/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public TwistTestDemo(DemosGame game)
: base(game)
{
var a = new Box(new Vector3(-2, 2, 0), 1, 2, 2, 5);
var b = new Box(new Vector3(2, 2, 0), 1, 2, 2, 5);
b.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), MathHelper.PiOver4);
Space.Add(a);
Space.Add(b);
var twistJoint = new TwistJoint(a, b, a.OrientationMatrix.Right, b.OrientationMatrix.Right);
var twistMotor = new TwistMotor(a, b, a.OrientationMatrix.Right, b.OrientationMatrix.Right);
twistMotor.Settings.Mode = MotorMode.Servomechanism;
//Space.Add(twistJoint);
Space.Add(twistMotor);
var ballSocketJoint = new BallSocketJoint(a, b, (a.Position + b.Position) * 0.5f);
var swingLimit = new SwingLimit(a, b, a.OrientationMatrix.Right, a.OrientationMatrix.Right, MathHelper.PiOver2);
Space.Add(ballSocketJoint);
Space.Add(swingLimit);
Box ground = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
public JointLimitTestDemo(DemosGame game)
: base(game)
{
float bounciness = 1;
float baseMass = 100;
float armMass = 10;
//DistanceLimit
Box boxA = new Box(new Vector3(-21, 4, 0), 3, 3, 3, baseMass);
Box boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
var distanceLimit = new DistanceLimit(boxA, boxB, boxA.Position, boxB.Position - new Vector3(0, 2, 0), 1, 6);
distanceLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(distanceLimit);
//EllipseSwingLimit
boxA = new Box(new Vector3(-14, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
var ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
var ellipseSwingLimit = new EllipseSwingLimit(boxA, boxB, Vector3.Up, MathHelper.Pi / 1.5f, MathHelper.Pi / 3);
ellipseSwingLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(ellipseSwingLimit);
//LinearAxisLimit
boxA = new Box(new Vector3(-7, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
var pointOnLineJoint = new PointOnLineJoint(boxA, boxB, boxA.Position, Vector3.Up, boxB.Position + new Vector3(0, -2, 0));
var linearAxisLimit = new LinearAxisLimit(boxA, boxB, boxA.Position, boxB.Position + new Vector3(0, -2, 0), Vector3.Up, 0, 4);
linearAxisLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(pointOnLineJoint);
Space.Add(linearAxisLimit);
//RevoluteLimit
boxA = new Box(new Vector3(0, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
var revoluteAngularJoint = new RevoluteAngularJoint(boxA, boxB, Vector3.Forward);
var revoluteLimit = new RevoluteLimit(boxA, boxB, Vector3.Forward, Vector3.Up, -MathHelper.PiOver4, MathHelper.PiOver4);
revoluteLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(revoluteAngularJoint);
Space.Add(revoluteLimit);
//SwingLimit
boxA = new Box(new Vector3(7, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
var swingLimit = new SwingLimit(boxA, boxB, Vector3.Up, Vector3.Up, MathHelper.PiOver4);
swingLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(swingLimit);
//TwistLimit
boxA = new Box(new Vector3(14, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
revoluteAngularJoint = new RevoluteAngularJoint(boxA, boxB, Vector3.Up);
var twistLimit = new TwistLimit(boxA, boxB, Vector3.Up, Vector3.Up, -MathHelper.PiOver4, MathHelper.PiOver4);
twistLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(revoluteAngularJoint);
Space.Add(twistLimit);
Space.Add(new Box(new Vector3(0, 0, 0), 60, 1, 60));
game.Camera.Position = new Vector3(0, 6, 15);
}
public Ragdoll()
{
#region Ragdoll Entities
//Create the ragdoll's bones.
