//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="NoRotationConstraint"/> class.
/// </summary>
public NoRotationConstraint()
{
_angularLimit = new AngularLimit
{
Minimum = new Vector3F(0, 0, 0),
Maximum = new Vector3F(0, 0, 0),
};
}
//--------------------------------------------------------------
#region Creation & Cleanup
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="NoRotationConstraint"/> class.
/// </summary>
public NoRotationConstraint()
{
_angularLimit = new AngularLimit
{
Minimum = new Vector3F(0, 0, 0),
Maximum = new Vector3F(0, 0, 0),
};
}
//--------------------------------------------------------------
#region Creation & Cleanup
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="PrismaticJoint"/> class.
/// </summary>
public PrismaticJoint()
{
_linearLimit = new LinearLimit
{
Minimum = new Vector3F(float.NegativeInfinity, 0, 0),
Maximum = new Vector3F(float.PositiveInfinity, 0, 0),
};
_angularLimit = new AngularLimit
{
Minimum = new Vector3F(0, 0, 0),
Maximum = new Vector3F(0, 0, 0),
};
}
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="PrismaticJoint"/> class.
/// </summary>
public PrismaticJoint()
{
_linearLimit = new LinearLimit
{
Minimum = new Vector3F(float.NegativeInfinity, 0, 0),
Maximum = new Vector3F(float.PositiveInfinity, 0, 0),
};
_angularLimit = new AngularLimit
{
Minimum = new Vector3F(0, 0, 0),
Maximum = new Vector3F(0, 0, 0),
};
}
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="FixedJoint"/> class.
/// </summary>
public FixedJoint()
{
_linearLimit = new LinearLimit
{
Minimum = new Vector3F(0, 0, 0),
Maximum = new Vector3F(0, 0, 0),
};
_angularLimit = new AngularLimit
{
Minimum = new Vector3F(0, 0, 0),
Maximum = new Vector3F(0, 0, 0),
};
}
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="Hinge2Joint"/> class.
/// </summary>
public Hinge2Joint()
{
_linearLimit = new LinearLimit
{
Minimum = new Vector3F(0, 0, 0),
Maximum = new Vector3F(0, 0, 0),
};
_angularLimit = new AngularLimit
{
Minimum = new Vector3F(-ConstantsF.PiOver4, 0, float.NegativeInfinity),
Maximum = new Vector3F(ConstantsF.PiOver4, 0, float.PositiveInfinity),
};
}
//public float RelativePosition
//{
// get { return _angularLimit.RelativePosition.X; }
//}
#endregion
//--------------------------------------------------------------
#region Creation & Cleanup
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="Hinge2Joint"/> class.
/// </summary>
public Hinge2Joint()
{
_linearLimit = new LinearLimit
{
Minimum = new Vector3F(0, 0, 0),
Maximum = new Vector3F(0, 0, 0),
};
_angularLimit = new AngularLimit
{
Minimum = new Vector3F(-ConstantsF.PiOver4, 0, float.NegativeInfinity),
Maximum = new Vector3F(ConstantsF.PiOver4, 0, float.PositiveInfinity),
};
}
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="UniversalJoint"/> class.
/// </summary>
public UniversalJoint()
{
_linearLimit = new LinearLimit
{
Minimum = new Vector3F(0, 0, 0),
Maximum = new Vector3F(0, 0, 0),
};
_angularLimit = new AngularLimit
{
Minimum = new Vector3F(-ConstantsF.PiOver4, 0, -ConstantsF.PiOver4),
Maximum = new Vector3F(ConstantsF.PiOver4, 0, ConstantsF.PiOver4),
};
}
//--------------------------------------------------------------
#region Creation & Cleanup
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="FixedJoint"/> class.
/// </summary>
public FixedJoint()
{
_linearLimit = new LinearLimit
{
Minimum = new Vector3F(0, 0, 0),
Maximum = new Vector3F(0, 0, 0),
};
_angularLimit = new AngularLimit
{
Minimum = new Vector3F(0, 0, 0),
Maximum = new Vector3F(0, 0, 0),
};
}
//public float RelativePosition
//{
// get { return _angularLimit.RelativePosition.X; }
//}
#endregion
//--------------------------------------------------------------
#region Creation & Cleanup
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="UniversalJoint"/> class.
