Merge pull request #1992 from ousttrue/feature/vrm10viewer_use_controlrig

[sample] VRM10Retarget の実装

Assets/UniGLTF/Runtime/UniHumanoid/Format/Bvh.cs

@@ -6,178 +6,6 @@ using System.Linq;
 
 namespace UniHumanoid
 {
-    public class BvhException : Exception
-    {
-        public BvhException(string msg) : base(msg) { }
-    }
-
-    public enum Channel
-    {
-        Xposition,
-        Yposition,
-        Zposition,
-        Xrotation,
-        Yrotation,
-        Zrotation,
-    }
-    public static class ChannelExtensions
-    {
-        public static string ToProperty(this Channel ch)
-        {
-            switch (ch)
-            {
-                case Channel.Xposition: return "localPosition.x";
-                case Channel.Yposition: return "localPosition.y";
-                case Channel.Zposition: return "localPosition.z";
-                case Channel.Xrotation: return "localEulerAnglesBaked.x";
-                case Channel.Yrotation: return "localEulerAnglesBaked.y";
-                case Channel.Zrotation: return "localEulerAnglesBaked.z";
-            }
-
-            throw new BvhException("no property for " + ch);
-        }
-
-        public static bool IsLocation(this Channel ch)
-        {
-            switch (ch)
-            {
-                case Channel.Xposition:
-                case Channel.Yposition:
-                case Channel.Zposition: return true;
-                case Channel.Xrotation:
-                case Channel.Yrotation:
-                case Channel.Zrotation: return false;
-            }
-
-            throw new BvhException("no property for " + ch);
-        }
-    }
-
-    public struct Single3
-    {
-        public Single x;
-        public Single y;
-        public Single z;
-
-        public Single3(Single _x, Single _y, Single _z)
-        {
-            x = _x;
-            y = _y;
-            z = _z;
-        }
-    }
-
-    public class BvhNode
-    {
-        public String Name
-        {
-            get;
-            private set;
-        }
-
-        public Single3 Offset
-        {
-            get;
-            private set;
-        }
-
-        public Channel[] Channels
-        {
-            get;
-            private set;
-        }
-
-        public List<BvhNode> Children
-        {
-            get;
-            private set;
-        }
-
-        public BvhNode(string name)
-        {
-            Name = name;
-            Children = new List<BvhNode>();
-        }
-
-        public virtual void Parse(StringReader r)
-        {
-            Offset = ParseOffset(r.ReadLine());
-
-            Channels = ParseChannel(r.ReadLine());
-        }
-
-        static Single3 ParseOffset(string line)
-        {
-            var split = line.Trim().Split();
-            if (split[0] != "OFFSET")
-            {
-                throw new BvhException("OFFSET is not found");
-            }
-
-            var offset = split.Skip(1).Where(x => !string.IsNullOrEmpty(x)).Select(x => float.Parse(x, System.Globalization.CultureInfo.InvariantCulture)).ToArray();
-            return new Single3(offset[0], offset[1], offset[2]);
-        }
-
-        static Channel[] ParseChannel(string line)
-        {
-            var split = line.Trim().Split();
-            if (split[0] != "CHANNELS")
-            {
-                throw new BvhException("CHANNELS is not found");
-            }
-            var count = int.Parse(split[1]);
-            if (count + 2 != split.Length)
-            {
-                throw new BvhException("channel count is not match with split count");
-            }
-            return split.Skip(2).Select(x => (Channel)Enum.Parse(typeof(Channel), x)).ToArray();
-        }
-
-        public IEnumerable<BvhNode> Traverse()
-        {
-            yield return this;
-
-            foreach (var child in Children)
-            {
-                foreach (var descendant in child.Traverse())
-                {
-                    yield return descendant;
-                }
-            }
-        }
-    }
-
-    public class EndSite : BvhNode
-    {
-        public EndSite() : base("")
-        {
-        }
-
-        public override void Parse(StringReader r)
-        {
-            r.ReadLine(); // offset
-        }
-    }
-
-    public class ChannelCurve
-    {
-        public float[] Keys
-        {
-            get;
-            private set;
-        }
-
-        public ChannelCurve(int frameCount)
-        {
-            Keys = new float[frameCount];
-        }
-
-        public void SetKey(int frame, float value)
-        {
-            Keys[frame] = value;
-        }
-    }
-
     public class Bvh
     {
         public BvhNode Root
@@ -192,7 +20,7 @@ namespace UniHumanoid
             private set;
         }
 
-        public ChannelCurve[] Channels
+        public BvhChannelCurve[] Channels
         {
             get;
             private set;
@@ -211,7 +39,7 @@ namespace UniHumanoid
             public bool IsLocation;
         }
 
-        public bool TryGetPathWithPropertyFromChannel(ChannelCurve channel, out PathWithProperty pathWithProp)
+        public bool TryGetPathWithPropertyFromChannel(BvhChannelCurve channel, out PathWithProperty pathWithProp)
         {
             var index = Channels.ToList().IndexOf(channel);
             if (index == -1)
@@ -270,7 +98,7 @@ namespace UniHumanoid
             return null;
         }
 
