private void InitializeSimulation(Simulation simulation, Vector3F offset)
{
// Add default force effects.
simulation.ForceEffects.Add(new Gravity());
simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane",
MotionType = MotionType.Static,
};
simulation.RigidBodies.Add(groundPlane);
// Add a stack of boxes.
const float boxSize = 0.8f;
float overlap = simulation.Settings.Constraints.AllowedPenetration * 0.5f;
float yPosition = boxSize / 2 - overlap;
BoxShape boxShape = new BoxShape(boxSize, boxSize, boxSize);
for (int i = 0; i < 15; i++)
{
RigidBody stackBox = new RigidBody(boxShape)
{
Name = "StackBox" + i,
Pose = new Pose(new Vector3F(0, yPosition, 0) + offset),
};
simulation.RigidBodies.Add(stackBox);
yPosition += boxSize - overlap;
}
}
public RigidBodyRenderer(Game game, Simulation simulation)
: base(game)
{
Simulation = simulation;
DrawWireFrame = true;
}
public ParallelSimulationsSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Initialize the default simulation with a box stack on the left.
Simulation firstSimulation = Simulation;
InitializeSimulation(firstSimulation, new Vector3F(-3, 0, 0));
// Initialize a second simulation with a box stack on the right.
_secondSimulation = new Simulation();
InitializeSimulation(_secondSimulation, new Vector3F(3, 0, 0));
// Disable sleeping so that we can see the result of changed simulation settings and
// bodies are not automatically disabled.
firstSimulation.Settings.Sleeping.TimeThreshold = float.PositiveInfinity;
_secondSimulation.Settings.Sleeping.TimeThreshold = float.PositiveInfinity;
// ----- Let's play around with simulation settings.
// Reduce the number of constraint iterations. - This makes the simulation faster and
// less accurate/stable.
_secondSimulation.Settings.Constraints.NumberOfConstraintIterations = 4;
// The "BaumgarteRatio" is an experimental parameter that changes error correction method.
// Setting this value to 0 makes the simulation a bit slower but less "bouncy".
//_secondSimulation.Settings.Constraints.BaumgarteRatio = 0;
// If we set a stacking factor > 0, we can make right stack stable - even with reduced
// constraint iteration count.
//_secondSimulation.Settings.Constraints.StackingFactor = 5;
}
public override void Initialize()
{
simulation = ((GenericGame)Game).Simulation;
//Floor
AddBody("GroundPlane", Pose.Identity, new PlaneShape(Vector3F.UnitY, -2.5F), MotionType.Static);
//Loaf Map01 model from content pipeline.
model = Game.Content.Load<Model>("map01");
//Collision map vertices (Map01 is concave, so automatic generation is not possible with this engine)
CreateWall(0F, -7F, 16F); CreateWall(0F, 7F, 16F); CreateWall(-7F, 0F, 16F, true); CreateWall(7F, 0F, 16F, true);
CreateWall(-5F, -6F, 4F); CreateWall(1.5F, -6F, 3F); CreateWall(5F, -6F, 2F); CreateWall(-6F, -5F, 2F);
CreateWall(-1.5F, -5F, 1F); CreateWall(6.5F, -5F, 1F); CreateWall(2F, -4F, 2F); CreateWall(-4.5F, -3F, 1F);
CreateWall(-0.5F, -3F, 3F); CreateWall(5F, -3F, 2F); CreateWall(-5.5F, -2F, 1F); CreateWall(-0.5F, -2F, 3F);
CreateWall(5F, -2F, 2F); CreateWall(-3.5F, -1F, 1F); CreateWall(-1F, -1F, 2F); CreateWall(3F, -1F, 2F);
CreateWall(-4.5F, 0F, 1F); CreateWall(-2F, 0F, 2F); CreateWall(5F, 0F, 2F); CreateWall(-0.5F, 1F, 1F);
CreateWall(4.5F, 1F, 1F); CreateWall(6.5F, 1F, 1F); CreateWall(2.5F, 2F, 1F); CreateWall(-5.5F, 3F, 1F);
CreateWall(-3.5F, 3F, 1F); CreateWall(-0.5F, 3F, 3F); CreateWall(-6.5F, 4F, 1F); CreateWall(0.5F, 4F, 3F);
CreateWall(6.5F, 4F, 1F); CreateWall(-5.5F, 5F, 1F); CreateWall(-2.5F, 5F, 1F); CreateWall(-0.5F, 5F, 1F);
CreateWall(3.5F, 5F, 1F); CreateWall(5.5F, 5F, 1F); CreateWall(-5F, 6F, 4F); CreateWall(-1.5F, 6F, 1F);
CreateWall(0.5F, 6F, 1F); CreateWall(5F, 6F, 2F); CreateWall(-6F, 0.5F, 5F, true); CreateWall(-6F, 4.5F, 1F, true);
CreateWall(-5F, -4F, 2F, true); CreateWall(-5F, -1F, 2F, true); CreateWall(-5F, 4F, 2F, true); CreateWall(-4F, -2F, 2F, true);
CreateWall(-4F, 1.5F, 3F, true); CreateWall(-3F, -3.5F, 5F, true); CreateWall(-3F, 1.5F, 3F, true); CreateWall(-3F, 5.5F, 1F, true);
CreateWall(-2F, -4F, 2F, true); CreateWall(-2F, -1.5F, 1F, true); CreateWall(-2F, 4F, 2F, true); CreateWall(-2F, 6.5F, 1F, true);
CreateWall(-1F, -6F, 2F, true); CreateWall(-1F, 0.5F, 1F, true); CreateWall(-1F, 4.5F, 1F, true); CreateWall(-1F, 6.5F, 1F, true);
CreateWall(0F, -6.5F, 1F, true); CreateWall(0F, 0F, 2F, true); CreateWall(0F, 5.5F, 1F, true); CreateWall(1F, -3.5F, 1F, true);
CreateWall(1F, 0.5F, 5F, true); CreateWall(1F, 6.5F, 1F, true); CreateWall(2F, 0.5F, 3F, true); CreateWall(2F, 5.5F, 3F, true);
CreateWall(3F, -5F, 2F, true); CreateWall(3F, 3.5F, 3F, true); CreateWall(4F, -4.5F, 3F, true); CreateWall(4F, -1.5F, 1F, true);
CreateWall(4F, 0.5F, 1F, true); CreateWall(4F, 5.5F, 1F, true); CreateWall(5F, 3F, 4F, true); CreateWall(6F, -6.5F, 1F, true);
CreateWall(6F, -4F, 2F, true); CreateWall(6F, -1F, 2F, true); CreateWall(6F, 2.5F, 3F, true); CreateWall(6F, 5.5F, 1F, true);
base.Initialize();
}
protected Sample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Get services from the global service container.
var services = (ServiceContainer)ServiceLocator.Current;
SampleFramework = services.GetInstance<SampleFramework>();
ContentManager = services.GetInstance<ContentManager>();
UIContentManager = services.GetInstance<ContentManager>("UIContent");
InputService = services.GetInstance<IInputService>();
AnimationService = services.GetInstance<IAnimationService>();
Simulation = services.GetInstance<Simulation>();
ParticleSystemService = services.GetInstance<IParticleSystemService>();
GraphicsService = services.GetInstance<IGraphicsService>();
GameObjectService = services.GetInstance<IGameObjectService>();
UIService = services.GetInstance<IUIService>();
// Create a local service container which can be modified in samples:
// The local service container is a child container, i.e. it inherits the
// services of the global service container. Samples can add new services
// or override existing entries without affecting the global services container
// or other samples.
Services = services.CreateChildContainer();
// Store a copy of the original graphics screens.
_originalGraphicsScreens = GraphicsService.Screens.ToArray();
// Mouse is visible by default.
SampleFramework.IsMouseVisible = true;
}
public ExplosionObject(IServiceLocator services)
{
Name = "Explosion";
_inputService = services.GetInstance<IInputService>();
_simulation = services.GetInstance<Simulation>();
_gameObjectService = services.GetInstance<IGameObjectService>();
}
private bool _showSleeping = true; // Determines whether sleeping objects should be visualized.
#endregion Fields
#region Constructors
public RigidBodyRenderer(Game game)
: base(game)
{
_inputService = (IInputService)game.Services.GetService(typeof(IInputService));
_simulation = (Simulation)game.Services.GetService(typeof(Simulation));
DrawWireFrame = true;
}
public BallShooterObject(IServiceLocator services)
{
Name = "BallShooter";
Speed = 100;
_inputService = services.GetInstance<IInputService>();
_simulation = services.GetInstance<Simulation>();
_gameObjectService = services.GetInstance<IGameObjectService>();
}
public MyGameComponent(Microsoft.Xna.Framework.Game game, IServiceLocator services)
: base(game)
{
// Get the services that this component needs regularly.