var pelvis = new Box(Vector3.Zero, .5m, .28m, .33m, 20);
var torsoBottom = new Box(pelvis.Position + new Vector3(0, .3m, 0), .42m, .48m, .3m, 15);
var torsoTop = new Box(torsoBottom.Position + new Vector3(0, .3m, 0), .5m, .38m, .32m, 20);
var neck = new Box(torsoTop.Position + new Vector3(0, .2m, .04m), .19m, .24m, .2m, 5);
var head = new Sphere(neck.Position + new Vector3(0, .22m, -.04m), .19m, 7);
var leftUpperArm = new Box(torsoTop.Position + new Vector3(-.46m, .1m, 0), .52m, .19m, .19m, 6);
var leftForearm = new Box(leftUpperArm.Position + new Vector3(-.5m, 0, 0), .52m, .18m, .18m, 5);
var leftHand = new Box(leftForearm.Position + new Vector3(-.35m, 0, 0), .28m, .13m, .22m, 4);
var rightUpperArm = new Box(torsoTop.Position + new Vector3(.46m, .1m, 0), .52m, .19m, .19m, 6);
var rightForearm = new Box(rightUpperArm.Position + new Vector3(.5m, 0, 0), .52m, .18m, .18m, 5);
var rightHand = new Box(rightForearm.Position + new Vector3(.35m, 0, 0), .28m, .13m, .22m, 4);
var leftThigh = new Box(pelvis.Position + new Vector3(-.15m, -.4m, 0), .23m, .63m, .23m, 10);
var leftShin = new Box(leftThigh.Position + new Vector3(0, -.6m, 0), .21m, .63m, .21m, 7);
var leftFoot = new Box(leftShin.Position + new Vector3(0, -.35m, -.1m), .23m, .15m, .43m, 5);
var rightThigh = new Box(pelvis.Position + new Vector3(.15m, -.4m, 0), .23m, .63m, .23m, 10);
var rightShin = new Box(rightThigh.Position + new Vector3(0, -.6m, 0), .21m, .63m, .21m, 7);
var rightFoot = new Box(rightShin.Position + new Vector3(0, -.35m, -.1m), .23m, .15m, .43m, 5);
#endregion
#region Bone List
//Make a convenient list of all of the bones.
bones.Add(pelvis);
bones.Add(torsoBottom);
bones.Add(torsoTop);
bones.Add(neck);
bones.Add(head);
bones.Add(leftUpperArm);
bones.Add(leftForearm);
bones.Add(leftHand);
bones.Add(rightUpperArm);
bones.Add(rightForearm);
bones.Add(rightHand);
bones.Add(leftThigh);
bones.Add(leftShin);
bones.Add(leftFoot);
bones.Add(rightThigh);
bones.Add(rightShin);
bones.Add(rightFoot);
#endregion
#region Collision Rules
//Prevent adjacent limbs from colliding.
CollisionRules.AddRule(pelvis, torsoBottom, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(torsoBottom, torsoTop, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(torsoTop, neck, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(neck, head, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(head, torsoTop, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(torsoTop, leftUpperArm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftUpperArm, leftForearm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftForearm, leftHand, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(torsoTop, rightUpperArm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightUpperArm, rightForearm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightForearm, rightHand, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(pelvis, leftThigh, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftThigh, leftShin, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftThigh, torsoBottom, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftShin, leftFoot, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(pelvis, rightThigh, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightThigh, rightShin, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightThigh, torsoBottom, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightShin, rightFoot, CollisionRule.NoBroadPhase);
#endregion
//Create the constraints between the bones.
