Component:VRIK

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Component image 

VRIK component as seen in the Scene Inspector

Introduction

Oof

— Epsilion

The VRIK component is used to configure Inverse Kinematics on an avatar, for posing joints based on the position of IK Targets such as a VR HMD, hand tracking, or Vive Trackers

This component is automatically configured when importing a mesh with a detectable humanoid rig, and generally should not be modified unless you know what you are doing.

Documentation on this component may take some time, as it is very complex, and not commonly used. The basis for this component seems to be the VRIK solver developed by Final IK.

Usage

All weight values are 1-0, excluding clamps which are inverted 0-1. You can overdrive some of them with interesting results.

Fields

Name	Type	Description
persistent	Bool	Determines whether or not this item will be saved to the server.
UpdateOrder	Int	Controls the order in which this component is updated.
Enabled	Bool	Controls whether or not this component is enabled. Some components stop their functionality when this field is disabled, but some don't.
AutoUpdate	Bool	Whether to update the VRIK regardless of whether or not the sync delegates are called by a VRIK avatar or similar sources. this can break systems still using a VRIKAvatar but can fix ones with a lack of such component.
FixTransformsEnabled	Bool	Clamps IK transforms to reasonable values and Resets IK every update.
Solver	direct IKSolverVR	The actual solver that contains most of the fields of this component.
componentInitiated	Bool	Marks this component as fully started and ready to solve IK transforms.
_drives	list of VRIK.BoneDrive	A list of fields to drive with defaultLocalPositions and defaultLocalRotations plus transforms solved by the IK using defaultLocalPositions and defaultLocalRotations as a basis.

IKSolverVR

Most of the complexity in VRIK is actually stored in the IKSolverVR type. And even this is spread across multiple types.

Fields

Name	Type	Description
IKPosition	Float3	Unused.
IKPositionWeight	Float	Weight of the IK. Makes the bones go back to defaultLocalPositions and defaultLocalRotations as this goes to 0. Also known as default pose.
SimulationSpace	Slot	The top most hiearchy this solver should simulate in. When on an Avatar this is usually the user's slot when equipped and the avatar root when unequipped.
OffsetSpace	Slot	Is used to determine if there is movement happening in user space. for example shuffling around in the player's physical room. This also tells the feet to try to find new footing, and to tell the feet the user is moving.
_initiated	Bool	Whether or not this component is simulating and driving it's fields.
OnPreInitiate	delegate of identity UpdateDelegate	Currently unused. Fires the SyncDelegate inside when this component is started initializing(usually during loading)
OnPostInitiate	delegate of identity UpdateDelegate	Currently unused. Fires the SyncDelegate inside when this component is done initializing (usually during loading)
OnPreUpdate	delegate of identity UpdateDelegate	Sync Delegate usually filled with calls to the VRIKAvatar component.
OnPostUpdate	delegate of identity UpdateDelegate	Sync Delegate usually filled with calls to the VRIKAvatar component.
root	Slot	The root of the solver simulation, on an avatar this will be the avatar root when equipped and nothing when dequipped.
BoneReferences	direct References	The set of slots are what parts of the VRIK.
defaultLocalPositions	array of Float3	This is internal, and stores the positions the bones should go to as IKPositionWeight goes to 0.
defaultLocalRotations	array of FloatQ	This is internal, and stores the rotations the bones should go to as IKPositionWeight goes to 0.
DebugVisuals	Bool	Enables Debug visuals
PlantFeet	Bool	When enabled, feet positions will be prioritized over anything else including HeadTarget. (Causes issues with walking) If true, will keep the toes planted even if the HeadTarget is out of reach, so this can cause the camera to exit the head if it is too high for the model to reach.
spine	direct Spine	The spine section of the VRIK solver.
leftArm	direct Arm	The left arm section of the VRIK solver.
rightArm	direct Arm	The right arm section of the VRIK solver.
leftLeg	direct Leg	The left leg section of the VRIK solver.
rightLeg	direct Leg	The right leg section of the VRIK solver.
locomotion	direct Locomotion	The locomotion section of the VRIK solver.
ForwardFlipped	Bool	Swaps the feet and turns the whole IK around.
ForceRootHeight	Nullable`1<Float>	Foot planting height override (Negative numbers cause issues with walking)
LocomotionPositionOffset	Float3	Handles how the IK should be offset when calculating locomotion.
DefaultRootPosition	Float3	The default position of the centered root.
DefaultRootRotation	FloatQ	The default rotation of the centered root.