_services = services;
_inputService = services.GetInstance<IInputService>();
_simulation = services.GetInstance<Simulation>();
_graphicsService = services.GetInstance<IGraphicsService>();
_gameObjectService = services.GetInstance<IGameObjectService>();
_uiService = services.GetInstance<IUIService>();
// Add gravity and damping to the physics simulation.
_simulation.ForceEffects.Add(new Gravity());
_simulation.ForceEffects.Add(new Damping());
// Create the DeferredGraphicsScreen and some 3D objects.
_deferredGraphicsScreen = new DeferredGraphicsScreen(services);
_deferredGraphicsScreen.DrawReticle = true;
_graphicsService.Screens.Insert(0, _deferredGraphicsScreen);
// The GameObjects below expect try to retrieve DebugRenderer and Scene via
// service container.
var serviceContainer = (ServiceContainer)services;
serviceContainer.Register(typeof(DebugRenderer), null, _deferredGraphicsScreen.DebugRenderer);
serviceContainer.Register(typeof(IScene), null, _deferredGraphicsScreen.Scene);
_cameraGameObject = new CameraObject(services);
_gameObjectService.Objects.Add(_cameraGameObject);
_deferredGraphicsScreen.ActiveCameraNode = _cameraGameObject.CameraNode;
_gameObjectService.Objects.Add(new GrabObject(services));
_gameObjectService.Objects.Add(new StaticSkyObject(services));
_gameObjectService.Objects.Add(new GroundObject(services));
for (int i = 0; i < 10; i++)
_gameObjectService.Objects.Add(new DynamicObject(services, 1));
// Get the "SampleUI" screen that was created by the StartScreenComponent.
_uiScreen = _uiService.Screens["SampleUI"];
// Add a second GraphicsScreen. This time it is a DelegateGraphicsScreen that
// draws the UI over DeferredGraphicsScreen.
_delegateGraphicsScreen = new DelegateGraphicsScreen(_graphicsService)
{
RenderCallback = context => _uiScreen.Draw(context.DeltaTime)
};
_graphicsService.Screens.Insert(1, _delegateGraphicsScreen);
// Create the game menu window. But do not display it yet.
_gameMenuWindow = new GameMenuWindow
{
// If the menu is opened and closed a lot, it is more efficient when _gameMenuWindow.Close()
// makes the window invisible but does not remove it from the screen.
HideOnClose = true,
};
}
public DigitalRuneSimulator()
{
_wrappedSimulation = new Simulation();
((MaterialPropertyCombiner)_wrappedSimulation.Settings.MaterialPropertyCombiner).RestitutionMode = MaterialPropertyCombiner.Mode.ArithmeticMean;
((MaterialPropertyCombiner)_wrappedSimulation.Settings.MaterialPropertyCombiner).FrictionMode = MaterialPropertyCombiner.Mode.ArithmeticMean;
_wrappedSimulation.ForceEffects.Add(new Damping());
Configurator = new SimulatorConfigurator(this);
Queries = new SimulatorQueries(this);
ActorsFactory = new SimulatorRigidBodyFactory(this);
ConstraintsFactory = new SimulatorConstraintsFactory(this);
}
protected override void Initialize()
{
// ----- Initialize Services.
// The services are stored in Game.Services to make them accessible for all
// game components.
// Add the input service, which manages device input, button presses, etc.
_inputManager = new InputManager(false);
Services.AddService(typeof(IInputService), _inputManager);
// Add the animation service.
_animationManager = new AnimationManager();
Services.AddService(typeof(IAnimationService), _animationManager);
// Add the physics simulation to the service and add some force effects.
// (TODO: Create a IPhysicsService that owns the simulation.)
_simulation = new Simulation();
_simulation.ForceEffects.Add(new Gravity());
_simulation.ForceEffects.Add(new Damping());
Services.AddService(typeof(Simulation), _simulation);
// ----- Add GameComponents
Components.Add(new GamerServicesComponent(this)); // XNA gamer services needed for avatars.
Components.Add(new Camera(this)); // Controls the camera.
Components.Add(new BallShooter(this)); // Shoot balls at the target position.
Components.Add(new Grab(this)); // Allows to grab objects with the mouse/gamepad
Components.Add(new RigidBodyRenderer(this) { DrawOrder = 10 }); // Renders all rigid bodies of the simulation.
Components.Add(new Reticle(this) { DrawOrder = 20 }); // Draws a cross-hair for aiming.
Components.Add(new Help(this) { DrawOrder = 30 }); // Draws help text.
Components.Add(new Profiler(this) { DrawOrder = 40 }); // Displays profiling data.
// Initialize the sample factory methods. All samples must be added to this
// array to be shown.
_createSampleDelegates = new Func<Sample>[]
{
() => new BasicAvatarSample(this),
() => new WrappedAnimationSample(this),
() => new BakedAnimationSample(this),
() => new CustomAnimationSample(this),
() => new AttachmentSample(this),
() => new RagdollSample(this),
() => new AdvancedRagdollSample(this),
};
// Start the first sample in the array.
_activeSampleIndex = 0;
_activeSample = _createSampleDelegates[0]();
Components.Add(_activeSample);
base.Initialize();
}
public InGameUIScreen(IServiceLocator services, IUIRenderer renderer)
: base("InGame", renderer)
{
var gameObjectService = services.GetInstance<IGameObjectService>();
_cameraObject = (CameraObject)gameObjectService.Objects["Camera"];
_simulation = services.GetInstance<Simulation>();
Background = Color.White;
// Add one window to the screen.
Window window = new InGameWindow(services) { X = 175, Y = 30 };
window.Show(this);
}
protected override void Initialize()
{
//Create a new simulation with common settings.
Simulation = new Simulation();
Simulation.Settings.Timing.MaxNumberOfSteps = 1;
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
//Add game components.
Components.Add(new Map(this)); //Creates level with test obstacles.
Components.Add(new Camera(this)); //Defines the camera position, orientation and projection.
Components.Add(new Player(this)); //Controls the player vehicle.
Components.Add(new KeyboardBinding(this)); //Creates a keyboard binding object
Components.Add(new MouseBinding(this)); //Creates a mouse binding object
base.Initialize();
}
private void DigitalRuneAdaptorScene()
{
//creating the simulation
_simulation = new Simulation();
_simulation.ForceEffects.Add(new Gravity());
_simulation.ForceEffects.Add(new Damping());
//definig a material
var material = new UniformMaterial { StaticFriction = 0.5f, DynamicFriction = 0.5f, Restitution = 0.7f };
//creating the ground
CreateGround(material);
////creating a Tower
CreateTower(material, new BoxShapeDescriptor(1, 1, 1),
xCount: 3, yCount: 3, zCount: 3,
xSpace: 2, ySpace: 2, zSpace: 2,
xOffset: 0, yOffset: 2 + 10 / 2, zOffset: 0);
}
protected override void Initialize()
{
// ----- Initialize Services.
// The services are stored in Game.Services to make them accessible for all
// game components.
// Add the input service, which manages device input, button presses, etc.
_inputManager = new InputManager(false);
Services.AddService(typeof(IInputService), _inputManager);
// Add the physics simulation to the service.
_simulation = new Simulation();
// We do not add the standard force effects because our bodies should only
// be modified by Kinect data!
//_simulation.ForceEffects.Add(new Gravity());
//_simulation.ForceEffects.Add(new Damping());
Services.AddService(typeof(Simulation), _simulation);
// ----- Add GameComponents
Components.Add(new Camera(this)); // Controls the camera.
Components.Add(new RigidBodyRenderer(this, _simulation)); // Renders rigid bodies for debugging.
Components.Add(new Help(this) { DrawOrder = 30 }); // Draws help text.
Components.Add(new KinectWrapper(this)); // Wraps the Kinect sensor.
// Initialize the sample factory methods. All samples must be added to this
// array to be shown.
_createSampleDelegates = new Func<SampleBase>[]
{
() => new SkeletonMappingSample(this),
() => new RagdollMarionetteSample(this),
};
// Start the first sample in the array.
_activeSampleIndex = 0;
_activeSample = _createSampleDelegates[0]();
Components.Add(_activeSample);
base.Initialize();
}
//--------------------------------------------------------------
#region Methods
//--------------------------------------------------------------
protected override void OnLoad()
{
// Get common services and game objects.
_graphicsService = _services.GetInstance<IGraphicsService>();
_graphicsScreen = _graphicsService.Screens.OfType<DeferredGraphicsScreen>().First();
var content = _services.GetInstance<ContentManager>();
var scene = _services.GetInstance<IScene>();
_simulation = _services.GetInstance<Simulation>();
var gameObjectService = _services.GetInstance<IGameObjectService>();
_cameraObject = gameObjectService.Objects.OfType<CameraObject>().First();
_previousCameraFar = _cameraObject.CameraNode.Camera.Projection.Far;
// Create a new terrain.
var terrain = new Terrain();
// The terrain is made up of terrain tiles which can be loaded independently.
// Each terrain tile consists of height and normal textures which define the terrain
// geometry and terrain layers which define the material (detail textures).
// In this sample we create 2x2 tiles.