-        public ChannelCurve GetChannel(BvhNode target, Channel channel)
+        public BvhChannelCurve GetChannel(BvhNode target, BvhChannel channel)
         {
             var index = 0;
             foreach (var node in Root.Traverse())
@@ -306,7 +134,7 @@ namespace UniHumanoid
                 .Select(x => x.Channels.Length)
                 .Sum();
             Channels = Enumerable.Range(0, channelCount)
-                .Select(x => new ChannelCurve(frames))
+                .Select(x => new BvhChannelCurve(frames))
                 .ToArray()
                 ;
         }
@@ -410,7 +238,7 @@ namespace UniHumanoid
                 {
                     throw new BvhException("End in level 0");
                 }
-                node = new EndSite();
+                node = new BvhEndSite();
             }
             else
             {
@@ -433,7 +261,7 @@ namespace UniHumanoid
                     break;
                 }
 
-                if (!(child is EndSite))
+                if (!(child is BvhEndSite))
                 {
                     node.Children.Add(child);
                 }

Assets/UniGLTF/Runtime/UniHumanoid/Format/BvhChannel.cs

@@ -0,0 +1,45 @@
+namespace UniHumanoid
+{
+    public enum BvhChannel
+    {
+        Xposition,
+        Yposition,
+        Zposition,
+        Xrotation,
+        Yrotation,
+        Zrotation,
+    }
+
+    public static class BvhChannelExtensions
+    {
+        public static string ToProperty(this BvhChannel ch)
+        {
+            switch (ch)
+            {
+                case BvhChannel.Xposition: return "localPosition.x";
+                case BvhChannel.Yposition: return "localPosition.y";
+                case BvhChannel.Zposition: return "localPosition.z";
+                case BvhChannel.Xrotation: return "localEulerAnglesBaked.x";
+                case BvhChannel.Yrotation: return "localEulerAnglesBaked.y";
+                case BvhChannel.Zrotation: return "localEulerAnglesBaked.z";
+            }
+
+            throw new BvhException("no property for " + ch);
+        }
+
+        public static bool IsLocation(this BvhChannel ch)
+        {
+            switch (ch)
+            {
+                case BvhChannel.Xposition:
+                case BvhChannel.Yposition:
+                case BvhChannel.Zposition: return true;
+                case BvhChannel.Xrotation:
+                case BvhChannel.Yrotation:
+                case BvhChannel.Zrotation: return false;
+            }
+
+            throw new BvhException("no property for " + ch);
+        }
+    }
+}

Assets/UniGLTF/Runtime/UniHumanoid/Format/BvhChannel.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 885c621c7dd0faf4e8e3de2e0187d2ac
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/UniGLTF/Runtime/UniHumanoid/Format/BvhChannelCurve.cs

@@ -0,0 +1,21 @@
+namespace UniHumanoid
+{
+    public class BvhChannelCurve
+    {
+        public float[] Keys
+        {
+            get;
+            private set;
+        }
+
+        public BvhChannelCurve(int frameCount)
+        {
+            Keys = new float[frameCount];
+        }
+
+        public void SetKey(int frame, float value)
+        {
+            Keys[frame] = value;
+        }
+    }
+}

Assets/UniGLTF/Runtime/UniHumanoid/Format/BvhChannelCurve.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 588638a01ee0b7c47bd731aeed170cea
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/UniGLTF/Runtime/UniHumanoid/Format/BvhEndSite.cs

@@ -0,0 +1,16 @@
+using System.IO;
+
+namespace UniHumanoid
+{
+    public class BvhEndSite : BvhNode
+    {
+        public BvhEndSite() : base("")
+        {
+        }
+
+        public override void Parse(StringReader r)
+        {
+            r.ReadLine(); // offset
+        }
+    }
+}

Assets/UniGLTF/Runtime/UniHumanoid/Format/BvhEndSite.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: bc2103bbe9c95224e9458e1fb058140f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/UniGLTF/Runtime/UniHumanoid/Format/BvhException.cs

@@ -0,0 +1,9 @@
+using System;
+
+namespace UniHumanoid
+{
+    public class BvhException : Exception
+    {
+        public BvhException(string msg) : base(msg) { }
+    }
+}

Assets/UniGLTF/Runtime/UniHumanoid/Format/BvhException.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 86267a6edfc8fc749948c586e622846f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/UniGLTF/Runtime/UniHumanoid/Format/BvhNode.cs

@@ -0,0 +1,100 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using UnityEngine;
+
+namespace UniHumanoid
+{
+    public class BvhNode
+    {
+        public String Name
+        {
+            get;
+            private set;
+        }
+
+        public Vector3 Offset
+        {
+            get;
+            private set;
+        }
+
+        public BvhChannel[] Channels
+        {
+            get;
+            private set;
+        }
+
+        public List<BvhNode> Children
+        {
+            get;
+            private set;
+        }
+
+        public BvhNode(string name)
+        {
+            Name = name;
+            Children = new List<BvhNode>();
+        }
+
+        public int GetChannelIndex(BvhChannel channel)
+        {
+            for (int i = 0; i < Channels.Length; ++i)
+            {
+                if (channel == Channels[i])
+                {
+                    return i;
+                }
+            }
+            throw new KeyNotFoundException();
+        }
+
+        public virtual void Parse(StringReader r)
+        {
+            Offset = ParseOffset(r.ReadLine());
+
+            Channels = ParseChannel(r.ReadLine());
+        }
+
+        private static Vector3 ParseOffset(string line)
+        {
+            string[] split = line.Trim().Split();
+            if (split[0] != "OFFSET")
+            {
+                throw new BvhException("OFFSET is not found");
+            }
+
+            var offset = split.Skip(1).Where(x => !string.IsNullOrEmpty(x)).Select(x => float.Parse(x, System.Globalization.CultureInfo.InvariantCulture)).ToArray();
+            return new Vector3(offset[0], offset[1], offset[2]);
+        }
+
+        private static BvhChannel[] ParseChannel(string line)
+        {
+            var split = line.Trim().Split();
+            if (split[0] != "CHANNELS")
+            {
+                throw new BvhException("CHANNELS is not found");
+            }
+            var count = int.Parse(split[1]);
+            if (count + 2 != split.Length)
+            {
+                throw new BvhException("channel count is not match with split count");
+            }
+            return split.Skip(2).Select(x => (BvhChannel)Enum.Parse(typeof(BvhChannel), x)).ToArray();
+        }
+
+        public IEnumerable<BvhNode> Traverse()
+        {
+            yield return this;
+
+            foreach (var child in Children)
+            {
+                foreach (var descendant in child.Traverse())
+                {
+                    yield return descendant;
+                }
+            }
+        }
+    }
+}