References

Fields

Name	Type	Description
root	Slot	The root of the VRIK, usually avatar root.
pelvis	Slot	Usually is set to the avatar's mapped Hips BodyNode.
spine	Slot	Usually is set to the avatar's mapped Spine BodyNode.
chest	Slot	Usually is set to the avatar's mapped Chest BodyNode.
neck	Slot	Usually is set to the avatar's mapped Neck BodyNode.
head	Slot	Usually is set to the avatar's mapped Head BodyNode.
leftShoulder	Slot	Usually is set to the avatar's mapped LeftShoulder BodyNode.
leftUpperArm	Slot	Usually is set to the avatar's mapped LeftUpperArm BodyNode.
leftForearm	Slot	Usually is set to the avatar's mapped LeftLowerArm BodyNode.
leftHand	Slot	Usually is set to the avatar's mapped LeftHand BodyNode.
rightShoulder	Slot	Usually is set to the avatar's mapped RightShoulder BodyNode.
rightUpperArm	Slot	Usually is set to the avatar's mapped RightUpperArm BodyNode.
rightForearm	Slot	Usually is set to the avatar's mapped RightLowerArm BodyNode.
rightHand	Slot	Usually is set to the avatar's mapped RightHand BodyNode.
leftThigh	Slot	Usually is set to the avatar's mapped LeftUpperLeg BodyNode.
leftCalf	Slot	Usually is set to the avatar's mapped LeftLowerLeg BodyNode.
leftFoot	Slot	Usually is set to the avatar's mapped LeftFoot BodyNode.
leftToes	Slot	Usually is set to the avatar's mapped LeftToes BodyNode.
rightThigh	Slot	Usually is set to the avatar's mapped RightUpperLeg BodyNode.
rightCalf	Slot	Usually is set to the avatar's mapped RightLowerLeg BodyNode.
rightFoot	Slot	Usually is set to the avatar's mapped RightFoot BodyNode.
rightToes	Slot	Usually is set to the avatar's mapped RightToes BodyNode.

Spine

Fields

Name	Type	Description
Initiated	Bool	Whether or not the spine section is initalized.
HeadTarget	Slot	This slot is used to position the head when set. When unset the head position is determined by IKPositionHead and IKRotationHead.
PelvisTarget	Slot	This slot is used to position the pelvis when set. When unset the pelvis position is determined by IKPositionPelvis and IKRotationPelvis.
PositionWeight	Float	Positional weight of the HeadTarget.
RotationWeight	Float	Rotational weight of the HeadTarget.
PelvisPositionWeight	Float	Positional weight of the PelvisTarget.
PelvisRotationWeight	Float	Rotational weight of the PelvisTarget.
ChestGoal	Slot	If ChestGoalWeightis greater than 0, the chest will be turned towards this slot when set. When unset, GoalPositionChest is used as a position to turn towards.
ChestGoalWeight	Float	Weight of turning the chest towards the ChestGoal.
MinHeadHeight	Float	Minimum Head height allowed by the IK solver (Nonfunctional)
BodyPosStiffness	Float	How much the body will try to move with the HeadTarget or with IKPositionHead and IKRotationHead if HeadTarget is unset.
BodyRotStiffness	Float	How much the body will try to rotate with the HeadTarget or with IKPositionHead and IKRotationHead if HeadTarget is unset.
NeckStiffness	Float	How much the chest will rotate when the head is rotated.
RotateChestByHands	Float	How much the chest rotates based on hand movement.
ChestClampWeight	Float	How much the chest can rotate relative to the head with 0 being full movement and 1 being no movement. A value of 0.5 allows 90 degrees of rotation for the chest relative to the head. A value of 0 allows 180 degrees and a value of 1 means the chest will be locked relative to the head.
HeadClampWeight	Float	How much the head can rotate relative to the HeadTarget or with IKPositionHead and IKRotationHead if HeadTarget is unset with 0 being full movement and 1 being no movement. A value of 0.5 allows 90 degrees of rotation for the head relative to the target. A value of 0 allows 180 degrees and a value of 1 means head rotation will be locked to the target.
MoveBodyBackWhenCrouching	Float	How much the body will move backwards when crouching
MaintainPelvisPosition	Float	How much the pelvis will move with the feet instead of the HeadTarget or with IKPositionHead and IKRotationHead if HeadTarget is unset.
MaxRootAngle	Float	How much the HeadTarget or with IKPositionHead and IKRotationHead if HeadTarget is unset must rotate for the whole body to rotate (in degrees).
IKPositionHead	Float3	The solved position for the head. Driven.
IKRotationHead	FloatQ	The solved rotation for the head. Driven.
IKPositionPelvis	Float3	The solved position for the pelvis. Driven.
IKRotationPelvis	FloatQ	The solved rotation for the pelvis. Driven.
GoalPositionChest	Float3	The solved goal position for the chest. Driven.
headHeight	Float	Head height while standing. Used for calculating MoveBodyBackWhenCrouching.
anchorRelativeToHead	FloatQ	Root rotation relative to HeadTarget or with IKPositionHead and IKRotationHead if HeadTarget is unset.
pelvisRelativeRotation	FloatQ	Pelvis rotation relative to HeadTarget or with IKPositionHead and IKRotationHead if HeadTarget is unset.
chestRelativeRotation	FloatQ	Chest rotation relative to HeadTarget or with IKPositionHead and IKRotationHead if HeadTarget is unset.
chestForward	Float3	Chest Forward Vector
pelvisForward	Float3	Pelvis Forward Vector