_tiles = new Tile[2, 2];
for (int row = 0; row < 2; row++)
{
for (int column = 0; column < 2; column++)
{
// Create a tile and add it to the terrain.
// (The tile content is loaded later.)
var terrainTile = new TerrainTile(_graphicsService)
{
CellSize = 1, // The terrain has a resolution of 1 height sample per world space unit.
};
terrain.Tiles.Add(terrainTile);
// Create a rigid body with a height field for collision detection and add
// it to the simulation. (The height data is loaded later.)
var heightField = new HeightField
{
Depth = 1,
UseFastCollisionApproximation = false,
};
var rigidBody = new RigidBody(heightField, new MassFrame(), null)
{
MotionType = MotionType.Static,
UserData = terrainTile,
};
_simulation.RigidBodies.Add(rigidBody);
// Store the tile for use later in this sample.
_tiles[row, column] = new Tile
{
TerrainTile = terrainTile,
RigidBody = rigidBody,
};
}
}
// Create a terrain node which represents the terrain in the scene graph.
// The terrain node is rendered by the TerrainRenderer (see DeferredGraphicsScreen).
// The material used to render the terrain is customizable. The material must specify
// the effects for the different render passes which we use in the DeferredGraphicsScreen
// ("ShadowMap", "GBuffer", "Material").
// The prebuilt DigitalRune content contains standard terrain effects. However, you could
// change the effects to change how the material is rendered.
// We can create the material by loading a .drmat file. Or we can create the material in
// code like this:
var shadowMapEffect = content.Load<Effect>("DigitalRune/Terrain/TerrainShadowMap");
var gBufferEffect = content.Load<Effect>("DigitalRune/Terrain/TerrainGBuffer");
var materialEffect = content.Load<Effect>("DigitalRune/Terrain/TerrainMaterial");
var material = new Material
{
{ "ShadowMap", new EffectBinding(_graphicsService, shadowMapEffect, null, EffectParameterHint.Material) },
{ "GBuffer", new EffectBinding(_graphicsService, gBufferEffect, null, EffectParameterHint.Material) },
{ "Material", new EffectBinding(_graphicsService, materialEffect, null, EffectParameterHint.Material) }
};
TerrainNode = new TerrainNode(terrain, material)
{
// The terrain rendering uses clipmaps.
// The clipmaps are updated by the TerrainClipmapRenderer (see DeferredGraphicsScreen)
// when the camera moves.
// The base clipmap contains the basic geometry info (height, normals, hole info).
// It also determines the terrain mesh resolution.
BaseClipmap =
{
CellsPerLevel = 128,
NumberOfLevels = 6
},
// The detail clipmap contains the splatted detail textures (e.g. grass, rock, ...).
// (The max texture size in XNA is 4096x4096. That means we can fit 9 clipmap levels
// into a single texture.)
DetailClipmap =
{
CellsPerLevel = 1365,
NumberOfLevels = 9,
},
};
scene.Children.Add(TerrainNode);
// Load the height and normal maps which define the terrain geometry.
InitializeHeightsAndNormals();
// Set the clipmap cell sizes.
InitializeClipmapCellSizes();
// Create the terrain layers which define the detail textures (e.g. grass, rock, ...)
InitializeTerrainLayers(content);
// Special note for AMD GPUs:
// If we want anisotropic filtering for the terrain, then we need to enable mipmaps for
// AMD GPUs. NVIDIA and Intel can do anisotropic filtering without mipmaps.
//TerrainNode.DetailClipmap.EnableMipMap = true;
CreateGuiControls();
}
protected override void Initialize()
{
// ----- Initialize Services.
// The services are stored in Game.Services to make them accessible for all
// game components.
// Add the input service, which manages device input, button presses, etc.
_inputManager = new InputManager(false);
Services.AddService(typeof(IInputService), _inputManager);
// Add the animation service.
_animationManager = new AnimationManager();
Services.AddService(typeof(IAnimationService), _animationManager);
// Add the physics simulation to the service.
// (TODO: Create a IPhysicsService that owns the simulation.)
_simulation = new Simulation();
// Add standard force effects:
_simulation.ForceEffects.Add(new Gravity());
_simulation.ForceEffects.Add(new Damping());
Services.AddService(typeof(Simulation), _simulation);
// ----- Add GameComponents
Components.Add(new Camera(this)); // Controls the camera.
Components.Add(new BallShooter(this)); // Shoot balls at the target position.
Components.Add(new Grab(this)); // Allows to grab objects with the mouse/gamepad
Components.Add(new RigidBodyRenderer(this) { DrawOrder = 10 }); // Renders all rigid bodies of the simulation.
Components.Add(new Reticle(this) { DrawOrder = 20 }); // Draws a cross-hair for aiming.
Components.Add(new Help(this) { DrawOrder = 30 }); // Draws help text.
Components.Add(new Profiler(this) { DrawOrder = 40 }); // Displays profiling data.
// Initialize the sample factory methods. All samples must be added to this
// array to be shown.
_createSampleDelegates = new Func<Sample>[]
{
() => new BindPoseSample(this),
() => new SkeletonManipulationSample(this),
() => new DudeWalkingSample(this),
() => new AttachmentSample(this),
() => new CrossFadeSample(this),
() => new StressTestSample(this),
() => new CompressionSample(this),
() => new MixingSample(this),
() => new BoneJiggleSample(this),
() => new SkeletonMappingSample(this),
() => new LookAtIKSample(this),
() => new JacobianTransposeIKSample(this),
() => new CcdIKSample(this),
() => new ClosedFormIKSample(this),
() => new TwoJointIKSample(this),
() => new CollisionDetectionOnlyRagdollSample(this),
() => new KinematicRagdollSample(this),
() => new PassiveRagdollSample(this),
() => new ActiveRagdollSample(this),
};
// Start the first sample in the array.
_activeSampleIndex = 0;
_activeSample = _createSampleDelegates[0]();
Components.Add(_activeSample);
base.Initialize();
}
public BallShooter(Game game)
: base(game)
{
_inputService = (IInputService)game.Services.GetService(typeof(IInputService));
_simulation = (Simulation)game.Services.GetService(typeof(Simulation));
}
public override void Initialize()
{
// Get a reference to all of the other dependent components
camera = Game.Components.OfType<Camera>().First();
simulation = ((GenericGame)Game).Simulation;
//Need to differentiate between the IBinding objects as we need both of them
//We COULD fetch them by actual type, but I'd rather get them in a generic fashion with and interface
foreach (var binding in Game.Components.OfType<IBinding>())
{
if (binding is KeyboardBinding)
keyboardBinding = binding;
else if (binding is MouseBinding)
mouseBinding = binding;
}
//Bind thw WASD keys to the keyboard controller with the appropriate movement actions
//Also, lambdas are very SEXY -Nick
keyboardBinding.Bind(Keys.W, () => { moveDirection[0].Z--; });
keyboardBinding.Bind(Keys.S, () => { moveDirection[0].Z++; });
keyboardBinding.Bind(Keys.A, () => { moveDirection[0].X--; });
keyboardBinding.Bind(Keys.D, () => { moveDirection[0].X++; });
//Same with the mouse x and y axes
mouseBinding.Bind(MState.XAxis, () =>
{
var deltaTime = (float)gTime.ElapsedGameTime.TotalSeconds;
//Compute new yaw from mouse delta x.
float deltaYaw = 0;
deltaYaw -= Mouse.GetState().X - MouseOrigin;
yaw += deltaYaw * deltaTime * 0.1f;
});
mouseBinding.Bind(MState.YAxis, () =>
{
var deltaTime = (float)gTime.ElapsedGameTime.TotalSeconds;
//Compute new pitch from mouse delta y.
float deltaPitch = 0;
deltaPitch -= Mouse.GetState().Y - MouseOrigin;
pitch += deltaPitch * deltaTime * 0.1f;
//Only reset on Y because we need BOTH x and y to evaluate before the reset happens
Mouse.SetPosition(MouseOrigin, MouseOrigin);
});
CharacterController = new KinematicCharacterController(simulation)
{
Position = new Vector3F(-0.5F, 0, 0.5F),
Gravity = 10
};
gun = Game.Content.Load<Model>("gun");
Mouse.SetPosition(MouseOrigin, MouseOrigin);
base.Initialize();
}
private static void AddDamping(Simulation simulation, RigidBody bodyA, RigidBody bodyB, float softness, float maxForce)
{
// Usually an AngularVelocityMotor rotates bodies, but in this case the
// TargetVelocity is set to 0 (default). The AngularVelocityMotor acts as
// a damping.
AngularVelocityMotor damping = new AngularVelocityMotor
{
BodyA = bodyA,
BodyB = bodyB,
// A softness of 0 would make the joint stiff. A softness value > 0 is important to
// mimic damping.
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(damping);
}
/// <summary>
/// Initializes the ragdoll for the given skeleton pose.