#region Pelvis up to Head Constraints
var pelvisToTorsoBottomBallSocketJoint = new BallSocketJoint(pelvis, torsoBottom, pelvis.Position + new Vector3(0, .1m, 0));
var pelvisToTorsoBottomTwistLimit = new TwistLimit(pelvis, torsoBottom, Vector3.Up, Vector3.Up, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var pelvisToTorsoBottomSwingLimit = new SwingLimit(pelvis, torsoBottom, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
var pelvisToTorsoBottomMotor = new AngularMotor(pelvis, torsoBottom);
pelvisToTorsoBottomMotor.Settings.VelocityMotor.Softness = .05m;
var torsoBottomToTorsoTopBallSocketJoint = new BallSocketJoint(torsoBottom, torsoTop, torsoBottom.Position + new Vector3(0, .25m, 0));
var torsoBottomToTorsoTopSwingLimit = new SwingLimit(torsoBottom, torsoTop, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
var torsoBottomToTorsoTopTwistLimit = new TwistLimit(torsoBottom, torsoTop, Vector3.Up, Vector3.Up, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var torsoBottomToTorsoTopMotor = new AngularMotor(torsoBottom, torsoTop);
torsoBottomToTorsoTopMotor.Settings.VelocityMotor.Softness = .05m;
var torsoTopToNeckBallSocketJoint = new BallSocketJoint(torsoTop, neck, torsoTop.Position + new Vector3(0, .15m, .05m));
var torsoTopToNeckSwingLimit = new SwingLimit(torsoTop, neck, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
var torsoTopToNeckTwistLimit = new TwistLimit(torsoTop, neck, Vector3.Up, Vector3.Up, -MathHelper.Pi / 8, MathHelper.Pi / 8);
var torsoTopToNeckMotor = new AngularMotor(torsoTop, neck);
torsoTopToNeckMotor.Settings.VelocityMotor.Softness = .1m;
var neckToHeadBallSocketJoint = new BallSocketJoint(neck, head, neck.Position + new Vector3(0, .1m, .05m));
var neckToHeadTwistLimit = new TwistLimit(neck, head, Vector3.Up, Vector3.Up, -MathHelper.Pi / 8, MathHelper.Pi / 8);
var neckToHeadSwingLimit = new SwingLimit(neck, head, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
var neckToHeadMotor = new AngularMotor(neck, head);
neckToHeadMotor.Settings.VelocityMotor.Softness = .1m;
#endregion
#region Left Arm
var torsoTopToLeftArmBallSocketJoint = new BallSocketJoint(torsoTop, leftUpperArm, torsoTop.Position + new Vector3(-.3m, .1m, 0));
var torsoTopToLeftArmEllipseLimit = new EllipseSwingLimit(torsoTop, leftUpperArm, Vector3.Left, MathHelper.Pi * .75m, MathHelper.PiOver2);
var torsoTopToLeftArmTwistLimit = new TwistLimit(torsoTop, leftUpperArm, Vector3.Left, Vector3.Left, -MathHelper.PiOver2, MathHelper.PiOver2);
var torsoTopToLeftArmMotor = new AngularMotor(torsoTop, leftUpperArm);
torsoTopToLeftArmMotor.Settings.VelocityMotor.Softness = .2m;
var leftUpperArmToLeftForearmSwivelHingeJoint = new SwivelHingeJoint(leftUpperArm, leftForearm, leftUpperArm.Position + new Vector3(-.28m, 0, 0), Vector3.Up);
leftUpperArmToLeftForearmSwivelHingeJoint.HingeLimit.IsActive = true;
leftUpperArmToLeftForearmSwivelHingeJoint.TwistLimit.IsActive = true;
leftUpperArmToLeftForearmSwivelHingeJoint.TwistLimit.MinimumAngle = -MathHelper.Pi / 8;
leftUpperArmToLeftForearmSwivelHingeJoint.TwistLimit.MaximumAngle = MathHelper.Pi / 8;
leftUpperArmToLeftForearmSwivelHingeJoint.HingeLimit.MinimumAngle = -MathHelper.Pi * .8m;
leftUpperArmToLeftForearmSwivelHingeJoint.HingeLimit.MaximumAngle = 0;
//The SwivelHingeJoint has motors, but they are separately defined for twist/bending.
//The AngularMotor covers all degrees of freedom.