Assets/UniGLTF/Runtime/UniHumanoid/Format/BvhNode.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7f4ac3efd1faca94381a344a5be51cc2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/UniGLTF/Runtime/UniHumanoid/IO/BvhAnimationClip.cs

@@ -16,9 +16,9 @@ namespace UniHumanoid
                 Node = node;
             }
 
-            public ChannelCurve PositionX;
-            public ChannelCurve PositionY;
-            public ChannelCurve PositionZ;
+            public BvhChannelCurve PositionX;
+            public BvhChannelCurve PositionY;
+            public BvhChannelCurve PositionZ;
             public Vector3 GetPosition(int i)
             {
                 return new Vector3(
@@ -27,9 +27,9 @@ namespace UniHumanoid
                     PositionZ.Keys[i]);
             }
 
-            public ChannelCurve RotationX;
-            public ChannelCurve RotationY;
-            public ChannelCurve RotationZ;
+            public BvhChannelCurve RotationX;
+            public BvhChannelCurve RotationY;
+            public BvhChannelCurve RotationZ;
             public Quaternion GetRotation(int i)
             {
                 if (EulerToRotation == null)
@@ -43,7 +43,7 @@ namespace UniHumanoid
                     );
             }
 
-            static void AddCurve(Bvh bvh, AnimationClip clip, ChannelCurve ch, float scaling)
+            static void AddCurve(Bvh bvh, AnimationClip clip, BvhChannelCurve ch, float scaling)
             {
                 if (ch == null) return;
                 var pathWithProp = default(Bvh.PathWithProperty);
@@ -106,12 +106,12 @@ namespace UniHumanoid
                     var curve = bvh.Channels[j];
                     switch (node.Channels[i])
                     {
-                        case Channel.Xposition: set.PositionX = curve; break;
-                        case Channel.Yposition: set.PositionY = curve; break;
-                        case Channel.Zposition: set.PositionZ = curve; break;
-                        case Channel.Xrotation: set.RotationX = curve; break;
-                        case Channel.Yrotation: set.RotationY = curve; break;
-                        case Channel.Zrotation: set.RotationZ = curve; break;
+                        case BvhChannel.Xposition: set.PositionX = curve; break;
+                        case BvhChannel.Yposition: set.PositionY = curve; break;
+                        case BvhChannel.Zposition: set.PositionZ = curve; break;
+                        case BvhChannel.Xrotation: set.RotationX = curve; break;
+                        case BvhChannel.Yrotation: set.RotationY = curve; break;
+                        case BvhChannel.Zrotation: set.RotationZ = curve; break;
                         default: throw new Exception();
                     }
                 }

Assets/UniGLTF/Runtime/UniHumanoid/IO/BvhImporterContext.cs

@@ -75,11 +75,15 @@ namespace UniHumanoid
             //
             // scaling. reposition
             //
+            var yCh = Bvh.Root.GetChannelIndex(BvhChannel.Yposition);
+            var curve = Bvh.Channels[yCh];
+            var hipHeight = curve.Keys[0];
+
             float scaling = 1.0f;
             {
                 //var foot = animator.GetBoneTransform(HumanBodyBones.LeftFoot);
-                var foot = hips.Traverse().Skip(skeleton.GetBoneIndex(HumanBodyBones.LeftFoot)).First();
-                var hipHeight = hips.position.y - foot.position.y;
+                // var foot = hips.Traverse().Skip(skeleton.GetBoneIndex(HumanBodyBones.LeftFoot)).First();
+                // var hipHeight = hips.position.y - foot.position.y;
                 // hips height to a meter
                 scaling = 1.0f / hipHeight;
                 foreach (var x in Root.transform.Traverse())

Assets/UniGLTF/Runtime/UniHumanoid/IO/Extensions/BvhExtensions.cs

@@ -9,7 +9,7 @@ namespace UniHumanoid
     {
         public static Func<float, float, float, Quaternion> GetEulerToRotation(this BvhNode bvh)
         {
-            var order = bvh.Channels.Where(x => x == Channel.Xrotation || x == Channel.Yrotation || x == Channel.Zrotation).ToArray();
+            var order = bvh.Channels.Where(x => x == BvhChannel.Xrotation || x == BvhChannel.Yrotation || x == BvhChannel.Zrotation).ToArray();
 
             return (x, y, z) =>
             {
@@ -22,9 +22,9 @@ namespace UniHumanoid
                 {
                     switch (ch)
                     {
-                        case Channel.Xrotation: r = r * xRot; break;
-                        case Channel.Yrotation: r = r * yRot; break;
-                        case Channel.Zrotation: r = r * zRot; break;
+                        case BvhChannel.Xrotation: r = r * xRot; break;
+                        case BvhChannel.Yrotation: r = r * yRot; break;
+                        case BvhChannel.Zrotation: r = r * zRot; break;
                         default: throw new BvhException("no rotation");
                     }
                 }
@@ -32,12 +32,12 @@ namespace UniHumanoid
             };
         }
 