/// </summary>
/// <param name="skeletonPose">The skeleton pose.</param>
/// <param name="ragdoll">The ragdoll.</param>
/// <param name="simulation">The simulation in which the ragdoll will be used.</param>
public static void Create(SkeletonPose skeletonPose, Ragdoll ragdoll, Simulation simulation)
{
var skeleton = skeletonPose.Skeleton;
const float totalMass = 80; // The total mass of the ragdoll.
const int numberOfBodies = 17;
// Get distance from foot to head as a measure for the size of the ragdoll.
int head = skeleton.GetIndex("Head");
int footLeft = skeleton.GetIndex("L_Ankle1");
var headPosition = skeletonPose.GetBonePoseAbsolute(head).Translation;
var footPosition = skeletonPose.GetBonePoseAbsolute(footLeft).Translation;
var headToFootDistance = (headPosition - footPosition).Length;
// We use the same mass properties for all bodies. This is not realistic but more stable
// because large mass differences or thin bodies (arms!) are less stable.
// We use the mass properties of sphere proportional to the size of the model.
var massFrame = MassFrame.FromShapeAndMass(new SphereShape(headToFootDistance / 8), Vector3F.One, totalMass / numberOfBodies, 0.1f, 1);
var material = new UniformMaterial();
#region ----- Add Bodies and Body Offsets -----
var numberOfBones = skeleton.NumberOfBones;
ragdoll.Bodies.AddRange(Enumerable.Repeat<RigidBody>(null, numberOfBones));
ragdoll.BodyOffsets.AddRange(Enumerable.Repeat(Pose.Identity, numberOfBones));
var pelvis = skeleton.GetIndex("Pelvis");
ragdoll.Bodies[pelvis] = new RigidBody(new BoxShape(0.3f, 0.4f, 0.55f), massFrame, material);
ragdoll.BodyOffsets[pelvis] = new Pose(new Vector3F(0.0f, 0, 0));
var backLower = skeleton.GetIndex("Spine");
ragdoll.Bodies[backLower] = new RigidBody(new BoxShape(0.36f, 0.4f, 0.55f), massFrame, material);
ragdoll.BodyOffsets[backLower] = new Pose(new Vector3F(0.18f, 0, 0));
var backUpper = skeleton.GetIndex("Spine2");
ragdoll.Bodies[backUpper] = new RigidBody(new BoxShape(0.5f, 0.4f, 0.65f), massFrame, material);
ragdoll.BodyOffsets[backUpper] = new Pose(new Vector3F(0.25f, 0, 0));
var neck = skeleton.GetIndex("Neck");
ragdoll.Bodies[neck] = new RigidBody(new CapsuleShape(0.12f, 0.3f), massFrame, material);
ragdoll.BodyOffsets[neck] = new Pose(new Vector3F(0.15f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[neck].CollisionObject.Enabled = false;
ragdoll.Bodies[head] = new RigidBody(new SphereShape(0.2f), massFrame, material);
ragdoll.BodyOffsets[head] = new Pose(new Vector3F(0.15f, 0.02f, 0));
var armUpperLeft = skeleton.GetIndex("L_UpperArm");
ragdoll.Bodies[armUpperLeft] = new RigidBody(new CapsuleShape(0.12f, 0.6f), massFrame, material);
ragdoll.BodyOffsets[armUpperLeft] = new Pose(new Vector3F(0.2f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var armLowerLeft = skeleton.GetIndex("L_Forearm");
ragdoll.Bodies[armLowerLeft] = new RigidBody(new CapsuleShape(0.08f, 0.5f), massFrame, material);
ragdoll.BodyOffsets[armLowerLeft] = new Pose(new Vector3F(0.2f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var handLeft = skeleton.GetIndex("L_Hand");
ragdoll.Bodies[handLeft] = new RigidBody(new BoxShape(0.2f, 0.06f, 0.15f), massFrame, material);
ragdoll.BodyOffsets[handLeft] = new Pose(new Vector3F(0.1f, 0, 0));
var armUpperRight = skeleton.GetIndex("R_UpperArm");
ragdoll.Bodies[armUpperRight] = new RigidBody(new CapsuleShape(0.12f, 0.6f), massFrame, material);
ragdoll.BodyOffsets[armUpperRight] = new Pose(new Vector3F(0.2f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var armLowerRight = skeleton.GetIndex("R_Forearm");
ragdoll.Bodies[armLowerRight] = new RigidBody(new CapsuleShape(0.08f, 0.5f), massFrame, material);
ragdoll.BodyOffsets[armLowerRight] = new Pose(new Vector3F(0.2f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var handRight = skeleton.GetIndex("R_Hand");
ragdoll.Bodies[handRight] = new RigidBody(new BoxShape(0.2f, 0.06f, 0.15f), massFrame, material);
ragdoll.BodyOffsets[handRight] = new Pose(new Vector3F(0.1f, 0, 0));
var legUpperLeft = skeleton.GetIndex("L_Thigh1");
ragdoll.Bodies[legUpperLeft] = new RigidBody(new CapsuleShape(0.16f, 0.8f), massFrame, material);
ragdoll.BodyOffsets[legUpperLeft] = new Pose(new Vector3F(0.4f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var legLowerLeft = skeleton.GetIndex("L_Knee2");
ragdoll.Bodies[legLowerLeft] = new RigidBody(new CapsuleShape(0.12f, 0.65f), massFrame, material);
ragdoll.BodyOffsets[legLowerLeft] = new Pose(new Vector3F(0.32f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
//var footLeft = skeleton.GetIndex("L_Ankle1");
ragdoll.Bodies[footLeft] = new RigidBody(new BoxShape(0.20f, 0.5f, 0.3f), massFrame, material);
ragdoll.BodyOffsets[footLeft] = new Pose(new Vector3F(0.16f, 0.15f, 0));
var legUpperRight = skeleton.GetIndex("R_Thigh");
ragdoll.Bodies[legUpperRight] = new RigidBody(new CapsuleShape(0.16f, 0.8f), massFrame, material);
ragdoll.BodyOffsets[legUpperRight] = new Pose(new Vector3F(0.4f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var legLowerRight = skeleton.GetIndex("R_Knee");
ragdoll.Bodies[legLowerRight] = new RigidBody(new CapsuleShape(0.12f, 0.65f), massFrame, material);
ragdoll.BodyOffsets[legLowerRight] = new Pose(new Vector3F(0.32f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var footRight = skeleton.GetIndex("R_Ankle");
ragdoll.Bodies[footRight] = new RigidBody(new BoxShape(0.20f, 0.5f, 0.3f), massFrame, material);
ragdoll.BodyOffsets[footRight] = new Pose(new Vector3F(0.16f, 0.15f, 0));
#endregion
#region ----- Set Collision Filters -----
// Collisions between connected bodies will be disabled in AddJoint(). (A BallJoint
// has a property CollisionEnabled which decides whether connected bodies can
// collide.)
// But we need to disable some more collision between bodies that are not directly
// connected but still too close to each other.
var filter = (ICollisionFilter)simulation.CollisionDomain.CollisionDetection.CollisionFilter;
filter.Set(ragdoll.Bodies[backUpper].CollisionObject, ragdoll.Bodies[head].CollisionObject, false);
filter.Set(ragdoll.Bodies[armUpperRight].CollisionObject, ragdoll.Bodies[backLower].CollisionObject, false);
filter.Set(ragdoll.Bodies[armUpperLeft].CollisionObject, ragdoll.Bodies[backLower].CollisionObject, false);
filter.Set(ragdoll.Bodies[legUpperLeft].CollisionObject, ragdoll.Bodies[legUpperRight].CollisionObject, false);
#endregion
#region ----- Add Joints -----
AddJoint(skeletonPose, ragdoll, pelvis, backLower);
AddJoint(skeletonPose, ragdoll, backLower, backUpper);
AddJoint(skeletonPose, ragdoll, backUpper, neck);
AddJoint(skeletonPose, ragdoll, neck, head);
AddJoint(skeletonPose, ragdoll, backUpper, armUpperLeft);
AddJoint(skeletonPose, ragdoll, armUpperLeft, armLowerLeft);
AddJoint(skeletonPose, ragdoll, armLowerLeft, handLeft);
AddJoint(skeletonPose, ragdoll, backUpper, armUpperRight);
AddJoint(skeletonPose, ragdoll, armUpperRight, armLowerRight);
AddJoint(skeletonPose, ragdoll, armLowerRight, handRight);
AddJoint(skeletonPose, ragdoll, pelvis, legUpperLeft);
AddJoint(skeletonPose, ragdoll, legUpperLeft, legLowerLeft);
AddJoint(skeletonPose, ragdoll, legLowerLeft, footLeft);
AddJoint(skeletonPose, ragdoll, pelvis, legUpperRight);
AddJoint(skeletonPose, ragdoll, legUpperRight, legLowerRight);
AddJoint(skeletonPose, ragdoll, legLowerRight, footRight);
#endregion
#region ----- Add Limits -----
// Choosing limits is difficult.
