Fix bug that would change IK target positions if sitting was preceded…

… by GoTo Task
rwth-acis · Oct 2, 2024 · 5f43fc2 · 5f43fc2
1 parent 7a5ba5a
commit 5f43fc2
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Showing 4 changed files with 153 additions and 47 deletions.
diff --git a/Assets/Virtual Agents Framework/Runtime/Animations/AgentStandardController.controller b/Assets/Virtual Agents Framework/Runtime/Animations/AgentStandardController.controller
@@ -552,7 +552,7 @@ AnimatorState:
   - {fileID: -4743300286174424125}
   m_StateMachineBehaviours: []
   m_Position: {x: 50, y: 50, z: 0}
-  m_IKOnFeet: 1
+  m_IKOnFeet: 0
   m_WriteDefaultValues: 1
   m_Mirror: 0
   m_SpeedParameterActive: 0
@@ -700,49 +700,49 @@ AnimatorController:
     m_DefaultFloat: 0
     m_DefaultInt: 0
     m_DefaultBool: 0
-    m_Controller: {fileID: 0}
+    m_Controller: {fileID: 9100000}
   - m_Name: ShakeHead
     m_Type: 9
     m_DefaultFloat: 0
     m_DefaultInt: 0
     m_DefaultBool: 0
-    m_Controller: {fileID: 0}
+    m_Controller: {fileID: 9100000}
   - m_Name: WaveLeft
     m_Type: 9
     m_DefaultFloat: 0
     m_DefaultInt: 0
     m_DefaultBool: 0
-    m_Controller: {fileID: 0}
+    m_Controller: {fileID: 9100000}
   - m_Name: WaveRight
     m_Type: 9
     m_DefaultFloat: 0
     m_DefaultInt: 0
     m_DefaultBool: 0
-    m_Controller: {fileID: 0}
+    m_Controller: {fileID: 9100000}
   - m_Name: NoAnimation
     m_Type: 9
     m_DefaultFloat: 0
     m_DefaultInt: 0
     m_DefaultBool: 0
-    m_Controller: {fileID: 0}
+    m_Controller: {fileID: 9100000}
   - m_Name: PointingLeft
     m_Type: 9
     m_DefaultFloat: 0
     m_DefaultInt: 0
     m_DefaultBool: 0
-    m_Controller: {fileID: 0}
+    m_Controller: {fileID: 9100000}
   - m_Name: PointingRight
     m_Type: 9
     m_DefaultFloat: 0
     m_DefaultInt: 0
     m_DefaultBool: 0
-    m_Controller: {fileID: 0}
+    m_Controller: {fileID: 9100000}
   - m_Name: Sitting
     m_Type: 4
     m_DefaultFloat: 0
     m_DefaultInt: 0
     m_DefaultBool: 0
-    m_Controller: {fileID: 0}
+    m_Controller: {fileID: 9100000}
   m_AnimatorLayers:
   - serializedVersion: 5
     m_Name: Base Layer

diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentSittingTask.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentSittingTask.cs
@@ -77,10 +77,15 @@ public override void StartExecution(Agent agent)
                 hipConstraint = agent.transform.Find("AnimationRigging/CharacterRig/Hip Constraint").GetComponent<MultiParentConstraint>();
                 hipIKTarget = hipConstraint.transform.Find("Hip IK_target").gameObject;
 
+                // set the target positions to the agents current position
+                leftLegIK.transform.position = rightLegIK.transform.position = agent.transform.position;
+                hipIKTarget.transform.position = agent.transform.position;
+
                 // case: sitting down
                 if (currentState)
                 {
                     agent.transform.rotation = Chair.transform.rotation;
+                    Debug.Log("Setting footrest and sitposition");
                     leftLegIKTarget.transform.position = rightLegIKTarget.transform.position = footrest;
                     hipIKTarget.transform.position = sitPosition;
 
@@ -118,17 +123,24 @@ private IEnumerator FadeIKAndPosition(Agent agent, bool fadeIn)
             Vector3 endPosition = fadeIn ? sitPosition : feetPosition;
             while (time < duration)
             {
+                rightLegIK.gameObject.transform.position = leftLegIK.gameObject.transform.position = footrest;
                 time += Time.deltaTime;
                 leftLegIK.weight = Mathf.Lerp(startWeight, endWeight, time / duration);
                 rightLegIK.weight = Mathf.Lerp(startWeight, endWeight, time / duration);
+
+                // move ik target when standing up, to avoid, that the agent suddenly completely stretches their feet
+                leftLegIKTarget.transform.position = fadeIn
+                    ? rightLegIKTarget.transform.position = ikPosition
+                    : rightLegIKTarget.transform.position = Vector3.Lerp(footrest, feetPosition, time / duration);
+
                 spineAim.weight = Mathf.Lerp(startWeight, endWeight, time / duration);
                 hipConstraint.weight = Mathf.Lerp(startWeight, endWeight, time / duration);
                 agent.transform.position = Vector3.Lerp(startPosition, endPosition, time / duration);
-                leftLegIKTarget.transform.position = rightLegIKTarget.transform.position = ikPosition;
                 hipIKTarget.transform.position = sitPosition;
                 yield return null;
             }
 
+            rightLegIK.gameObject.transform.position = leftLegIK.gameObject.transform.position = footrest;
             leftLegIKTarget.transform.position = rightLegIKTarget.transform.position = ikPosition;
             hipIKTarget.transform.position = sitPosition;
             finished = true;

diff --git a/Assets/Virtual Agents Framework/Samples/Sitting Sample/AgentSittingController.cs b/Assets/Virtual Agents Framework/Samples/Sitting Sample/AgentSittingController.cs
@@ -17,15 +17,18 @@ protected override void Start()
 
 
             AgentSittingTask sittingTaskStool = new AgentSittingTask(Stool, SittingDirection.SITDOWN);
+            // AgentSittingTask sittingTaskStool2 = new AgentSittingTask(Stool, SittingDirection.SITDOWN);
             AgentSittingTask standingTaskStool = new AgentSittingTask(Stool, SittingDirection.STANDUP);
 
             // add a sitting task
             taskSystem.ScheduleTask(sittingTask);
             taskSystem.Tasks.WaitForSeconds(3);
             Debug.Log("2nd Sitting Task Scheduled");
             taskSystem.ScheduleTask(standingTask);
-            Vector3 destination = Stool.transform.Find("FeetPosition").position;
-            taskSystem.Tasks.GoTo(destination);
+
+            GameObject destination = Stool.transform.Find("FeetPosition").gameObject;
+            taskSystem.Tasks.GoTo(destination, Vector3.zero, 0, true);
+            taskSystem.Tasks.WaitForSeconds(1);
             taskSystem.ScheduleTask(sittingTaskStool);
             taskSystem.Tasks.WaitForSeconds(3);
             taskSystem.ScheduleTask(standingTaskStool);