-        public static Vector3 ToVector3(this Single3 s3)
+        public static Vector3 ToVector3(this Vector3 s3)
         {
             return new Vector3(s3.x, s3.y, s3.z);
         }
 
-        public static Vector3 ToXReversedVector3(this Single3 s3)
+        public static Vector3 ToXReversedVector3(this Vector3 s3)
         {
             return new Vector3(-s3.x, s3.y, s3.z);
         }

Assets/VRM10/Runtime/Components/Vrm10Runtime/ControlRig/Vrm10ControlBone.cs

@@ -33,10 +33,11 @@ namespace UniVRM10
 
         private readonly Quaternion _initialTargetLocalRotation;
         private readonly Quaternion _initialTargetGlobalRotation;
+        public Vector3 InitialTargetGlobalPosition { get; }
         private readonly List<Vrm10ControlBone> _children = new List<Vrm10ControlBone>();
         public IReadOnlyList<Vrm10ControlBone> Children => _children;
 
-        private Vrm10ControlBone(Transform controlTarget, HumanBodyBones boneType, Vrm10ControlBone parent)
+        private Vrm10ControlBone(Transform controlTarget, HumanBodyBones boneType, Vrm10ControlBone parent, Transform root)
         {
             if (boneType == HumanBodyBones.LastBone)
             {
@@ -62,6 +63,7 @@ namespace UniVRM10
 
             _initialTargetLocalRotation = controlTarget.localRotation;
             _initialTargetGlobalRotation = controlTarget.rotation;
+            InitialTargetGlobalPosition = root.worldToLocalMatrix.MultiplyPoint(controlTarget.position);
         }
 
         /// <summary>
@@ -76,32 +78,32 @@ namespace UniVRM10
             }
         }
 
-        public static Vrm10ControlBone Build(UniHumanoid.Humanoid humanoid, out Dictionary<HumanBodyBones, Vrm10ControlBone> boneMap)
+        public static Vrm10ControlBone Build(UniHumanoid.Humanoid humanoid, out Dictionary<HumanBodyBones, Vrm10ControlBone> boneMap, Transform root)
         {
-            var hips = new Vrm10ControlBone(humanoid.Hips, HumanBodyBones.Hips, null);
+            var hips = new Vrm10ControlBone(humanoid.Hips, HumanBodyBones.Hips, null, root);
             boneMap = new Dictionary<HumanBodyBones, Vrm10ControlBone>();
             boneMap.Add(HumanBodyBones.Hips, hips);
 
             foreach (Transform child in humanoid.Hips)
             {
-                BuildRecursively(humanoid, child, hips, boneMap);
+                BuildRecursively(humanoid, child, hips, boneMap, root);
             }
 
             return hips;
         }
 
-        private static void BuildRecursively(UniHumanoid.Humanoid humanoid, Transform current, Vrm10ControlBone parent, Dictionary<HumanBodyBones, Vrm10ControlBone> boneMap)
+        private static void BuildRecursively(UniHumanoid.Humanoid humanoid, Transform current, Vrm10ControlBone parent, Dictionary<HumanBodyBones, Vrm10ControlBone> boneMap, Transform root)
         {
             if (humanoid.TryGetBoneForTransform(current, out var bone))
             {
-                var newBone = new Vrm10ControlBone(current, bone, parent);
+                var newBone = new Vrm10ControlBone(current, bone, parent, root);
                 parent = newBone;
                 boneMap.Add(bone, newBone);
             }
 
             foreach (Transform child in current)
             {
-                BuildRecursively(humanoid, child, parent, boneMap);
+                BuildRecursively(humanoid, child, parent, boneMap, root);
             }
         }
     }

Assets/VRM10/Runtime/Components/Vrm10Runtime/ControlRig/Vrm10RuntimeControlRig.cs

@@ -23,8 +23,6 @@ namespace UniVRM10
         public IReadOnlyDictionary<HumanBodyBones, Vrm10ControlBone> Bones => _bones;
         public Animator ControlRigAnimator { get; }
 
-        public float InitialHipsHeight => HipTPoseWorldPosition.y;
-
         /// <summary>
         /// humanoid に対して ControlRig を生成します
         /// </summary>
@@ -35,11 +33,9 @@ namespace UniVRM10
             _controlRigRoot = new GameObject("Runtime Control Rig").transform;
             _controlRigRoot.SetParent(vrmRoot);
 
-            _hipBone = Vrm10ControlBone.Build(humanoid, out _bones);
+            _hipBone = Vrm10ControlBone.Build(humanoid, out _bones, _controlRigRoot);
             _hipBone.ControlBone.SetParent(_controlRigRoot);
 