// We create hinge limits with AngularLimits in the back and in the knee.
// For all other joints we use TwistSwingLimits with symmetric cones.
AddAngularLimit(skeletonPose, ragdoll, pelvis, backLower, new Vector3F(0, 0, -0.3f), new Vector3F(0, 0, 0.3f));
AddAngularLimit(skeletonPose, ragdoll, backLower, backUpper, new Vector3F(0, 0, -0.3f), new Vector3F(0, 0, 0.4f));
AddAngularLimit(skeletonPose, ragdoll, backUpper, neck, new Vector3F(0, 0, -0.3f), new Vector3F(0, 0, 0.3f));
AddTwistSwingLimit(ragdoll, neck, head, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.1f, -0.5f, -0.7f), new Vector3F(0.1f, 0.5f, 0.7f));
var parentBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(backUpper).Inverse;
var childBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(armUpperLeft).Inverse;
var bindPoseRelative = parentBindPoseAbsolute.Inverse * childBindPoseAbsolute;
AddTwistSwingLimit(ragdoll, backUpper, armUpperLeft, bindPoseRelative.Orientation * Matrix33F.CreateRotationY(-0.5f) * Matrix33F.CreateRotationZ(-0.5f), Matrix33F.Identity, new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(0.7f, 1.2f, 1.2f));
AddTwistSwingLimit(ragdoll, armUpperLeft, armLowerLeft, Matrix33F.CreateRotationZ(-1.2f), Matrix33F.Identity, new Vector3F(-0.3f, -1.2f, -1.2f), new Vector3F(0.3f, 1.2f, 1.2f));
AddTwistSwingLimit(ragdoll, armLowerLeft, handLeft, Matrix33F.Identity, Matrix33F.CreateRotationX(+ConstantsF.PiOver2), new Vector3F(-0.3f, -0.7f, -0.7f), new Vector3F(0.3f, 0.7f, 0.7f));
parentBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(backUpper).Inverse;
childBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(armUpperRight).Inverse;
bindPoseRelative = parentBindPoseAbsolute.Inverse * childBindPoseAbsolute;
AddTwistSwingLimit(ragdoll, backUpper, armUpperRight, bindPoseRelative.Orientation * Matrix33F.CreateRotationY(0.5f) * Matrix33F.CreateRotationZ(-0.5f), Matrix33F.Identity, new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(0.7f, 1.2f, 1.2f));
AddTwistSwingLimit(ragdoll, armUpperRight, armLowerRight, Matrix33F.CreateRotationZ(-1.2f), Matrix33F.Identity, new Vector3F(-0.3f, -1.2f, -1.2f), new Vector3F(0.3f, 1.2f, 1.2f));
AddTwistSwingLimit(ragdoll, armLowerRight, handRight, Matrix33F.Identity, Matrix33F.CreateRotationX(-ConstantsF.PiOver2), new Vector3F(-0.3f, -0.7f, -0.7f), new Vector3F(0.3f, 0.7f, 0.7f));
parentBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(pelvis).Inverse;
childBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(legUpperLeft).Inverse;
bindPoseRelative = parentBindPoseAbsolute.Inverse * childBindPoseAbsolute;
AddTwistSwingLimit(ragdoll, pelvis, legUpperLeft, bindPoseRelative.Orientation * Matrix33F.CreateRotationZ(1.2f), Matrix33F.Identity, new Vector3F(-0.1f, -0.7f, -1.5f), new Vector3F(+0.1f, +0.7f, +1.5f));
AddAngularLimit(skeletonPose, ragdoll, legUpperLeft, legLowerLeft, new Vector3F(0, 0, -2.2f), new Vector3F(0, 0, 0.0f));
AddTwistSwingLimit(ragdoll, legLowerLeft, footLeft, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.1f, -0.3f, -0.7f), new Vector3F(0.1f, 0.3f, 0.7f));
parentBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(pelvis).Inverse;
childBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(legUpperRight).Inverse;
bindPoseRelative = parentBindPoseAbsolute.Inverse * childBindPoseAbsolute;
AddTwistSwingLimit(ragdoll, pelvis, legUpperRight, bindPoseRelative.Orientation * Matrix33F.CreateRotationZ(1.2f), Matrix33F.Identity, new Vector3F(-0.1f, -0.7f, -1.5f), new Vector3F(+0.1f, +0.7f, +1.5f));
AddAngularLimit(skeletonPose, ragdoll, legUpperRight, legLowerRight, new Vector3F(0, 0, -2.2f), new Vector3F(0, 0, 0.0f));
AddTwistSwingLimit(ragdoll, legLowerRight, footRight, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.1f, -0.3f, -0.7f), new Vector3F(0.1f, 0.3f, 0.7f));
#endregion
#region ----- Add Motors -----
ragdoll.Motors.AddRange(Enumerable.Repeat<RagdollMotor>(null, numberOfBones));
ragdoll.Motors[pelvis] = new RagdollMotor(pelvis, -1);
ragdoll.Motors[backLower] = new RagdollMotor(backLower, pelvis);
ragdoll.Motors[backUpper] = new RagdollMotor(backUpper, backLower);
ragdoll.Motors[neck] = new RagdollMotor(neck, backUpper);
ragdoll.Motors[head] = new RagdollMotor(head, neck);
ragdoll.Motors[armUpperLeft] = new RagdollMotor(armUpperLeft, backUpper);
ragdoll.Motors[armLowerLeft] = new RagdollMotor(armLowerLeft, armUpperLeft);
ragdoll.Motors[handLeft] = new RagdollMotor(handLeft, armLowerLeft);
ragdoll.Motors[armUpperRight] = new RagdollMotor(armUpperRight, backUpper);
ragdoll.Motors[armLowerRight] = new RagdollMotor(armLowerRight, armUpperRight);
ragdoll.Motors[handRight] = new RagdollMotor(handRight, armLowerRight);
ragdoll.Motors[legUpperLeft] = new RagdollMotor(legUpperLeft, pelvis);
ragdoll.Motors[legLowerLeft] = new RagdollMotor(legLowerLeft, legUpperLeft);
ragdoll.Motors[footLeft] = new RagdollMotor(footLeft, legLowerLeft);
ragdoll.Motors[legUpperRight] = new RagdollMotor(legUpperRight, pelvis);
ragdoll.Motors[legLowerRight] = new RagdollMotor(legLowerRight, legUpperRight);
ragdoll.Motors[footRight] = new RagdollMotor(footRight, legLowerRight);
#endregion
}
// Using a softness value > 0 is important to give the ragdoll a more natural movement and to
// avoid jittering.
public static void AddRagdoll(Simulation simulation, float scale, Vector3F ragdollPosition, float softness, bool addDamping)
{
// Ragdolls are usually used in games to create realistic death animations of
// characters. The character is usually rendered using a skinned triangle mesh.
// But in the physics simulation the body parts of the character are represented
// using simple shapes, such as spheres, capsules, boxes, or convex polyhedra,
// which are connected with joints.
// The physics simulations computes how these parts collide and fall. The positions
// and orientations are then read back each frame to update the animation of the
// triangle mesh.
// In this example the ragdoll is built from spheres, capsules and boxes. The
// rigid bodies are created in code. In practice, ragdolls should be built using
// external tools, such as a 3D modeler or a game editor.
#region ----- Create rigid bodies for the most relevant body parts -----
// The density used for all bodies.
