00001);
   float adjacent = ((upperArmLength * upperArmLength) - (forearmLength * forearmLength) + (targetDistance * targetDistance)) / (2 * targetDistance);
   float angle = Acos(adjacent / upperArmLength); //Mathf.Acos(adjacent / upperArmLength) * Mathf.Rad2Deg;
   node.RotateAround(node.worldPosition, Quaternion(angle, armAxis), TS_WORLD); //node.RotateAround(transform.position, transform.forward, -angle);

   // Forearm looks target
   armIK.worldPosition = forearm.worldPosition;
   armIK.LookAt(hand.worldPosition);
   armRotation.worldPosition = forearm.worldPosition;
   armRotation.worldRotation = forearm.worldRotation;
   armIK.LookAt(target.position);
   forearm.worldRotation = armRotation.worldRotation;

   // Elbow angle
   if (armAxis == Vector3(0.0f, -1.0f, 0.0f))
        elbowAngle = 90;
   else
        elbowAngle = -90;
   
   node.RotateAround(node.worldPosition, Quaternion(elbowAngle, target.position - node.worldPosition), TS_WORLD); //node.RotateAround(node.position, target.position - node.position, elbowAngle);

   // Transition IK rotations with animation rotation.
   if (slerp)
   {
      float transition = eventData["TimeStep"].GetFloat() * 8; //Mathf.Clamp01(transition);
      node.worldRotation = storeUpperArmRotation.Slerp(node.worldRotation, transition); //Quaternion.Slerp(storeUpperArmRotation, node.rotation, transition);
      forearm.worldRotation = storeForearmRotation.Slerp(forearm.worldRotation, transition); //Quaternion.Slerp(storeForearmRotation, forearm.rotation, transition);
   }
}

}

[/code]

Really resetting rotations solves the problem. I think, i found cause.
node.RotateAround add angle to current rotation every frame rather than to set a new computed angle.
Therefore, if you set elbowAngle != 0 hand starts to rotate instead of elbow was directed in the right direction

Thanks 1vanK, that is the solution that I also came up with.:wink:
I’ll also incorporate other interesting optimizations/features from the other script so we can easily do procedural animations.

Hello Mike thanks for working on this !

Are you planning to release a c++ version of your code ?

For now I’m looking at a global approach for procedural animation, in the vein of Overgrowth. Seems that it is way simpler thant I expected.
I’m thinking of using an IK/FK manager component that handles and gives access to 4 limb components (2 arms & 2 legs), rotates the spine and allows feet to be either grounded or reach a target.

In Urho3D porting AngelScript and Lua scripts to C++ is straightforward. Once the project will reach maturity it will be time to port.

That’s amazing! Thanks for the code, it’s really useful and covers missing docs on the subject. Did you had any progress with your Overgrowth-style animation? I’ve created a topic about this here: topic2117.html

Overall it wasn’t perfect and after trying various fixes I gave up.