-            HipTPoseWorldPosition = vrmRoot.worldToLocalMatrix.MultiplyPoint(_hipBone.ControlTarget.position);
-
             var transformBonePairs = _bones.Select(kv => (kv.Value.ControlBone, kv.Key));
             _controlRigAvatar = HumanoidLoader.LoadHumanoidAvatar(vrmRoot, transformBonePairs);
             _controlRigAvatar.name = "Runtime Control Rig";
@@ -72,19 +68,11 @@ namespace UniVRM10
             }
         }
 
-        public void EnforceTPose()
+        #region INormalizedPoseApplicable
+        public void SetRawHipsPosition(Vector3 position)
         {
-            SetHipsPosition(_hipBone.ControlBone.position);
-            foreach (var bone in _bones.Values)
-            {
-                bone.ControlBone.localRotation = Quaternion.identity;
-            }
-        }
-
-        public void SetHipsPosition(Vector3 position)
-        {
-            // TODO: scale model local position
-            _hipBone.ControlTarget.position = position;
+            var world = _controlRigRoot.TransformPoint(position);
+            _hipBone.ControlBone.position = world;
         }
 
         public void SetNormalizedLocalRotation(HumanBodyBones bone, Quaternion normalizedLocalRotation)
@@ -94,6 +82,7 @@ namespace UniVRM10
                 t.ControlBone.localRotation = normalizedLocalRotation;
             }
         }
+        #endregion
 
         IEnumerable<(HumanBodyBones Head, HumanBodyBones Parent)> Traverse(Vrm10ControlBone bone, Vrm10ControlBone parent = null)
         {
@@ -108,7 +97,8 @@ namespace UniVRM10
             }
         }
 
-        public IEnumerable<(HumanBodyBones Head, HumanBodyBones Parent)> EnumerateBones()
+        #region ITPoseProvider
+        public IEnumerable<(HumanBodyBones Bone, HumanBodyBones Parent)> EnumerateBoneParentPairs()
         {
             foreach (var headParent in Traverse(_hipBone))
             {
@@ -116,11 +106,15 @@ namespace UniVRM10
             }
         }
 
-        public Vector3 HipTPoseWorldPosition { get; }
-
-        public Quaternion GetBoneTPoseWorldRotation(HumanBodyBones bone)
+        public Quaternion? GetBoneWorldRotation(HumanBodyBones bone)
         {
             return Quaternion.identity;
         }
+
+        public Vector3? GetBoneWorldPosition(HumanBodyBones bone)
+        {
+            return _bones[bone].InitialTargetGlobalPosition;
+        }
+        #endregion
     }
 }

Assets/VRM10/Runtime/ControlRig/AnimatorPoseProvider.cs

@@ -0,0 +1,84 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace UniVRM10
+{
+    /// <summary>
+    /// Animator から Pose 供給する。
+    /// この Animator は以下の条件を満たすこと。
+    /// 
+    /// * TPoseであること
+    /// * 正規化済みであること
+    /// 
+    /// </summary>
+    public sealed class AnimatorPoseProvider : INormalizedPoseProvider, ITPoseProvider
+    {
+        Transform m_root;
+        Animator m_animator;
+        Dictionary<HumanBodyBones, Vector3> m_posMap = new Dictionary<HumanBodyBones, Vector3>();
+
+        public AnimatorPoseProvider(Transform root, Animator animator)
+        {
+            m_root = root;
+            m_animator = animator;
+
+            var hips = animator.GetBoneTransform(HumanBodyBones.Hips);
+            HipTPoseWorldPosition = root.worldToLocalMatrix.MultiplyPoint(hips.position);
+
+            foreach (HumanBodyBones bone in Enum.GetValues(typeof(HumanBodyBones)))
+            {
+                if(bone==HumanBodyBones.LastBone)
+                {
+                    continue;
+                }
+                var t = animator.GetBoneTransform(bone);
+                if (t != null)
+                {
+                    m_posMap[bone] = root.worldToLocalMatrix.MultiplyPoint(t.position);
+                }
+            }
+        }
+
+        #region INormalizedPoseProvider
+        public Quaternion GetNormalizedLocalRotation(HumanBodyBones bone, HumanBodyBones parentBone)
+        {
+            if (m_animator.GetBoneTransform(bone) is Transform t)
+            {
+                // TODO: parentBone relative
+                return t.localRotation;
+            }
+            else
+            {
+                // Debug.LogWarning($"{bone} not found");
+                return Quaternion.identity;
+            }
+        }
+
+        public Vector3 GetRawHipsPosition()
+        {
+            // TODO: from model root ?
+            return m_animator.GetBoneTransform(HumanBodyBones.Hips).localPosition;
+        }
+        #endregion
+
+        #region ITPoseProvider
+        public Vector3 HipTPoseWorldPosition { get; }
+
+        public IEnumerable<(HumanBodyBones Bone, HumanBodyBones Parent)> EnumerateBoneParentPairs()
+        {
+            throw new System.NotImplementedException();
+        }
+
+        public Quaternion? GetBoneWorldRotation(HumanBodyBones bone)
+        {
+            throw new System.NotImplementedException();
+        }
+
+        public Vector3? GetBoneWorldPosition(HumanBodyBones bone)
+        {
+            return m_posMap[bone];
+        }
+        #endregion
+    }
+}

