View attachment 5497831
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Enjoy. Video and scene included in the above link(Though only the video is likely to be helpful given you're on koikatsu)
I used one of the default characters.
No node constraints were needed.
Anchored the duplicate invisible panties-only character to a folder on crotch 1.
Scale and position of the penis (bound to the visible character) and the entire invisible character were modified before the bones, so check the video for that.
Bones modified on the duplicate were:
cf_J_Kosi01
cf_J_Kosi01_s
cf_J_Kokan
cf_J_LegUpDam_L
cf_J_LegUpDam_s_L
cf_J_LegUpDam_R
cf_J_LegUpDam_s_R
Bones modified on the penis:
root
balls
ball_l_s
ball_r_s
stick_01
Exact values are visible in the video. This setup seems to move well with animations.
If you plan to use FK/IK, then set up your initial model with that and duplicate BEFORE modifying any bones. FK/IK enabled models don't line up well with non FK/IK enabled ones.
I used a dick navigator to pose the penis within the panties and against the tummy, as shown. No FK posing.
Hope this is sufficient for what you're after. You owe me