var leftUpperArmToLeftForearmMotor = new AngularMotor(leftUpperArm, leftForearm);
leftUpperArmToLeftForearmMotor.Settings.VelocityMotor.Softness = .3m;
var leftForearmToLeftHandBallSocketJoint = new BallSocketJoint(leftForearm, leftHand, leftForearm.Position + new Vector3(-.2m, 0, 0));
var leftForearmToLeftHandEllipseSwingLimit = new EllipseSwingLimit(leftForearm, leftHand, Vector3.Left, MathHelper.PiOver2, MathHelper.Pi / 6);
var leftForearmToLeftHandTwistLimit = new TwistLimit(leftForearm, leftHand, Vector3.Left, Vector3.Left, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var leftForearmToLeftHandMotor = new AngularMotor(leftForearm, leftHand);
leftForearmToLeftHandMotor.Settings.VelocityMotor.Softness = .4m;
#endregion
#region Right Arm
var torsoTopToRightArmBallSocketJoint = new BallSocketJoint(torsoTop, rightUpperArm, torsoTop.Position + new Vector3(.3m, .1m, 0));
var torsoTopToRightArmEllipseLimit = new EllipseSwingLimit(torsoTop, rightUpperArm, Vector3.Right, MathHelper.Pi * .75m, MathHelper.PiOver2);
var torsoTopToRightArmTwistLimit = new TwistLimit(torsoTop, rightUpperArm, Vector3.Right, Vector3.Right, -MathHelper.PiOver2, MathHelper.PiOver2);
var torsoTopToRightArmMotor = new AngularMotor(torsoTop, rightUpperArm);
torsoTopToRightArmMotor.Settings.VelocityMotor.Softness = .2m;
var rightUpperArmToRightForearmSwivelHingeJoint = new SwivelHingeJoint(rightUpperArm, rightForearm, rightUpperArm.Position + new Vector3(.28m, 0, 0), Vector3.Up);
rightUpperArmToRightForearmSwivelHingeJoint.HingeLimit.IsActive = true;
rightUpperArmToRightForearmSwivelHingeJoint.TwistLimit.IsActive = true;
rightUpperArmToRightForearmSwivelHingeJoint.TwistLimit.MinimumAngle = -MathHelper.Pi / 8;
rightUpperArmToRightForearmSwivelHingeJoint.TwistLimit.MaximumAngle = MathHelper.Pi / 8;
rightUpperArmToRightForearmSwivelHingeJoint.HingeLimit.MinimumAngle = 0;
rightUpperArmToRightForearmSwivelHingeJoint.HingeLimit.MaximumAngle = MathHelper.Pi * .8m;
//The SwivelHingeJoint has motors, but they are separately defined for twist/bending.
//The AngularMotor covers all degrees of freedom.
var rightUpperArmToRightForearmMotor = new AngularMotor(rightUpperArm, rightForearm);
rightUpperArmToRightForearmMotor.Settings.VelocityMotor.Softness = .3m;
var rightForearmToRightHandBallSocketJoint = new BallSocketJoint(rightForearm, rightHand, rightForearm.Position + new Vector3(.2m, 0, 0));
var rightForearmToRightHandEllipseSwingLimit = new EllipseSwingLimit(rightForearm, rightHand, Vector3.Right, MathHelper.PiOver2, MathHelper.Pi / 6);
var rightForearmToRightHandTwistLimit = new TwistLimit(rightForearm, rightHand, Vector3.Right, Vector3.Right, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var rightForearmToRightHandMotor = new AngularMotor(rightForearm, rightHand);
rightForearmToRightHandMotor.Settings.VelocityMotor.Softness = .4m;
#endregion
#region Left Leg
var pelvisToLeftThighBallSocketJoint = new BallSocketJoint(pelvis, leftThigh, pelvis.Position + new Vector3(-.15m, -.1m, 0));
var pelvisToLeftThighEllipseSwingLimit = new EllipseSwingLimit(pelvis, leftThigh, Vector3.Normalize(new Vector3(-.2m, -1, -.6m)), MathHelper.Pi * .7m, MathHelper.PiOver4);