Assets/VRM10/Runtime/ControlRig/INormalizedPoseApplicable.cs

@@ -5,7 +5,7 @@ namespace UniVRM10
 {
     public interface INormalizedPoseApplicable
     {
-        void SetHipsPosition(Vector3 position);
+        void SetRawHipsPosition(Vector3 position);
 
         void SetNormalizedLocalRotation(HumanBodyBones bone, Quaternion normalizedLocalRotation);
     }

Assets/VRM10/Runtime/ControlRig/INormalizedPoseProvider.cs

@@ -7,7 +7,7 @@ namespace UniVRM10
         /// <summary>
         /// Get hips position in model root space
         /// </summary>
-        Vector3 GetHipsPosition();
+        Vector3 GetRawHipsPosition();
 
         /// <summary>
         /// Get normalized local rotation

Assets/VRM10/Runtime/ControlRig/ITPoseProvider.cs

@@ -6,22 +6,15 @@ namespace UniVRM10
     public interface ITPoseProvider
     {
         /// <summary>
-        /// * world は ModelRoot を意図していることに注意
-        /// </summary>
-        Vector3 HipTPoseWorldPosition { get; }
-
-        /// <summary>
-        /// * world は ModelRoot を意図していることに注意
-        /// * bone 無いときはどう振る舞うべきか
-        /// </summary>
-        /// <param name="bone"></param>
-        /// <returns></returns>
-        Quaternion GetBoneTPoseWorldRotation(HumanBodyBones bone);
-
-        /// <summary>
-        /// ボーンを親ボーンとセットで列挙する</returns>
+        /// このTPoseに含まれるボーンと親ボーンの組み合わせを列挙する。
+        ///
+        /// * Humanoidの木構造を深さ優先の順番で列挙する
+        ///
         /// </summary>
         /// <returns>hips の場合は parent は HumanBodyBones.LastBone で null を表す</returns>
-        IEnumerable<(HumanBodyBones Head, HumanBodyBones Parent)> EnumerateBones();
+        IEnumerable<(HumanBodyBones Bone, HumanBodyBones Parent)> EnumerateBoneParentPairs();
+
+        Quaternion? GetBoneWorldRotation(HumanBodyBones bone);
+        Vector3? GetBoneWorldPosition(HumanBodyBones bone);
     }
 }

Assets/VRM10/Runtime/ControlRig/InitialRotationPoseProvider.cs

@@ -44,7 +44,7 @@ namespace UniVRM10
             }
         }
 
-        public Vector3 GetHipsPosition()
+        public Vector3 GetRawHipsPosition()
         {
             if (m_hips.parent == m_root)
             {
@@ -56,12 +56,17 @@ namespace UniVRM10
             }
         }
 
-        public Quaternion GetBoneTPoseWorldRotation(HumanBodyBones bone)
+        public IEnumerable<(HumanBodyBones Bone, HumanBodyBones Parent)> EnumerateBoneParentPairs()
         {
             throw new System.NotImplementedException();
         }
 
-        public IEnumerable<(HumanBodyBones Head, HumanBodyBones Parent)> EnumerateBones()
+        public Quaternion? GetBoneWorldRotation(HumanBodyBones bone)
+        {
+            throw new System.NotImplementedException();
+        }
+
+        public Vector3? GetBoneWorldPosition(HumanBodyBones bone)
         {
             throw new System.NotImplementedException();
         }

Assets/VRM10/Runtime/ControlRig/NormalizedPoseProvider.cs

@@ -1,54 +0,0 @@
-using System.Collections.Generic;
-using UnityEngine;
-
-namespace UniVRM10
-{
-    /// <summary>
-    /// 正規化済みのヒエラルキーの getter。
-    /// localRotation をコピーするだけなのだが、
-    /// GetNormalizedLocalRotation にて、ボーンの有無(upperChestなど)の違いの対応をする予定(未実装)。
-    /// </summary>
-    public sealed class NormalizedPoseProvider : INormalizedPoseProvider, ITPoseProvider
-    {
-        Transform m_root;
-        Animator m_animator;
-
-        public Vector3 HipTPoseWorldPosition => throw new System.NotImplementedException();
-
-        public NormalizedPoseProvider(Transform root, Animator animator)
-        {
-            m_root = root;
-            m_animator = animator;
-        }
-
-        public Quaternion GetNormalizedLocalRotation(HumanBodyBones bone, HumanBodyBones parentBone)
-        {
-            if (m_animator.GetBoneTransform(bone) is Transform t)
-            {
-                // TODO: parentBone relative
-                return t.localRotation;
-            }
-            else
-            {
-                // Debug.LogWarning($"{bone} not found");
-                return Quaternion.identity;
-            }
-        }
-
-        public Vector3 GetHipsPosition()
-        {
-            // TODO: from model root ?
-            return m_animator.GetBoneTransform(HumanBodyBones.Hips).localPosition;
-        }
-
-        public Quaternion GetBoneTPoseWorldRotation(HumanBodyBones bone)
-        {
-            throw new System.NotImplementedException();
-        }
-
-        public IEnumerable<(HumanBodyBones Head, HumanBodyBones Parent)> EnumerateBones()
-        {
-            throw new System.NotImplementedException();
-        }
-    }
-}

Assets/VRM10_Samples/VRM10Viewer/VRM10Loaded.cs

@@ -9,6 +9,7 @@ namespace UniVRM10.VRM10Viewer
     {
         RuntimeGltfInstance m_instance;
         Vrm10Instance m_controller;
+        public Vrm10RuntimeControlRig ControlRig => m_controller.Runtime.ControlRig;
 