Arm

Contains parameters for the two arms: leftArm and rightArm.

Fields

Name	Type	Description
Initiated	Bool	Whether this arm section is initalized.
Target	Slot	The target for the arm's hand. It will use this if set, or PositionWeight and RotationWeight if unset.
BendGoal	Slot	The arm's elbow will be bent towards this slot if BendGoalWeight > 0, and the slot is set. Otherwise BendGoalPosition is used as a bend position.
PositionWeight	Float	Positional weight of the Target.
RotationWeight	Float	Rotational weight of the Target.
ShoulderRotationMode	ShoulderRotationMode	Shoulder rotation method. Pitch/yaw is more accurate, while From/to is simpler.
ShoulderRotationWeight	Float	How much the arm's shoulder should move based on Hand position.
BendGoalWeight	Float	if greater than 0, will bend the elbow towards the BendGoal slot if set otherwise BendGoalPosition is used
SwivelOffset	Float	Rotation offset for the arm's elbow in degrees.
WristToPalmAxis	Float3	Palm Direction; local axis of the hand bone that points from the wrist towards the palm. Used for defining hand bone orientation. (Higher values on the Y axis increase the amount the arms move with your controllers)
PalmToThumbAxis	Float3	Thumb Direction; local axis of the hand bone that points from the palm towards the thumb. Used for defining hand bone orientation.
ArmLengthMlp	Float	Arm Length Multiplier. Used to make the arm shorter/longer. Works by displacement of hand and forearm local position.
StretchCurve	direct SyncCurve`1<Float>	Unsupported. Would evaluate stretching of the arm by target distance relative to arm length. Value at time 1 represents stretching amount at the point where distance to the target is equal to arm length. Value at time 2 represents stretching amount at the point where distance to the target is double the arm length. Value represents the amount of stretching. Linear stretching would be achieved with a linear curve going up by 45 degrees. Increase the range of stretching by moving the last key up and right at the same amount. Smoothing in the curve can help reduce elbow snapping (start stretching the arm slightly before target distance reaches arm length).
IKPosition	Float3	The solved position for the arm's hand. Driven.
IKRotation	FloatQ	The solved rotation for the arm's hand. Driven.
BendGoalPosition	Float3	The solved position for the bend goal. Driven.
TwistRelaxWeight	Float	How much the forearm twists towards the wrist
TwistCrossfade	Float	Weight of the forearm twisting
TwistAngleOffset	Float	Angle offset of the forearm twisting
chestForwardAxis	Float3	The axis used to tell the VRIK what direction the chest is pointing forward by default. usually set when the chest bone roll is different from 0 in blender.
chestUpAxis	Float3	The axis used to tell the VRIK what direction the chest is pointing up by default. usually set when the chest doesn't point directly towards the next bone in the chain.
forearmTwistAxis	Float3	This specifies what axis the forearms should twist around in local space.
forearmAxis	Float3	This specifies the axis that the forearm takes place along in local space.
axisRelativeToUpperArm	Float3	This identifies which axis the forearm is from the upper arm.
axisRelativeToHand	Float3	This identifies which axis the hand is from the forearm.

ShoulderRotationMode

Values

Name	Value	Description
YawPitch	0	Rotates the shoulder using Yaw Pitch, which is like using Slerp.
FromTo	1	Rotates the shoulder using essentially a look at, which can solve some IK issues.