const float density = 1000;
BoxShape pelvisShape = new BoxShape(0.3f * scale, 0.22f * scale, 0.20f * scale);
MassFrame pelvisMass = MassFrame.FromShapeAndDensity(pelvisShape, Vector3F.One, density, 0.01f, 3);
RigidBody pelvis = new RigidBody(pelvisShape, pelvisMass, null)
{
Pose = new Pose(new Vector3F(0f, 0.01f * scale, -0.03f * scale) + ragdollPosition),
};
simulation.RigidBodies.Add(pelvis);
BoxShape torsoShape = new BoxShape(0.35f * scale, 0.22f * scale, 0.44f * scale);
MassFrame torsoMass = MassFrame.FromShapeAndDensity(torsoShape, Vector3F.One, density, 0.01f, 3);
RigidBody torso = new RigidBody(torsoShape, torsoMass, null)
{
Pose = new Pose(new Vector3F(0f, 0.01f * scale, -0.4f * scale) + ragdollPosition),
};
simulation.RigidBodies.Add(torso);
SphereShape headShape = new SphereShape(0.13f * scale);
MassFrame headMass = MassFrame.FromShapeAndDensity(headShape, Vector3F.One, density, 0.01f, 3);
RigidBody head = new RigidBody(headShape, headMass, null)
{
Pose = new Pose(new Vector3F(0f * scale, 0f, -0.776f * scale) + ragdollPosition),
};
simulation.RigidBodies.Add(head);
CapsuleShape upperArmShape = new CapsuleShape(0.08f * scale, 0.3f * scale);
MassFrame upperArmMass = MassFrame.FromShapeAndDensity(upperArmShape, Vector3F.One, density, 0.01f, 3);
RigidBody leftUpperArm = new RigidBody(upperArmShape, upperArmMass, null)
{
Pose = new Pose(new Vector3F(-0.32f * scale, 0.06f * scale, -0.53f * scale) + ragdollPosition, Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
simulation.RigidBodies.Add(leftUpperArm);
RigidBody rightUpperArm = new RigidBody(upperArmShape, upperArmMass, null)
{
Pose = new Pose(new Vector3F(0.32f * scale, 0.06f * scale, -0.53f * scale) + ragdollPosition, Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
simulation.RigidBodies.Add(rightUpperArm);
CapsuleShape lowerArmShape = new CapsuleShape(0.08f * scale, 0.4f * scale);
MassFrame lowerArmMass = MassFrame.FromShapeAndDensity(lowerArmShape, Vector3F.One, density, 0.01f, 3);
RigidBody leftLowerArm = new RigidBody(lowerArmShape, lowerArmMass, null)
{
Pose = new Pose(new Vector3F(-0.62f * scale, 0.06f * scale, -0.53f * scale) + ragdollPosition, Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
simulation.RigidBodies.Add(leftLowerArm);
RigidBody rightLowerArm = new RigidBody(lowerArmShape, lowerArmMass, null)
{
Pose = new Pose(new Vector3F(0.62f * scale, 0.06f * scale, -0.53f * scale) + ragdollPosition, Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
simulation.RigidBodies.Add(rightLowerArm);
CapsuleShape upperLegShape = new CapsuleShape(0.09f * scale, 0.5f * scale);
MassFrame upperLegMass = MassFrame.FromShapeAndDensity(upperLegShape, Vector3F.One, density, 0.01f, 3);
RigidBody leftUpperLeg = new RigidBody(upperLegShape, upperLegMass, null)
{
Pose = new Pose(new Vector3F(-0.10f * scale, 0.01f * scale, 0.233f * scale) + ragdollPosition, Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
simulation.RigidBodies.Add(leftUpperLeg);
RigidBody rightUpperLeg = new RigidBody(upperLegShape, upperLegMass, null)
{
Pose = new Pose(new Vector3F(0.10f * scale, 0.01f * scale, 0.233f * scale) + ragdollPosition, Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
simulation.RigidBodies.Add(rightUpperLeg);
CapsuleShape lowerLegShape = new CapsuleShape(0.08f * scale, 0.4f * scale);
MassFrame lowerLegMass = MassFrame.FromShapeAndDensity(pelvisShape, Vector3F.One, density, 0.01f, 3);
RigidBody leftLowerLeg = new RigidBody(lowerLegShape, lowerLegMass, null)
{
Pose = new Pose(new Vector3F(-0.11f * scale, 0.01f * scale, 0.7f * scale) + ragdollPosition, Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
simulation.RigidBodies.Add(leftLowerLeg);
RigidBody rightLowerLeg = new RigidBody(lowerLegShape, lowerLegMass, null)
{
Pose = new Pose(new Vector3F(0.11f * scale, 0.01f * scale, 0.7f * scale) + ragdollPosition, Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
simulation.RigidBodies.Add(rightLowerLeg);
BoxShape footShape = new BoxShape(0.12f * scale, 0.28f * scale, 0.07f * scale);
MassFrame footMass = MassFrame.FromShapeAndDensity(footShape, Vector3F.One, density, 0.01f, 3);
RigidBody leftFoot = new RigidBody(footShape, footMass, null)
{
Pose = new Pose(new Vector3F(-0.11f * scale, -0.06f * scale, 0.94f * scale) + ragdollPosition),
};
simulation.RigidBodies.Add(leftFoot);
RigidBody rightFoot = new RigidBody(footShape, footMass, null)
{
Pose = new Pose(new Vector3F(0.11f * scale, -0.06f * scale, 0.94f * scale) + ragdollPosition),
};
simulation.RigidBodies.Add(rightFoot);
#endregion
#region ----- Add joints between body parts -----
float errorReduction = 0.3f;
float maxForce = float.PositiveInfinity;
Vector3F pelvisJointPosition = new Vector3F(0f, 0.026f * scale, -0.115f * scale) + ragdollPosition;
HingeJoint pelvisJoint = new HingeJoint
{
BodyA = torso,
BodyB = pelvis,
AnchorPoseALocal = new Pose(torso.Pose.ToLocalPosition(pelvisJointPosition)),
AnchorPoseBLocal = new Pose(pelvis.Pose.ToLocalPosition(pelvisJointPosition)),
Minimum = -0.5f,
Maximum = 1.1f,
CollisionEnabled = false,
ErrorReduction = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(pelvisJoint);
Vector3F neckJointPosition = new Vector3F(0f, 0.026f * scale, -0.690f * scale) + ragdollPosition;
HingeJoint neckJoint = new HingeJoint
{
BodyA = head,
BodyB = torso,
AnchorPoseALocal = new Pose(head.Pose.ToLocalPosition(neckJointPosition)),
AnchorPoseBLocal = new Pose(torso.Pose.ToLocalPosition(neckJointPosition)),
Minimum = -1f,
Maximum = 1f,
CollisionEnabled = false,
ErrorReduction = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(neckJoint);
Vector3F leftShoulderJointPosition = new Vector3F(-0.193f * scale, 0.056f * scale, -0.528f * scale) + ragdollPosition;
Vector3F leftShoulderJointAxis = new Vector3F(0, -1, -1).Normalized;
Matrix33F leftShoulderJointOrientation = new Matrix33F();
leftShoulderJointOrientation.SetColumn(0, leftShoulderJointAxis);
leftShoulderJointOrientation.SetColumn(1, leftShoulderJointAxis.Orthonormal1);
leftShoulderJointOrientation.SetColumn(2, leftShoulderJointAxis.Orthonormal2);
BallJoint leftShoulderJoint = new BallJoint
{
BodyA = leftUpperArm,
BodyB = torso,
AnchorPositionALocal = leftUpperArm.Pose.ToLocalPosition(leftShoulderJointPosition),
AnchorPositionBLocal = torso.Pose.ToLocalPosition(leftShoulderJointPosition),
CollisionEnabled = false,
ErrorReduction = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(leftShoulderJoint);
Vector3F rightShoulderJointPosition = new Vector3F(0.193f * scale, 0.056f * scale, -0.528f * scale) + ragdollPosition;
Vector3F rightShoulderJointAxis = new Vector3F(0, 1, 1).Normalized;
Matrix33F rightShoulderJointOrientation = new Matrix33F();
rightShoulderJointOrientation.SetColumn(0, rightShoulderJointAxis);
rightShoulderJointOrientation.SetColumn(1, rightShoulderJointAxis.Orthonormal1);
rightShoulderJointOrientation.SetColumn(2, rightShoulderJointAxis.Orthonormal2);
BallJoint rightShoulderJoint = new BallJoint
{
BodyA = rightUpperArm,
BodyB = torso,
AnchorPositionALocal = rightUpperArm.Pose.ToLocalPosition(rightShoulderJointPosition),
AnchorPositionBLocal = torso.Pose.ToLocalPosition(rightShoulderJointPosition),
CollisionEnabled = false,
ErrorReduction = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(rightShoulderJoint);
Vector3F leftElbowJointPosition = new Vector3F(-0.451f * scale, 0.071f * scale, -0.538f * scale) + ragdollPosition;
Matrix33F elbowAxisOrientation = new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0);
HingeJoint leftElbowJoint = new HingeJoint
{
BodyA = leftLowerArm,
BodyB = leftUpperArm,
AnchorPoseALocal = new Pose(leftLowerArm.Pose.ToLocalPosition(leftElbowJointPosition), leftLowerArm.Pose.Orientation.Inverse * elbowAxisOrientation),
AnchorPoseBLocal = new Pose(leftUpperArm.Pose.ToLocalPosition(leftElbowJointPosition), leftUpperArm.Pose.Orientation.Inverse * elbowAxisOrientation),
Minimum = -2,
Maximum = 0,
