Add offset between left and right foot

rwth-acis · Oct 5, 2024 · 2e67b66 · 2e67b66
1 parent 3a69267
commit 2e67b66
Show file tree

Hide file tree

Showing 2 changed files with 19 additions and 15 deletions.
diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentSittingTask.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentSittingTask.cs
@@ -99,13 +99,13 @@ public override void StartExecution(Agent agent)
 
                     animator.SetBool("Sitting", sitting);
 
-                    agent.StartCoroutine(FadeIK(true));
+                    agent.StartCoroutine(FadeIK(agent, true));
                 }
                 // case: standing up
                 else
                 {
                     animator.SetBool("Sitting", false);
-                    agent.StartCoroutine(FadeIK(false));
+                    agent.StartCoroutine(FadeIK(agent, false));
 
                     Debug.Log("Standing up");
                 }
@@ -120,13 +120,14 @@ public override void StartExecution(Agent agent)
         /// <param name="agent">The agent</param>
         /// <param name="fadeIn">Whether to fade in or fade out the IK, etc. In other words: whether the agent sits down (true) or stands up (false)</param>
         /// <returns></returns>
-        private IEnumerator FadeIK(bool fadeIn)
+        private IEnumerator FadeIK(Agent agent, bool fadeIn)
         {
             float duration = animationDuration;
             float time = 0;
             float startWeight = fadeIn ? 0 : 1;
             float endWeight = fadeIn ? 1 : 0;
             Vector3 ikPosition = fadeIn ? footrest : feetPosition;
+            Vector3 curIkPosition = ikPosition;
 
             while (time < duration)
             {
@@ -136,16 +137,19 @@ private IEnumerator FadeIK(bool fadeIn)
                 rightLegIK.weight = Mathf.Lerp(startWeight, endWeight, time / duration);
 
                 // move ik target when standing up, to avoid, that the agent suddenly fully stretches their legs
-                leftLegIKTarget.transform.position = rightLegIKTarget.transform.position =
+                curIkPosition =
                     fadeIn ? ikPosition : Vector3.Lerp(footrest, feetPosition, time / duration);
+                leftLegIKTarget.transform.position = curIkPosition - agent.transform.right * 0.08f;
+                rightLegIKTarget.transform.position = curIkPosition + agent.transform.right * 0.08f;
 
                 spineAim.weight = Mathf.Lerp(startWeight, endWeight, time / duration);
                 hipConstraint.weight = Mathf.Lerp(startWeight, endWeight, time / duration);
                 hipIKTarget.transform.position = sitPosition;
                 yield return null;
             }
             rightLegIK.gameObject.transform.position = leftLegIK.gameObject.transform.position = feetPosition;
-            leftLegIKTarget.transform.position = rightLegIKTarget.transform.position = ikPosition;
+            leftLegIKTarget.transform.position = ikPosition - agent.transform.right * 0.08f;
+            rightLegIKTarget.transform.position = ikPosition + agent.transform.right * 0.08f;
             hipIKTarget.transform.position = sitPosition;
 
             finished = true;

diff --git a/Assets/Virtual Agents Framework/Samples/Sitting Sample/Sitting Sample.unity b/Assets/Virtual Agents Framework/Samples/Sitting Sample/Sitting Sample.unity
@@ -463,39 +463,39 @@ PrefabInstance:
     m_Modifications:
     - target: {fileID: -8679921383154817045, guid: 0cdb6d1ca77e8644ba96b04bb986b127, type: 3}
       propertyPath: m_LocalPosition.x
-      value: -0.089982
+      value: -0.10176502
       objectReference: {fileID: 0}
     - target: {fileID: -8679921383154817045, guid: 0cdb6d1ca77e8644ba96b04bb986b127, type: 3}
       propertyPath: m_LocalPosition.y
-      value: 1.445
+      value: 1.436
       objectReference: {fileID: 0}
     - target: {fileID: -8679921383154817045, guid: 0cdb6d1ca77e8644ba96b04bb986b127, type: 3}
       propertyPath: m_LocalPosition.z
-      value: -0.515
+      value: -0.46002823
       objectReference: {fileID: 0}
     - target: {fileID: -8679921383154817045, guid: 0cdb6d1ca77e8644ba96b04bb986b127, type: 3}
       propertyPath: m_LocalRotation.w
-      value: 0.99941254
+      value: 0.86963195
       objectReference: {fileID: 0}
     - target: {fileID: -8679921383154817045, guid: 0cdb6d1ca77e8644ba96b04bb986b127, type: 3}
       propertyPath: m_LocalRotation.x
-      value: -0.021069733
+      value: -0.0070600905
       objectReference: {fileID: 0}
     - target: {fileID: -8679921383154817045, guid: 0cdb6d1ca77e8644ba96b04bb986b127, type: 3}
       propertyPath: m_LocalRotation.y
-      value: 0.013028288
+      value: 0.49268192
       objectReference: {fileID: 0}
     - target: {fileID: -8679921383154817045, guid: 0cdb6d1ca77e8644ba96b04bb986b127, type: 3}
       propertyPath: m_LocalRotation.z
-      value: 0.023685886
+      value: 0.030904867
       objectReference: {fileID: 0}
     - target: {fileID: -8679921383154817045, guid: 0cdb6d1ca77e8644ba96b04bb986b127, type: 3}
       propertyPath: m_LocalEulerAnglesHint.x
       value: -2.449
       objectReference: {fileID: 0}
     - target: {fileID: -8679921383154817045, guid: 0cdb6d1ca77e8644ba96b04bb986b127, type: 3}
       propertyPath: m_LocalEulerAnglesHint.y
-      value: 1.436
+      value: 59.009
       objectReference: {fileID: 0}
     - target: {fileID: -8679921383154817045, guid: 0cdb6d1ca77e8644ba96b04bb986b127, type: 3}
       propertyPath: m_LocalEulerAnglesHint.z
@@ -2935,7 +2935,7 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 6700788506347371110, guid: 2962848ab48f0e4459691ff3d6d1eed0, type: 3}
       propertyPath: m_Data.m_MaintainTargetPositionOffset
-      value: 0
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 6700788506347371110, guid: 2962848ab48f0e4459691ff3d6d1eed0, type: 3}
       propertyPath: m_Data.m_MaintainTargetRotationOffset
@@ -3015,7 +3015,7 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 7390127396291110507, guid: 2962848ab48f0e4459691ff3d6d1eed0, type: 3}
       propertyPath: m_Data.m_MaintainTargetPositionOffset
-      value: 0
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 7390127396291110507, guid: 2962848ab48f0e4459691ff3d6d1eed0, type: 3}
       propertyPath: m_Data.m_MaintainTargetRotationOffset