Leg

Contains parameters for the two legs: leftLeg and rightLeg.

Fields

Name	Type	Description
Initiated	Bool	Whether this leg is initialized.
Target	Slot	The target for the left foot/toe. This can override the IKPosition and IKRotation values so it uses this slot as a target position instead.
BendGoalPosition	Float3	The solved position for the bend goal. Driven.
BendGoal	Slot	The left knee will be bent towards this slot if BendGoalWeight > 0 if set. otherwise BendGoalPosition is used.
PositionWeight	Float	Positional weight of the Target.
RotationWeight	Float	Rotational weight of the Target.
BendGoalWeight	Float	if greater than 0, will bend the left knee towards the BendGoal slot if set otherwise BendGoalPosition is used.
SwivelOffset	Float	Rotation offset for the left knee in degrees.
CalfBendNormal	Float3	The direction the calf should bend towards in local space.
IKPosition	Float3	The solved position for the left foot/toe. Driven.
IKRotation	FloatQ	The solved rotation for the left foot/toe. Driven.

Locomotion

Fields

Name	Type	Description
Weight	Float	How much weight locomotion calculation has rather than normal IK calculation.
FootDistance	Float	Tries to maintain this distance between where each foot will attempt to plant themselves.
StepThreshold	Float	How far you have to move for the feet to take a step (re-plant themselves).
AngleThreshold	Float	How much you have to rotate for the feet to take a step (re-plant themselves).
ComAngleMlp	Float	Multiplier angle of the (center of mass minus the center of pressure) vector. Larger value makes the character step sooner if losing balance.
MaxVelocity	Float	Maximum magnitude of head/hand target velocity for prediction.
VelocityFactor	Float	How much the feet will use your current head/hand target velocity to predict where you're stepping.
MaxLegStretch	Float	How much your leg can stretch before it attempts to take a step. 1 means fully stretched.
RootSpeed	Float	How fast the pelvis and legs will move to catch up to the HMD; the speed of lerping the root of the character towards the horizontal mid-point of the footsteps.
StepSpeed	Float	How fast the foot planter will move the feet to their new position when re-planting
StepHeight	direct SyncCurve`1<Float>	The height of the foot by normalized step progress (0 - 1).
HeelHeight	direct SyncCurve`1<Float>	The height offset of the heel by normalized step progress (0 - 1).
RelaxLegTwistMinAngle	Float	How much your HMD has to rotate before your feet begin to rotate towards your HMD without stepping; rotates the foot while the leg is not stepping to relax the twist rotation of the leg if ideal rotation is past this angle.
RelaxLegTwistSpeed	Float	How fast the feet can rotate while on the ground; the speed of rotating the foot while the leg is not stepping to relax the twist rotation of the leg.
StepInterpolation	InterpolationMode	The type of interpolation the feet will use during stepping.
Offset	Float3	Offset for feet planting relative to your HMD
LeftFootOffset	Float3	How much to offset the foot from the given target position and rotation for the left foot.
RightFootOffset	Float3	How much to offset the foot from the given target position and rotation for the right foot.
OnLeftFootstep	delegate of identity Action	This is very finicky, and can be used to fire sounds or other Action sync delegates when the left foot steps.
OnRightFootstep	delegate of identity Action	This is very finicky, and can be used to fire sounds or other Action sync delegates when the right foot steps.
_leftFootstep	direct Footstep	A list of footsteps to trigger for the left foot.
_rightFootstep	direct Footstep	A list of footsteps to trigger for the right foot.

Footstep

Fields

Name	Type	Description
_initialized	Bool	Whether this footstep should be used.
footRelativeToRoot	FloatQ	The rotation relative to root needed for this to be considered a footstep.
footGroundHeight	Float	The height needed for this to be considered a footstep.

BoneDrive

Bonedrive fields use a combination of the defaultLocalPositions and defaultLocalRotations entries at this element's entry position in the list as well as VRIK position and rotation solved values to determine the final driven value.

Fields

Name	Type	Description
Position	field drive of Float3	The field to drive with the VRIK's solved position for the bone that corrosponds to this entry.
Rotation	field drive of FloatQ	The field to drive with the VRIK's solved rotation for the bone that corrosponds to this entry.

Usage

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Examples

Used in every avatar except head and hands avatars to make avatar movements.

See Also

• Component:VRIKAvatar