pelvisToLeftThighEllipseSwingLimit.LocalTwistAxisB = Vector3.Down;
var pelvisToLeftThighTwistLimit = new TwistLimit(pelvis, leftThigh, Vector3.Down, Vector3.Down, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var pelvisToLeftThighMotor = new AngularMotor(pelvis, leftThigh);
pelvisToLeftThighMotor.Settings.VelocityMotor.Softness = .1m;
var leftThighToLeftShinRevoluteJoint = new RevoluteJoint(leftThigh, leftShin, leftThigh.Position + new Vector3(0, -.3m, 0), Vector3.Right);
leftThighToLeftShinRevoluteJoint.Limit.IsActive = true;
leftThighToLeftShinRevoluteJoint.Limit.MinimumAngle = -MathHelper.Pi * .8m;
leftThighToLeftShinRevoluteJoint.Limit.MaximumAngle = 0;
leftThighToLeftShinRevoluteJoint.Motor.IsActive = true;
leftThighToLeftShinRevoluteJoint.Motor.Settings.VelocityMotor.Softness = .2m;
var leftShinToLeftFootBallSocketJoint = new BallSocketJoint(leftShin, leftFoot, leftShin.Position + new Vector3(0, -.3m, 0));
var leftShinToLeftFootSwingLimit = new SwingLimit(leftShin, leftFoot, Vector3.Forward, Vector3.Forward, MathHelper.Pi / 8);
var leftShinToLeftFootTwistLimit = new TwistLimit(leftShin, leftFoot, Vector3.Down, Vector3.Forward, -MathHelper.Pi / 8, MathHelper.Pi / 8);
var leftShinToLeftFootMotor = new AngularMotor(leftShin, leftFoot);
leftShinToLeftFootMotor.Settings.VelocityMotor.Softness = .2m;
#endregion
#region Right Leg
var pelvisToRightThighBallSocketJoint = new BallSocketJoint(pelvis, rightThigh, pelvis.Position + new Vector3(.15m, -.1m, 0));
var pelvisToRightThighEllipseSwingLimit = new EllipseSwingLimit(pelvis, rightThigh, Vector3.Normalize(new Vector3(.2m, -1, -.6m)), MathHelper.Pi * .7m, MathHelper.PiOver4);
pelvisToRightThighEllipseSwingLimit.LocalTwistAxisB = Vector3.Down;
var pelvisToRightThighTwistLimit = new TwistLimit(pelvis, rightThigh, Vector3.Down, Vector3.Down, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var pelvisToRightThighMotor = new AngularMotor(pelvis, rightThigh);
pelvisToRightThighMotor.Settings.VelocityMotor.Softness = .1m;
var rightThighToRightShinRevoluteJoint = new RevoluteJoint(rightThigh, rightShin, rightThigh.Position + new Vector3(0, -.3m, 0), Vector3.Right);
rightThighToRightShinRevoluteJoint.Limit.IsActive = true;
rightThighToRightShinRevoluteJoint.Limit.MinimumAngle = -MathHelper.Pi * .8m;
rightThighToRightShinRevoluteJoint.Limit.MaximumAngle = 0;
rightThighToRightShinRevoluteJoint.Motor.IsActive = true;
rightThighToRightShinRevoluteJoint.Motor.Settings.VelocityMotor.Softness = .2m;
var rightShinToRightFootBallSocketJoint = new BallSocketJoint(rightShin, rightFoot, rightShin.Position + new Vector3(0, -.3m, 0));
var rightShinToRightFootSwingLimit = new SwingLimit(rightShin, rightFoot, Vector3.Forward, Vector3.Forward, MathHelper.Pi / 8);
var rightShinToRightFootTwistLimit = new TwistLimit(rightShin, rightFoot, Vector3.Down, Vector3.Forward, -MathHelper.Pi / 8, MathHelper.Pi / 8);
var rightShinToRightFootMotor = new AngularMotor(rightShin, rightFoot);
rightShinToRightFootMotor.Settings.VelocityMotor.Softness = .2m;
#endregion
#region Joint List
//Collect the joints.
