public PassiveRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
// Add game objects which allow to shoot balls and grab rigid bodies.
_ballShooterObject = new BallShooterObject(Services) { Speed = 10 };
GameObjectService.Objects.Add(_ballShooterObject);
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
var modelNode = ContentManager.Load<ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
// Uncomment to disable dynamic movement (for debugging during ragdoll creation):
//foreach (var body in _ragdoll.Bodies)
// if (body != null)
// body.MotionType = MotionType.Kinematic;
// In this sample we use a passive ragdoll where we need joints to hold the
// limbs together and limits to restrict angular movement.
_ragdoll.EnableJoints();
_ragdoll.EnableLimits();
// Set all motors to constraint motors that only use damping. This adds a damping
// effect to all ragdoll limbs.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 5;
motor.ConstraintSpring = 0;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
// Add a rigid body.
var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f))
{
Name = "Box",
Pose = new Pose(new Vector3F(0, 3, 0)),
};
Simulation.RigidBodies.Add(box);
}
private void InitializeModelAndRagdoll()
{
// Load Dude model.
var contentManager = Services.GetInstance<ContentManager>();
var dudeModelNode = contentManager.Load<ModelNode>("Dude/Dude");
_meshNode = dudeModelNode.GetSubtree().OfType<MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
// Disable sleeping.
foreach (var body in _ragdoll.Bodies)
{
if (body != null)
{
body.CanSleep = false;
//body.CollisionResponseEnabled = false;
}
}
// The pelvis bone (index 1) is updated directly from the Kinect hip center.
_ragdoll.Bodies[1].MotionType = MotionType.Kinematic;
// In this sample we use a passive ragdoll where we need joints to hold the
// limbs together and limits to restrict angular movement.
_ragdoll.EnableJoints();
_ragdoll.EnableLimits();
// Set all motors to constraint motors that only use damping. This adds a damping
// effect to all ragdoll limbs.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 100;
motor.ConstraintSpring = 0;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
}
private void InitializeModel()
{
// Load dude model including the skeleton.
_model = Game.Content.Load<Model>("Dude");
var additionalData = (Dictionary<string, object>)_model.Tag;
var ragdollSkeleton = (DRSkeleton)additionalData["Skeleton"];
_skeletonPose = SkeletonPose.Create(ragdollSkeleton);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_skeletonPose, _ragdoll, Simulation, 0.57f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.UpdateBodiesFromSkeleton(_skeletonPose);
// Disable sleeping.
foreach (var body in _ragdoll.Bodies)
{
if (body != null)
body.CanSleep = false;
}
// The pelvis bone (index 1) is updated directly from the Kinect hip center.
_ragdoll.Bodies[1].MotionType = MotionType.Kinematic;
// In this sample we use a passive ragdoll where we need joints to hold the
// limbs together and limits to restrict angular movement.
_ragdoll.EnableJoints();
_ragdoll.EnableLimits();
// Set all motors to constraint motors that only use damping. This adds a damping
// effect to all ragdoll limbs.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 100;
motor.ConstraintSpring = 0;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
}
protected override void LoadContent()
{
// Add a ground plane to the simulation.
Simulation.RigidBodies.Add(
new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
MotionType = MotionType.Static
});
// Load model.
_model = Game.Content.Load<Model>("Dude");
var additionalData = (Dictionary<string, object>)_model.Tag;
var skeleton = (Skeleton)additionalData["Skeleton"];
// Create the two skeleton poses.
_targetSkeletonPose = SkeletonPose.Create(skeleton);
_actualSkeletonPose = SkeletonPose.Create(skeleton);
// Animate the _targetSkeletonPose.
var animations = (Dictionary<string, SkeletonKeyFrameAnimation>)additionalData["Animations"];
var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_targetSkeletonPose);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_targetSkeletonPose, _ragdoll, Simulation);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _pose;
_ragdoll.UpdateBodiesFromSkeleton(_targetSkeletonPose);
// In this sample we use an active ragdoll. We need joints because constraint ragdoll
// motors only affect the body rotations.