         VRM10AIUEO m_lipSync;
         bool m_enableLipSyncValue;
@@ -87,115 +88,5 @@ namespace UniVRM10.VRM10Viewer
             // destroy GameObject
             GameObject.Destroy(m_instance.gameObject);
         }
-
-        /// <summary>
-        /// from v0.103
-        /// </summary>
-        /// <param name="src"></param>
-        public void UpdateControlRigExplicit(Animator src)
-        {
-            var controlRig = m_controller.Runtime.ControlRig;
-
-            foreach (HumanBodyBones bone in CachedEnum.GetValues<HumanBodyBones>())
-            {
-                if (bone == HumanBodyBones.LastBone)
-                {
-                    continue;
-                }
-
-                var controlRigBone = controlRig.GetBoneTransform(bone);
-                if (controlRigBone == null)
-                {
-                    continue;
-                }
-
-                var bvhBone = src.GetBoneTransform(bone);
-                if (bvhBone != null)
-                {
-                    // set normalized pose
-                    controlRigBone.localRotation = bvhBone.localRotation;
-                }
-
-                if (bone == HumanBodyBones.Hips)
-                {
-                    controlRigBone.localPosition = bvhBone.localPosition * controlRig.InitialHipsHeight;
-                }
-            }
-        }
-
-        /// <summary>
-        /// from v0.104
-        /// </summary>
-        public void UpdateControlRigImplicit(Animator src)
-        {
-            var dst = m_controller.GetComponent<Animator>();
-
-            foreach (HumanBodyBones bone in CachedEnum.GetValues<HumanBodyBones>())
-            {
-                if (bone == HumanBodyBones.LastBone)
-                {
-                    continue;
-                }
-
-                var boneTransform = dst.GetBoneTransform(bone);
-                if (boneTransform == null)
-                {
-                    continue;
-                }
-
-                var bvhBone = src.GetBoneTransform(bone);
-                if (bvhBone != null)
-                {
-                    // set normalized pose
-                    boneTransform.localRotation = bvhBone.localRotation;
-                }
-
-                if (bone == HumanBodyBones.Hips)
-                {
-                    // TODO: hips position scaling ?
-                    boneTransform.localPosition = bvhBone.localPosition;
-                }
-            }
-        }
-
-        /// <summary>
-        /// from v0.108
-        /// </summary>
-        public void UpdateControlRigImplicit(UniHumanoid.Humanoid src)
-        {
-            var dst = m_controller.GetComponent<Animator>();
-
-            foreach (HumanBodyBones bone in CachedEnum.GetValues<HumanBodyBones>())
-            {
-                if (bone == HumanBodyBones.LastBone)
-                {
-                    continue;
-                }
-
-                var boneTransform = dst.GetBoneTransform(bone);
-                if (boneTransform == null)
-                {
-                    continue;
-                }
-
-                var bvhBone = src.GetBoneTransform(bone);
-                if (bvhBone != null)
-                {
-                    // set normalized pose
-                    boneTransform.localRotation = bvhBone.localRotation;
-                    if (bone == HumanBodyBones.Hips)
-                    {
-                        // TODO: hips position scaling ?
-                        boneTransform.localPosition = bvhBone.localPosition;
-                    }
-                }
-            }
-        }
-
-        public void TPoseControlRig()
-        {
-            var controlRig = m_controller.Runtime.ControlRig;
-            controlRig.EnforceTPose();
-        }
     }
 }

Assets/VRM10_Samples/VRM10Viewer/VRM10Motion.cs

@@ -0,0 +1,72 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Threading.Tasks;
+using UniGLTF;
+using UniHumanoid;
+using UniJSON;
+using UnityEngine;
+using VRMShaders;
+
+namespace UniVRM10.VRM10Viewer
+{
+    public class VRM10Motion
+    {
+        public (INormalizedPoseProvider, ITPoseProvider) ControlRig;
+
+        UniHumanoid.BvhImporterContext m_context;
+        UniGLTF.RuntimeGltfInstance m_instance;
+
+        public Transform Root => m_context?.Root.transform;
+
+        public VRM10Motion(UniHumanoid.BvhImporterContext context)
+        {
+            m_context = context;
+            var provider = new AnimatorPoseProvider(m_context.Root.transform, m_context.Root.GetComponent<Animator>());
+            ControlRig = (provider, provider);
+        }
+
+        public VRM10Motion(UniGLTF.RuntimeGltfInstance instance)
+        {
+            m_instance = instance;
+            if (instance.GetComponent<Animation>() is Animation animation)
+            {
+                animation.Play();
+            }
+        }
+
+        public void ShowBoxMan(bool showBoxMan)
+        {
+            if (m_context != null)
+            {
+                m_context.Root.GetComponent<SkinnedMeshRenderer>().enabled = showBoxMan;
+            }
+        }
+
+        public static VRM10Motion LoadBvhFromText(string source, string path = "tmp.bvh")
+        {
+            var context = new UniHumanoid.BvhImporterContext();
+            context.Parse(path, source);
+            context.Load();
+            return new VRM10Motion(context);
+        }
+
+        public static VRM10Motion LoadBvhFromPath(string path)
+        {
+            return LoadBvhFromText(File.ReadAllText(path), path);
+        }
+
+        static IEnumerable<Transform> Traverse(Transform t)
+        {
+            yield return t;
+            foreach (Transform child in t)
+            {
+                foreach (var x in Traverse(child))
+                {
+                    yield return x;
+                }
+            }
+        }
+    }
+}