joints.Add(pelvisToTorsoBottomBallSocketJoint);
joints.Add(pelvisToTorsoBottomTwistLimit);
joints.Add(pelvisToTorsoBottomSwingLimit);
joints.Add(pelvisToTorsoBottomMotor);
joints.Add(torsoBottomToTorsoTopBallSocketJoint);
joints.Add(torsoBottomToTorsoTopTwistLimit);
joints.Add(torsoBottomToTorsoTopSwingLimit);
joints.Add(torsoBottomToTorsoTopMotor);
joints.Add(torsoTopToNeckBallSocketJoint);
joints.Add(torsoTopToNeckTwistLimit);
joints.Add(torsoTopToNeckSwingLimit);
joints.Add(torsoTopToNeckMotor);
joints.Add(neckToHeadBallSocketJoint);
joints.Add(neckToHeadTwistLimit);
joints.Add(neckToHeadSwingLimit);
joints.Add(neckToHeadMotor);
joints.Add(torsoTopToLeftArmBallSocketJoint);
joints.Add(torsoTopToLeftArmEllipseLimit);
joints.Add(torsoTopToLeftArmTwistLimit);
joints.Add(torsoTopToLeftArmMotor);
joints.Add(leftUpperArmToLeftForearmSwivelHingeJoint);
joints.Add(leftUpperArmToLeftForearmMotor);
joints.Add(leftForearmToLeftHandBallSocketJoint);
joints.Add(leftForearmToLeftHandEllipseSwingLimit);
joints.Add(leftForearmToLeftHandTwistLimit);
joints.Add(leftForearmToLeftHandMotor);
joints.Add(torsoTopToRightArmBallSocketJoint);
joints.Add(torsoTopToRightArmEllipseLimit);
joints.Add(torsoTopToRightArmTwistLimit);
joints.Add(torsoTopToRightArmMotor);
joints.Add(rightUpperArmToRightForearmSwivelHingeJoint);
joints.Add(rightUpperArmToRightForearmMotor);
joints.Add(rightForearmToRightHandBallSocketJoint);
joints.Add(rightForearmToRightHandEllipseSwingLimit);
joints.Add(rightForearmToRightHandTwistLimit);
joints.Add(rightForearmToRightHandMotor);
joints.Add(pelvisToLeftThighBallSocketJoint);
joints.Add(pelvisToLeftThighEllipseSwingLimit);
joints.Add(pelvisToLeftThighTwistLimit);
joints.Add(pelvisToLeftThighMotor);
joints.Add(leftThighToLeftShinRevoluteJoint);
joints.Add(leftShinToLeftFootBallSocketJoint);
joints.Add(leftShinToLeftFootSwingLimit);
joints.Add(leftShinToLeftFootTwistLimit);
joints.Add(leftShinToLeftFootMotor);
joints.Add(pelvisToRightThighBallSocketJoint);
joints.Add(pelvisToRightThighEllipseSwingLimit);
joints.Add(pelvisToRightThighTwistLimit);
joints.Add(pelvisToRightThighMotor);
joints.Add(rightThighToRightShinRevoluteJoint);
joints.Add(rightShinToRightFootBallSocketJoint);
joints.Add(rightShinToRightFootSwingLimit);
joints.Add(rightShinToRightFootTwistLimit);
joints.Add(rightShinToRightFootMotor);
#endregion
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public DogbotDemo(DemosGame game)
: base(game)
{
Entity body = new Box(new Vector3(0, 0, 0), 4, 2, 2, 20);
Space.Add(body);
Entity head = new Cone(body.Position + new Vector3(3.2f, .3f, 0), 1.5f, .7f, 4);
head.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Forward, MathHelper.PiOver2);
Space.Add(head);
//Attach the head to the body
var universalJoint = new UniversalJoint(body, head, head.Position + new Vector3(-.8f, 0, 0));
Space.Add(universalJoint);
//Keep the head from swinging around too much.
var angleLimit = new SwingLimit(body, head, Vector3.Right, Vector3.Right, MathHelper.PiOver4);
Space.Add(angleLimit);
var tail = new Box(body.Position + new Vector3(-3f, 1f, 0), 1.6f, .1f, .1f, 4);
Space.Add(tail);
//Keep the tail from twisting itself off.
universalJoint = new UniversalJoint(body, tail, tail.Position + new Vector3(.8f, 0, 0));
Space.Add(universalJoint);
//Give 'em some floppy ears.