_ragdoll.EnableJoints();
// We disable limits. If limits are enabled, the ragdoll could get unstable if
// the animation tries to move a limb beyond an allowed limit. (This happens if
// a pose in the animation violates one of our limits.)
_ragdoll.DisableLimits();
// Set all motors to constraint motors. Constraint motors are like springs that
// rotate the limbs to a target position.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 10000;
motor.ConstraintSpring = 100000;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
base.LoadContent();
}
public override void Update(GameTime gameTime)
{
base.Update(gameTime);
if (_avatarPose == null)
{
if (_avatarRenderer.State == AvatarRendererState.Ready)
{
_avatarPose = new AvatarPose(_avatarRenderer);
// Create a ragdoll for the avatar.
_ragdoll = Ragdoll.CreateAvatarRagdoll(_avatarPose, Simulation);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _pose;
_ragdoll.UpdateBodiesFromSkeleton(_avatarPose.SkeletonPose);
// In this sample we use a passive ragdoll where we need joints to hold the
// limbs together and limits to control the angular movement.
_ragdoll.EnableJoints();
_ragdoll.EnableLimits();
// Set all motors to constraint motors that only use damping. This adds a damping
// effect to all ragdoll limbs.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 5;
motor.ConstraintSpring = 0;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
}
}
}
protected override void LoadContent()
{
// Add a ground plane to the simulation.
Simulation.RigidBodies.Add(
new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
MotionType = MotionType.Static
});
// Load model and start animation.
_model = Game.Content.Load<Model>("Dude");
var additionalData = (Dictionary<string, object>)_model.Tag;
var skeleton = (Skeleton)additionalData["Skeleton"];
_skeletonPose = SkeletonPose.Create(skeleton);
var animations = (Dictionary<string, SkeletonKeyFrameAnimation>)additionalData["Animations"];
var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
var animationController = AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_skeletonPose);
animationController.UpdateAndApply();
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_skeletonPose, _ragdoll, Simulation);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _pose;
_ragdoll.UpdateBodiesFromSkeleton(_skeletonPose);
// Set all bodies to kinematic - they should not be affected by forces.
foreach (var body in _ragdoll.Bodies)
{
if (body != null)
{
body.MotionType = MotionType.Kinematic;
}
}
// Set all motors to velocity motors. Velocity motors change RigidBody.LinearVelocity
// RigidBody.AngularVelocity to move the rigid bodies.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Velocity;
}
}
_ragdoll.EnableMotors();
// In this sample, we do not need joints or limits.
_ragdoll.DisableJoints();
_ragdoll.DisableLimits();
// Add ragdoll rigid bodies to the simulation.
_ragdoll.AddToSimulation(Simulation);
base.LoadContent();
}
protected override void LoadContent()
{
// Add a ground plane to the simulation.
Simulation.RigidBodies.Add(
new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
MotionType = MotionType.Static
});
_basicEffect = new BasicEffect(GraphicsDevice);
_model = Game.Content.Load<Model>("Dude");
var additionalData = (Dictionary<string, object>)_model.Tag;
var skeleton = (Skeleton)additionalData["Skeleton"];
_skeletonPose = SkeletonPose.Create(skeleton);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_skeletonPose, _ragdoll, Simulation);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _pose;
_ragdoll.UpdateBodiesFromSkeleton(_skeletonPose);
// Uncomment to disable dynamic movement (for debugging during ragdoll creation):
//foreach (var body in _ragdoll.Bodies)
// if (body != null)
// body.MotionType = MotionType.Kinematic;
// In this sample we use a passive ragdoll where we need joints to hold the
// limbs together and limits to restrict angular movement.
_ragdoll.EnableJoints();
_ragdoll.EnableLimits();
// Set all motors to constraint motors that only use damping. This adds a damping
// effect to all ragdoll limbs.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 5;
motor.ConstraintSpring = 0;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
base.LoadContent();
}
public KinematicRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
// Add game objects which allow to shoot balls and grab rigid bodies.