CollisionEnabled = false,
ErrorReduction = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(leftElbowJoint);
Vector3F rightElbowJointPosition = new Vector3F(0.451f * scale, 0.071f * scale, -0.538f * scale) + ragdollPosition;
HingeJoint rightElbowJoint = new HingeJoint
{
BodyA = rightLowerArm,
BodyB = rightUpperArm,
AnchorPoseALocal = new Pose(rightLowerArm.Pose.ToLocalPosition(rightElbowJointPosition), rightLowerArm.Pose.Orientation.Inverse * elbowAxisOrientation),
AnchorPoseBLocal = new Pose(rightUpperArm.Pose.ToLocalPosition(rightElbowJointPosition), rightUpperArm.Pose.Orientation.Inverse * elbowAxisOrientation),
Minimum = 0,
Maximum = 2,
CollisionEnabled = false,
ErrorReduction = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(rightElbowJoint);
Vector3F leftHipJointPosition = new Vector3F(-0.107f * scale, 0.049f * scale, 0.026f * scale) + ragdollPosition;
HingeJoint leftHipJoint = new HingeJoint
{
BodyA = pelvis,
BodyB = leftUpperLeg,
AnchorPoseALocal = new Pose(pelvis.Pose.ToLocalPosition(leftHipJointPosition)),
AnchorPoseBLocal = new Pose(leftUpperLeg.Pose.ToLocalPosition(leftHipJointPosition), leftUpperLeg.Pose.Orientation.Inverse),
Minimum = -0.1f,
Maximum = 1.2f,
CollisionEnabled = false,
ErrorReduction = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(leftHipJoint);
Vector3F rightHipJointPosition = new Vector3F(0.107f * scale, 0.049f * scale, 0.026f * scale) + ragdollPosition;
HingeJoint rightHipJoint = new HingeJoint
{
BodyA = pelvis,
BodyB = rightUpperLeg,
AnchorPoseALocal = new Pose(pelvis.Pose.ToLocalPosition(rightHipJointPosition)),
AnchorPoseBLocal = new Pose(rightUpperLeg.Pose.ToLocalPosition(rightHipJointPosition), rightUpperLeg.Pose.Orientation.Inverse),
Minimum = -0.1f,
Maximum = 1.2f,
CollisionEnabled = false,
ErrorReduction = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(rightHipJoint);
Vector3F leftKneeJointPosition = new Vector3F(-0.118f * scale, -0.012f * scale, 0.439f * scale) + ragdollPosition;
HingeJoint leftKneeJoint = new HingeJoint
{
BodyA = leftLowerLeg,
BodyB = leftUpperLeg,
AnchorPoseALocal = new Pose(leftLowerLeg.Pose.ToLocalPosition(leftKneeJointPosition)),
AnchorPoseBLocal = new Pose(leftUpperLeg.Pose.ToLocalPosition(leftKneeJointPosition)),
Minimum = 0,
Maximum = 1.7f,
CollisionEnabled = false,
ErrorReduction = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(leftKneeJoint);
Vector3F rightKneeJointPosition = new Vector3F(0.118f * scale, -0.012f * scale, 0.439f * scale) + ragdollPosition;
HingeJoint rightKneeJoint = new HingeJoint
{
BodyA = rightLowerLeg,
BodyB = rightUpperLeg,
AnchorPoseALocal = new Pose(rightLowerLeg.Pose.ToLocalPosition(rightKneeJointPosition)),
AnchorPoseBLocal = new Pose(rightUpperLeg.Pose.ToLocalPosition(rightKneeJointPosition)),
Minimum = 0,
Maximum = 1.7f,
CollisionEnabled = false,
ErrorReduction = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(rightKneeJoint);
Vector3F leftAnkleJointPosition = new Vector3F(-0.118f * scale, -0.016f * scale, 0.861f * scale) + ragdollPosition;
HingeJoint leftAnkleJoint = new HingeJoint
{
BodyA = leftFoot,
BodyB = leftLowerLeg,
AnchorPoseALocal = new Pose(leftFoot.Pose.ToLocalPosition(leftAnkleJointPosition)),
AnchorPoseBLocal = new Pose(leftLowerLeg.Pose.ToLocalPosition(leftAnkleJointPosition), leftLowerLeg.Pose.Orientation.Inverse),
Minimum = -0.4f,
Maximum = 0.9f,
CollisionEnabled = false,
ErrorReduction = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(leftAnkleJoint);
Vector3F rightAnkleJointPosition = new Vector3F(0.118f * scale, -0.016f * scale, 0.861f * scale) + ragdollPosition;
HingeJoint rightAnkleJoint = new HingeJoint
{
BodyA = rightFoot,
BodyB = rightLowerLeg,
AnchorPoseALocal = new Pose(rightFoot.Pose.ToLocalPosition(rightAnkleJointPosition)),
AnchorPoseBLocal = new Pose(rightLowerLeg.Pose.ToLocalPosition(rightAnkleJointPosition), rightLowerLeg.Pose.Orientation.Inverse),
Minimum = -0.4f,
Maximum = 0.9f,
CollisionEnabled = false,
ErrorReduction = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(rightAnkleJoint);
#endregion
#region ----- Add damping to improve stability -----
if (addDamping)
{
// Damping removes jiggling and improves stability.
softness = 0.05f;
maxForce = float.PositiveInfinity;
AddDamping(simulation, pelvis, torso, softness, maxForce);
AddDamping(simulation, torso, head, softness, maxForce);
AddDamping(simulation, torso, leftUpperArm, softness, maxForce);
AddDamping(simulation, leftUpperArm, leftLowerArm, softness, maxForce);
AddDamping(simulation, torso, rightUpperArm, softness, maxForce);
AddDamping(simulation, rightUpperArm, rightLowerArm, softness, maxForce);
AddDamping(simulation, pelvis, leftUpperLeg, softness, maxForce);
AddDamping(simulation, pelvis, rightUpperLeg, softness, maxForce);
AddDamping(simulation, leftUpperLeg, leftLowerLeg, softness, maxForce);
AddDamping(simulation, rightUpperLeg, rightLowerLeg, softness, maxForce);
AddDamping(simulation, leftLowerLeg, leftFoot, softness, maxForce);
AddDamping(simulation, rightLowerLeg, rightFoot, softness, maxForce);
}
#endregion
}
// Creates a new rigid body and adds it to the simulation.
private static RigidBody AddBody(Simulation simulation, string name, Pose pose, Shape shape, MotionType motionType)
{
var rigidBody = new RigidBody(shape)
{
Name = name,
Pose = pose,
MotionType = motionType,
};
simulation.RigidBodies.Add(rigidBody);
return rigidBody;
}
//--------------------------------------------------------------
/// <summary>
/// Resets this simulation island.
/// </summary>
internal void Clear()
{
Simulation = null;
ConstraintsInternal.Clear();
ContactConstraintsInternal.Clear();
RigidBodiesInternal.Clear();
}
//--------------------------------------------------------------
#region Creation & Cleanup
//--------------------------------------------------------------
public CharacterControllerObject(IServiceLocator services)
{
Name = "CharacterController";
_inputService = services.GetInstance<IInputService>();
_debugRenderer = services.GetInstance<DebugRenderer>();
_simulation = services.GetInstance<Simulation>();
// Create character controller.
#if USE_DYNAMIC_CHARACTER_CONTROLLER
CharacterController = new DynamicCharacterController(_simulation);
#else
CharacterController = new KinematicCharacterController(_simulation);
#endif
CharacterController.Enabled = false;
CharacterController.Position = new Vector3F(0, 0, 10);
CharacterController.Gravity = 10; // Setting gravity to 0 switches to fly mode (instead of walking).
// Special: No gravity and damping for character controller.
// The character controller uses a rigid body. The gravity and damping force effects
// should not influence this body. The character controller handles gravity itself.
// Gravity and Damping are ForceEffects. Each force effect has an AreaOfEffect which,
// by default, is a GlobalAreaOfEffect (= affects all bodies in the simulation). We can
// set a predicate method that excludes the rigid body of the character controller.
GlobalAreaOfEffect areaOfEffect = new GlobalAreaOfEffect
{
Exclude = body => body == CharacterController.Body,
};
_simulation.ForceEffects.OfType<Gravity>().First().AreaOfEffect = areaOfEffect;
_simulation.ForceEffects.OfType<Damping>().First().AreaOfEffect = areaOfEffect;
// Special: Collision filtering.
// We will have some collision objects that should not collide with the character controller.
// We will use collision group 3 for the character and 4 for objects that should not collide
// with it.
CharacterController.CollisionGroup = 3;
ICollisionFilter filter = (ICollisionFilter)_simulation.CollisionDomain.CollisionDetection.CollisionFilter;
filter.Set(3, 4, false); // Disable collisions between group 3 and 4.
}
//--------------------------------------------------------------
#region Methods
//--------------------------------------------------------------
protected override void OnLoad()
{
// Get common services and game objects.