var ear = new Box(head.Position + new Vector3(-.2f, 0, -.65f), .01f, .7f, .2f, 1);
Space.Add(ear);
var ballSocketJoint = new BallSocketJoint(head, ear, head.Position + new Vector3(-.2f, .35f, -.65f));
Space.Add(ballSocketJoint);
ear = new Box(head.Position + new Vector3(-.2f, 0, .65f), .01f, .7f, .3f, 1);
Space.Add(ear);
ballSocketJoint = new BallSocketJoint(head, ear, head.Position + new Vector3(-.2f, .35f, .65f));
Space.Add(ballSocketJoint);
Box arm;
Cylinder shoulder;
PointOnLineJoint pointOnLineJoint;
//************* First Arm *************//
arm = new Box(body.Position + new Vector3(-1.8f, -.5f, 1.5f), .5f, 3, .2f, 20);
Space.Add(arm);
shoulder = new Cylinder(body.Position + new Vector3(-1.8f, .3f, 1.25f), .1f, .7f, 10);
shoulder.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Right, MathHelper.PiOver2);
Space.Add(shoulder);
//Connect the shoulder to the body.
var axisJoint = new RevoluteJoint(body, shoulder, shoulder.Position, Vector3.Forward);
//Motorize the connection.
axisJoint.Motor.IsActive = true;
axisJoint.Motor.Settings.VelocityMotor.GoalVelocity = 1;
Space.Add(axisJoint);
//Connect the arm to the shoulder.
axisJoint = new RevoluteJoint(shoulder, arm, shoulder.Position + new Vector3(0, .6f, 0), Vector3.Forward);
Space.Add(axisJoint);
//Connect the arm to the body.
pointOnLineJoint = new PointOnLineJoint(arm, body, arm.Position, Vector3.Up, arm.Position + new Vector3(0, -.4f, 0));
Space.Add(pointOnLineJoint);
shoulder.OrientationMatrix *= Matrix3x3.CreateFromAxisAngle(Vector3.Forward, MathHelper.Pi); //Force the walker's legs out of phase.
//************* Second Arm *************//
arm = new Box(body.Position + new Vector3(1.8f, -.5f, 1.5f), .5f, 3, .2f, 20);
Space.Add(arm);
shoulder = new Cylinder(body.Position + new Vector3(1.8f, .3f, 1.25f), .1f, .7f, 10);
shoulder.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Right, MathHelper.PiOver2);
Space.Add(shoulder);
//Connect the shoulder to the body.
axisJoint = new RevoluteJoint(body, shoulder, shoulder.Position, Vector3.Forward);
//Motorize the connection.
axisJoint.Motor.IsActive = true;
axisJoint.Motor.Settings.VelocityMotor.GoalVelocity = 1;
Space.Add(axisJoint);
//Connect the arm to the shoulder.
axisJoint = new RevoluteJoint(shoulder, arm, shoulder.Position + new Vector3(0, .6f, 0), Vector3.Forward);
Space.Add(axisJoint);
//Connect the arm to the body.
pointOnLineJoint = new PointOnLineJoint(arm, body, arm.Position, Vector3.Up, arm.Position + new Vector3(0, -.4f, 0));
Space.Add(pointOnLineJoint);
//************* Third Arm *************//
arm = new Box(body.Position + new Vector3(-1.8f, -.5f, -1.5f), .5f, 3, .2f, 20);
Space.Add(arm);
shoulder = new Cylinder(body.Position + new Vector3(-1.8f, .3f, -1.25f), .1f, .7f, 10);
shoulder.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Right, MathHelper.PiOver2);
Space.Add(shoulder);
//Connect the shoulder to the body.
axisJoint = new RevoluteJoint(body, shoulder, shoulder.Position, Vector3.Forward);
//Motorize the connection.
axisJoint.Motor.IsActive = true;
axisJoint.Motor.Settings.VelocityMotor.GoalVelocity = 1;
Space.Add(axisJoint);
//Connect the arm to the shoulder.
axisJoint = new RevoluteJoint(shoulder, arm, shoulder.Position + new Vector3(0, .6f, 0), Vector3.Forward);
Space.Add(axisJoint);
//Connect the arm to the body.
pointOnLineJoint = new PointOnLineJoint(arm, body, arm.Position, Vector3.Up, arm.Position + new Vector3(0, -.4f, 0));
Space.Add(pointOnLineJoint);
shoulder.OrientationMatrix *= Matrix3x3.CreateFromAxisAngle(Vector3.Forward, MathHelper.Pi); //Force the walker's legs out of phase.