/// </summary>
public UniversalJoint()
{
_linearLimit = new LinearLimit
{
Minimum = new Vector3F(0, 0, 0),
Maximum = new Vector3F(0, 0, 0),
};
_angularLimit = new AngularLimit
{
Minimum = new Vector3F(-ConstantsF.PiOver4, 0, -ConstantsF.PiOver4),
Maximum = new Vector3F(ConstantsF.PiOver4, 0, ConstantsF.PiOver4),
};
}
/// <summary>
/// Adds an AngularLimit between the specified bones.
/// </summary>
/// <param name="skeletonPose">The skeleton pose.</param>
/// <param name="ragdoll">The ragdoll.</param>
/// <param name="parent">The parent bone.</param>
/// <param name="child">The childbone .</param>
/// <param name="minimum">The minimum limits for each constraint axis (x/y/z).</param>
/// <param name="maximum">The maximum limits for each constraint axis (x/y/z).</param>
/// <remarks>
/// The constraint anchor orientation is the orientation of the child bone.
/// </remarks>
private static void AddAngularLimit(SkeletonPose skeletonPose, Ragdoll ragdoll, int parent, int child, Vector3F minimum, Vector3F maximum)
{
var skeleton = skeletonPose.Skeleton;
var childBody = ragdoll.Bodies[child];
var childOffset = ragdoll.BodyOffsets[child];
var parentBody = ragdoll.Bodies[parent];
var parentOffset = ragdoll.BodyOffsets[parent];
var parentBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(parent).Inverse;
var childBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(child).Inverse;
var bindPoseRelative = parentBindPoseAbsolute.Inverse * childBindPoseAbsolute;
var limit = new AngularLimit
{
BodyA = parentBody,
BodyB = childBody,
AnchorOrientationALocal = parentOffset.Orientation.Transposed * bindPoseRelative.Orientation,
AnchorOrientationBLocal = childOffset.Orientation.Transposed,
Minimum = minimum,
Maximum = maximum,
ErrorReduction = new Vector3F(0.2f),
Softness = new Vector3F(0.001f)
};
ragdoll.Limits.Add(limit);
}
private static void DrawAngularLimit(BallJoint joint, AngularLimit limit)
{
Vector3F jointPosition = joint.BodyA.Pose.ToWorldPosition(joint.AnchorPositionALocal);
// A transformation that converts from constraint anchor space to world space.
Pose constraintToWorld = limit.BodyA.Pose * new Pose(limit.AnchorOrientationALocal);
// Draw an arc for each rotation axis.
DrawArc(constraintToWorld, jointPosition, Vector3F.UnitX, Vector3F.UnitY, limit.Minimum.X, limit.Maximum.X, Color.Red);
DrawArc(constraintToWorld, jointPosition, Vector3F.UnitY, Vector3F.UnitX, limit.Minimum.Y, limit.Maximum.Y, Color.Green);
DrawArc(constraintToWorld, jointPosition, Vector3F.UnitZ, Vector3F.UnitX, limit.Minimum.Z, limit.Maximum.Z, Color.Blue);
}
private static void AddAngularLimit(Ragdoll ragdoll, Skeleton skeleton, AvatarBone parentBone, AvatarBone childBone, Matrix33F orientationA, Matrix33F orientationB, Vector3F minimum, Vector3F maximum)
{
// Similar to AddTwistSwingLimit
int parentIndex = (int)parentBone;
int childIndex = (int)childBone;
var limit = new AngularLimit
{
BodyA = ragdoll.Bodies[parentIndex],
BodyB = ragdoll.Bodies[childIndex],
AnchorOrientationALocal = ragdoll.BodyOffsets[parentIndex].Orientation.Transposed * skeleton.GetBindPoseAbsoluteInverse(parentIndex).Rotation.ToRotationMatrix33() * orientationA,
AnchorOrientationBLocal = ragdoll.BodyOffsets[childIndex].Orientation.Transposed * skeleton.GetBindPoseAbsoluteInverse(childIndex).Rotation.ToRotationMatrix33() * orientationB,
Minimum = minimum,
Maximum = maximum,
ErrorReduction = new Vector3F(0.2f),
Softness = new Vector3F(0.001f)
};
ragdoll.Limits[childIndex] = limit;
}