_graphicsService = _services.GetInstance<IGraphicsService>();
var content = _services.GetInstance<ContentManager>();
var scene = _services.GetInstance<IScene>();
_simulation = _services.GetInstance<Simulation>();
var gameObjectService = _services.GetInstance<IGameObjectService>();
_cameraObject = gameObjectService.Objects.OfType<CameraObject>().First();
_previousCameraFar = _cameraObject.CameraNode.Camera.Projection.Far;
// Create a new terrain.
var terrain = new Terrain();
_terrainTile = new TerrainTile(_graphicsService)
{
CellSize = 2,
};
terrain.Tiles.Add(_terrainTile);
var shadowMapEffect = content.Load<Effect>("DigitalRune/Terrain/TerrainShadowMap");
var gBufferEffect = content.Load<Effect>("DigitalRune/Terrain/TerrainGBuffer");
var materialEffect = content.Load<Effect>("DigitalRune/Terrain/TerrainMaterial");
var material = new Material
{
{ "ShadowMap", new EffectBinding(_graphicsService, shadowMapEffect, null, EffectParameterHint.Material) },
{ "GBuffer", new EffectBinding(_graphicsService, gBufferEffect, null, EffectParameterHint.Material) },
{ "Material", new EffectBinding(_graphicsService, materialEffect, null, EffectParameterHint.Material) }
};
TerrainNode = new TerrainNode(terrain, material)
{
BaseClipmap =
{
CellsPerLevel = 128,
NumberOfLevels = 6,
},
DetailClipmap =
{
CellsPerLevel = 1364,
NumberOfLevels = 9,
},
};
scene.Children.Add(TerrainNode);
// Create a rigid body with a height field for collision detection.
var heightField = new HeightField
{
Depth = 1,
UseFastCollisionApproximation = false,
};
_rigidBody = new RigidBody(heightField, new MassFrame(), null)
{
MotionType = MotionType.Static,
UserData = _terrainTile,
};
_simulation.RigidBodies.Add(_rigidBody);
InitializeHeightsAndNormals();
InitializeClipmapCellSizes();
InitializeTerrainLayers(content);
// Enable mipmaps when using anisotropic filtering on AMD graphics cards:
//TerrainNode.DetailClipmap.EnableMipMap = true;
CreateGuiControls();
}
//--------------------------------------------------------------
#region Creation & Cleanup
//--------------------------------------------------------------
public VehicleObject(IServiceLocator services)
{
_services = services;
Name = "Vehicle";
_inputService = _services.GetInstance<IInputService>();
_simulation = _services.GetInstance<Simulation>();
// Load models for rendering.
var contentManager = _services.GetInstance<ContentManager>();
_vehicleModelNode = contentManager.Load<ModelNode>("Car/Car").Clone();
_wheelModelNodes = new ModelNode[4];
_wheelModelNodes[0] = contentManager.Load<ModelNode>("Car/Wheel").Clone();
_wheelModelNodes[1] = _wheelModelNodes[0].Clone();
_wheelModelNodes[2] = _wheelModelNodes[0].Clone();
_wheelModelNodes[3] = _wheelModelNodes[0].Clone();
// Add wheels under the car model node.
_vehicleModelNode.Children.Add(_wheelModelNodes[0]);
_vehicleModelNode.Children.Add(_wheelModelNodes[1]);
_vehicleModelNode.Children.Add(_wheelModelNodes[2]);
_vehicleModelNode.Children.Add(_wheelModelNodes[3]);
// ----- Create the chassis of the car.
// The Vehicle needs a rigid body that represents the chassis. This can be any shape (e.g.
// a simple BoxShape). In this example we will build a convex polyhedron from the car model.
// 1. Extract the vertices from the car model.
// The car model has ~10,000 vertices. It consists of a MeshNode for the glass
// parts and a MeshNode "Car" for the chassis.
var meshNode = _vehicleModelNode.GetDescendants()
.OfType<MeshNode>()
.First(mn => mn.Name == "Car");
var mesh = MeshHelper.ToTriangleMesh(meshNode.Mesh);
// Apply the transformation of the mesh node.
mesh.Transform(meshNode.PoseWorld * Matrix44F.CreateScale(meshNode.ScaleWorld));
// 2. (Optional) Create simplified convex hull from mesh.
// We could also skip this step and directly create a convex polyhedron from the mesh using
// var chassisShape = new ConvexPolyhedron(mesh.Vertices);
// However, the convex polyhedron would still have 500-600 vertices.
// We can reduce the number of vertices by using the GeometryHelper.
// Create a convex hull for mesh with max. 64 vertices. Additional, shrink the hull by 4 cm.
var convexHull = GeometryHelper.CreateConvexHull(mesh.Vertices, 64, -0.04f);
// 3. Create convex polyhedron shape using the vertices of the convex hull.
var chassisShape = new ConvexPolyhedron(convexHull.Vertices.Select(v => v.Position));
// (Note: Building convex hulls and convex polyhedra are time-consuming. To save loading time
// we should build the shape in the XNA content pipeline. See other DigitalRune Physics
// Samples.)
// The mass properties of the car. We use a mass of 800 kg.
var mass = MassFrame.FromShapeAndMass(chassisShape, Vector3F.One, 800, 0.1f, 1);
// Trick: We artificially modify the center of mass of the rigid body. Lowering the center
// of mass makes the car more stable against rolling in tight curves.
// We could also modify mass.Inertia for other effects.
var pose = mass.Pose;
pose.Position.Y -= 0.5f; // Lower the center of mass.
pose.Position.Z = -0.5f; // The center should be below the driver.
// (Note: The car model is not exactly centered.)
mass.Pose = pose;
// Material for the chassis.
var material = new UniformMaterial
{
Restitution = 0.1f,
StaticFriction = 0.2f,
DynamicFriction = 0.2f
};
var chassis = new RigidBody(chassisShape, mass, material)
{
Pose = new Pose(new Vector3F(0, 2, 0)), // Start position
UserData = "NoDraw", // (Remove this line to render the collision model.)
};
// ----- Create the vehicle.
Vehicle = new Vehicle(_simulation, chassis);
// Add 4 wheels.
Vehicle.Wheels.Add(new Wheel { Offset = new Vector3F(-0.9f, 0.6f, -2.0f), Radius = 0.36f, SuspensionRestLength = 0.55f, MinSuspensionLength = 0.25f, Friction = 2 }); // Front left
Vehicle.Wheels.Add(new Wheel { Offset = new Vector3F(0.9f, 0.6f, -2.0f), Radius = 0.36f, SuspensionRestLength = 0.55f, MinSuspensionLength = 0.25f, Friction = 2 }); // Front right
Vehicle.Wheels.Add(new Wheel { Offset = new Vector3F(-0.9f, 0.6f, 0.98f), Radius = 0.36f, SuspensionRestLength = 0.55f, MinSuspensionLength = 0.25f, Friction = 1.8f });// Back left
Vehicle.Wheels.Add(new Wheel { Offset = new Vector3F(0.9f, 0.6f, 0.98f), Radius = 0.36f, SuspensionRestLength = 0.55f, MinSuspensionLength = 0.25f, Friction = 1.8f }); // Back right
// Vehicles are disabled per default. This way we can create the vehicle and the simulation
// objects are only added when needed.
Vehicle.Enabled = false;
}
public void ResetPhysicsSimulation()
{
_simulation = new Simulation();
// Limit max. number of internal simulation steps to 2.
// (Simulation.Settings.Timing.FixedTimeStep is 1/60 s per default. If the game is
// running with 60 fps, Simulation.Update() internally makes on simulation step. If
// the game is running with 30 fps, Simulation.Update() makes two internal steps with
// 1/60s. If the game is running with less than 30 fps, the simulation will run in
// slow motion because more than 2 internal steps would have to be made but the
// limit is two. - This way the game will not freeze.)
_simulation.Settings.Timing.MaxNumberOfSteps = 2;
// When the simulation is updated with Simulation.Update() the collision detection is
// updated first and then the physics simulation computes new forces, velocities and
// positions. That means, that after Simulation.Update() the collision detection information
// (Simulation.CollisionDomain) is not up-to-date! If we manually query the collision
// detection using Simulation.CollisionDomain, then we can set the SynchronizeCollisionDomain
// flag. If this flag is set, the collision detection info is updated at the beginning
// and at the end of Simulation.Update().
//Simulation.Settings.SynchronizeCollisionDomain = true;
// The collision domain computes collision information between non-moving bodies only once
// and caches this information - in case someone wants to check if two static bodies touch.
// Nevertheless, on less powerful systems, like the Xbox 360, it can still improve performance
// to filter collisions between static bodies. This can be done in a broad phase filter based
// on collision groups, or with a simple filter like this:
_simulation.CollisionDomain.BroadPhase.Filter = new DelegatePairFilter<CollisionObject>(
pair =>
{
var bodyA = pair.First.GeometricObject as RigidBody;
if (bodyA == null || bodyA.MotionType != MotionType.Static)
return true;
var bodyB = pair.Second.GeometricObject as RigidBody;
if (bodyB == null || bodyB.MotionType != MotionType.Static)
return true;
return false; // Do not compute collisions between two static bodies.
});
// Another way to filter collisions is to use the CollisionDetection.CollisionFilter.
// Filtering on this level is slower because the filter is applied after the broad phase and
// the broad phase filter. However, it is more flexible. It can be changed at runtime, whereas
// a broad phase filter should not change after the simulation was initialized.
var filter = (ICollisionFilter)_simulation.CollisionDomain.CollisionDetection.CollisionFilter;
// We can disable collision for pairs of collision objects or for collision groups. Here,
// we disable collisions between collision group 1 and 2. The ray for mouse picking will
// use collision group 2 (see GrabObject.cs). Any objects that should not be pickable can use
// collision group 1.
filter.Set(1, 2, false);
_services.Register(typeof(Simulation), null, _simulation);
}