//************* Fourth Arm *************//
arm = new Box(body.Position + new Vector3(1.8f, -.5f, -1.5f), .5f, 3, .2f, 20);
Space.Add(arm);
shoulder = new Cylinder(body.Position + new Vector3(1.8f, .3f, -1.25f), .1f, .7f, 10);
shoulder.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Right, MathHelper.PiOver2);
Space.Add(shoulder);
//Connect the shoulder to the body.
axisJoint = new RevoluteJoint(body, shoulder, shoulder.Position, Vector3.Forward);
//Motorize the connection.
axisJoint.Motor.IsActive = true;
axisJoint.Motor.Settings.VelocityMotor.GoalVelocity = 1;
Space.Add(axisJoint);
//Connect the arm to the shoulder.
axisJoint = new RevoluteJoint(shoulder, arm, shoulder.Position + new Vector3(0, .6f, 0), Vector3.Forward);
Space.Add(axisJoint);
//Connect the arm to the body.
pointOnLineJoint = new PointOnLineJoint(arm, body, arm.Position, Vector3.Up, arm.Position + new Vector3(0, -.4f, 0));
Space.Add(pointOnLineJoint);
//Add some ground.
Space.Add(new Box(new Vector3(0, -3.5f, 0), 20f, 1, 20f));
game.Camera.Position = new Vector3(0, 2, 20);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-20, 10, -20);
//camera.Yaw = MathHelper.Pi ;
camera.Yaw = MathHelper.Pi * 3f / 4;
//camera.Pitch = MathHelper.PiOver2 * 0.999f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
Simulation.Deterministic = false;
var a = AddBody(new Box(3, 1, 1), 1, new RigidPose {
Position = new Vector3(0, 10, 0), Orientation = BepuUtilities.Quaternion.Identity
}, Simulation);
var b = AddBody(new Box(3, 1, 1), 0, new RigidPose {
Position = new Vector3(5, 10, 0), Orientation = BepuUtilities.Quaternion.Identity
}, Simulation);
a.Velocity.Angular = new Vector3(1f, 5f, 1f);
//a.Pose.Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(1, 1, 1)), MathHelper.PiOver4);
var springSettings = new SpringSettings(15, 1);
var ballSocket = new BallSocket
{
LocalOffsetA = new Vector3(2.5f, 0, 0),
LocalOffsetB = new Vector3(-2.5f, 0, 0),
SpringSettings = springSettings
};
Simulation.Solver.Add(a.Handle, b.Handle, ref ballSocket);
//springSettings = new BepuPhysics.CollisionDetection.SpringSettings { DampingRatio = 0f, NaturalFrequency = MathHelper.Pi * 1 };
var angularHinge = new AngularHinge
{
HingeAxisLocalA = Vector3.Normalize(new Vector3(0, 1, 0)),
HingeAxisLocalB = Vector3.Normalize(new Vector3(0, 1, 0)),
SpringSettings = springSettings
};
Simulation.Solver.Add(a.Handle, b.Handle, ref angularHinge);
//var swivelHinge = new AngularSwivelHinge
//{
// SwivelAxisLocalA = new Vector3(1, 0, 0),
// HingeAxisLocalB = new Vector3(0, 1, 0),
// SpringSettings = springSettings
//};
//Simulation.Solver.Add(a.Handle, b.Handle, ref swivelHinge);
var swingLimit = new SwingLimit
{
AxisLocalA = new Vector3(1, 0, 0),
AxisLocalB = new Vector3(1, 0, 0),
MinimumDot = -0.5f,
SpringSettings = new SpringSettings(15, 1)
};
Simulation.Solver.Add(a.Handle, b.Handle, ref swingLimit);
var staticShape = new Box(100, 1, 100);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(1, -0.5f, 1),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(staticDescription);
}