_ballShooterObject = new BallShooterObject(Services) { Speed = 10 };
GameObjectService.Objects.Add(_ballShooterObject);
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
var modelNode = ContentManager.Load<ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0), Matrix33F.CreateRotationY(ConstantsF.Pi));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
var animations = _meshNode.Mesh.Animations;
var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
var animationController = AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_meshNode.SkeletonPose);
animationController.UpdateAndApply();
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
// Set all bodies to kinematic - they should not be affected by forces.
foreach (var body in _ragdoll.Bodies)
{
if (body != null)
{
body.MotionType = MotionType.Kinematic;
}
}
// Set all motors to velocity motors. Velocity motors change RigidBody.LinearVelocity
// RigidBody.AngularVelocity to move the rigid bodies.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Velocity;
}
}
_ragdoll.EnableMotors();
// In this sample, we do not need joints or limits.
_ragdoll.DisableJoints();
_ragdoll.DisableLimits();
// Add ragdoll rigid bodies to the simulation.
_ragdoll.AddToSimulation(Simulation);
// Add a rigid body.
var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f))
{
Name = "Box",
Pose = new Pose(new Vector3F(0, 3, 0)),
};
Simulation.RigidBodies.Add(box);
}
public ActiveRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
// Add game objects which allow to shoot balls and grab rigid bodies.
_ballShooterObject = new BallShooterObject(Services) { Speed = 10 };
GameObjectService.Objects.Add(_ballShooterObject);
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
var modelNode = ContentManager.Load<ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
// Create a copy of the dude's skeleton.
_targetSkeletonPose = SkeletonPose.Create(_meshNode.Mesh.Skeleton);
// Animate the _targetSkeletonPose.
var animations = _meshNode.Mesh.Animations;
var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_targetSkeletonPose);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_targetSkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_targetSkeletonPose);
// In this sample we use an active ragdoll. We need joints because constraint ragdoll
// motors only affect the body rotations.
_ragdoll.EnableJoints();
// We disable limits. If limits are enabled, the ragdoll could get unstable if
// the animation tries to move a limb beyond an allowed limit. (This happens if
// a pose in the animation violates one of our limits.)
_ragdoll.DisableLimits();
// Set all motors to constraint motors. Constraint motors are like springs that
// rotate the limbs to a target position.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 10000;
motor.ConstraintSpring = 100000;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
// Add a rigid body.
var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f))
{
Name = "Box",
Pose = new Pose(new Vector3F(0, 3, 0)),
};
Simulation.RigidBodies.Add(box);
}
public override void Update(GameTime gameTime)
{
if (_avatarPose == null)
{
if (_avatarRenderer.State == AvatarRendererState.Ready)
{
_avatarPose = new AvatarPose(_avatarRenderer);
// Create a ragdoll for the avatar.
_ragdoll = Ragdoll.CreateAvatarRagdoll(_avatarPose, Simulation);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _pose;
_ragdoll.UpdateBodiesFromSkeleton(_avatarPose.SkeletonPose);
// In this sample we use a passive ragdoll where we need joints to hold the
// limbs together and limits to control the angular movement.
_ragdoll.EnableJoints();
_ragdoll.EnableLimits();
// Set all motors to constraint motors that only use damping. This adds a damping
// effect to all ragdoll limbs.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 5;
motor.ConstraintSpring = 0;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
}
}
else
{
// Copy skeleton pose from ragdoll.
_ragdoll.UpdateSkeletonFromBodies(_avatarPose.SkeletonPose);
}
// Render rigid bodies.
_debugRenderer.Clear();
foreach (var body in Simulation.RigidBodies)
if (!(body.Shape is EmptyShape)) // Do not draw dummy bodies which might be used by the ragdoll.
_debugRenderer.DrawObject(body, Color.Black, true, false);
}