Assets/VRM10_Samples/VRM10Viewer/VRM10Motion.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 08f06b12436bf594b9982c6a8ec71374
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/VRM10_Samples/VRM10Viewer/VRM10Retarget.cs

@@ -1,15 +1,31 @@
-namespace UniVRM10
+using UnityEngine;
+
+namespace UniVRM10.VRM10Viewer
 {
     public static class VRM10Retarget
     {
         public static void Retarget((INormalizedPoseProvider Pose, ITPoseProvider TPose) source, (INormalizedPoseApplicable Pose, ITPoseProvider TPose) sink)
         {
-            foreach (var (head, parent) in sink.TPose.EnumerateBones())
+            foreach (var (head, parent) in sink.TPose.EnumerateBoneParentPairs())
             {
                 var q = source.Pose.GetNormalizedLocalRotation(head, parent);
                 sink.Pose.SetNormalizedLocalRotation(head, q);
             }
-            sink.Pose.SetHipsPosition(source.Pose.GetHipsPosition());
+
+            // scaling hips position
+            var scaling = sink.TPose.GetBoneWorldPosition(HumanBodyBones.LeftUpperLeg).Value.y / source.TPose.GetBoneWorldPosition(HumanBodyBones.LeftUpperLeg).Value.y;
+            var delta = source.Pose.GetRawHipsPosition() - source.TPose.GetBoneWorldPosition(HumanBodyBones.Hips).Value;
+            sink.Pose.SetRawHipsPosition(sink.TPose.GetBoneWorldPosition(HumanBodyBones.Hips).Value + delta * scaling);
+        }
+
+        public static void EnforceTPose((INormalizedPoseApplicable Pose, ITPoseProvider TPose) sink)
+        {
+            foreach (var (bone, parent) in sink.TPose.EnumerateBoneParentPairs())
+            {
+                sink.Pose.SetNormalizedLocalRotation(bone, Quaternion.identity);
+            }
+
+            sink.Pose.SetRawHipsPosition(sink.TPose.GetBoneWorldPosition(HumanBodyBones.Hips).Value);
         }
     }
 }

Assets/VRM10_Samples/VRM10Viewer/VRM10ViewerUI.cs

@@ -3,7 +3,6 @@ using System.IO;
 using System.Linq;
 using System.Threading;
 using UniGLTF;
-using UniHumanoid;
 using UnityEngine;
 using UnityEngine.UI;
 using VRMShaders;
@@ -34,18 +33,15 @@ namespace UniVRM10.VRM10Viewer
         [SerializeField]
         Toggle m_useAsync = default;
 
-        [Header("Runtime")]
-        [SerializeField]
-        Animator m_src = default;
-
         [SerializeField]
         GameObject m_target = default;
 
         [SerializeField]
+        TextAsset m_motion;
+
         GameObject Root = default;
 
-        [SerializeField]
-        TextAsset m_motion;
+        VRM10Motion m_src = default;
 
         private CancellationTokenSource _cancellationTokenSource;
 
@@ -181,8 +177,6 @@ namespace UniVRM10.VRM10Viewer
             var texts = GameObject.FindObjectsOfType<Text>();
             m_version = texts.First(x => x.name == "Version");
 
-            m_src = GameObject.FindObjectOfType<Animator>();
-
             m_target = GameObject.FindObjectOfType<VRM10TargetMover>().gameObject;
         }
 
@@ -197,7 +191,7 @@ namespace UniVRM10.VRM10Viewer
             // load initial bvh
             if (m_motion != null)
             {
-                LoadMotion(m_motion.text);
+                m_src = VRM10Motion.LoadBvhFromText(m_motion.text);
             }
 
             string[] cmds = System.Environment.GetCommandLineArgs();
@@ -217,17 +211,6 @@ namespace UniVRM10.VRM10Viewer
             _cancellationTokenSource?.Dispose();
         }
 
-        private void LoadMotion(string source)
-        {
-            var context = new UniHumanoid.BvhImporterContext();
-            context.Parse("tmp.bvh", File.ReadAllText(source));
-            context.Load();
-            m_src = context.Root.GetComponent<Animator>();
-            m_ui.IsBvhEnabled = true;
-            // hide box man
-            context.Root.GetComponent<SkinnedMeshRenderer>().enabled = false;
-        }
-
         private void Update()
         {
             if (m_loaded != null)
@@ -254,11 +237,11 @@ namespace UniVRM10.VRM10Viewer
             {
                 if (m_ui.IsBvhEnabled && m_src != null)
                 {
-                    m_loaded.UpdateControlRigImplicit(m_src);
+                    VRM10Retarget.Retarget(m_src.ControlRig, (m_loaded.ControlRig, m_loaded.ControlRig));
                 }
                 else
                 {
-                    m_loaded.TPoseControlRig();
+                    VRM10Retarget.EnforceTPose((m_loaded.ControlRig, m_loaded.ControlRig));
                 }
             }
         }
@@ -280,7 +263,7 @@ namespace UniVRM10.VRM10Viewer
             var ext = Path.GetExtension(path).ToLower();
             if (ext == ".bvh")
             {
-                LoadMotion(path);
+                m_src = VRM10Motion.LoadBvhFromPath(path);
                 return;
             }