private void CreateScene3()
{
// add a chain
List<BoxObject> chainBoxes = new List<BoxObject>();
for (int i = 0; i < 25; i++)
{
BoxObject boxObject = new BoxObject(this, boxModel, Vector3.One, Matrix.Identity, new Vector3(i, 25 - i, 0));
if (i == 0) boxObject.PhysicsBody.Immovable = true;
chainBoxes.Add(boxObject);
}
for (int i = 1; i < 25; i++)
{
HingeJoint hingeJoint = new HingeJoint();
hingeJoint.Initialise(chainBoxes[i - 1].PhysicsBody, chainBoxes[i].PhysicsBody, Vector3.Backward,
new Vector3(0.5f, -0.5f, 0.0f), 0.5f, 90.0f, 90.0f, 0.0f, 0.2f);
hingeJoint.EnableController();
hingeJoint.EnableHinge();
}
foreach (BoxObject obj in chainBoxes)
{
this.Components.Add(obj);
}
}
public RagdollObject(Game game,Model capsule,Model sphere,Model box, RagdollType type,float density)
: base(game)
{
if (type == RagdollType.Complex)
{
numLimbs = (int)LimbId.NumLimbs;
numJoints = (int)JointId.NumJoints;
}
else
{
numLimbs = (int)LimbId.NumLimbs - 5;
numJoints = (int)JointId.NumJoints - 5;
}
limbs = new PhysicObject[numLimbs];
joints = new HingeJoint[numJoints];
limbs[(int)LimbId.Head] = new SphereObject(this.Game, sphere, 0.15f, Matrix.Identity, Vector3.Zero);
limbs[(int)LimbId.UpperLegLeft] = new CapsuleObject(this.Game, capsule, 0.08f, 0.3f, Matrix.CreateRotationX(MathHelper.ToRadians(90)), Vector3.Zero);
limbs[(int)LimbId.UpperLegRight] = new CapsuleObject(this.Game, capsule, 0.08f, 0.3f, Matrix.CreateRotationX(MathHelper.ToRadians(90)), Vector3.Zero);
limbs[(int)LimbId.LowerLegLeft] = new CapsuleObject(this.Game, capsule, 0.08f, 0.3f, Matrix.CreateRotationX(MathHelper.ToRadians(90)), Vector3.Zero);
limbs[(int)LimbId.LowerLegRight] = new CapsuleObject(this.Game, capsule, 0.08f, 0.3f, Matrix.CreateRotationX(MathHelper.ToRadians(90)), Vector3.Zero);
limbs[(int)LimbId.UpperArmLeft] = new CapsuleObject(this.Game, capsule, 0.07f, 0.2f, Matrix.CreateRotationZ(MathHelper.ToRadians(90)), Vector3.Zero);
limbs[(int)LimbId.UpperArmRight] = new CapsuleObject(this.Game, capsule, 0.07f, 0.2f, Matrix.CreateRotationZ(MathHelper.ToRadians(90)), Vector3.Zero);
limbs[(int)LimbId.LowerArmLeft] = new CapsuleObject(this.Game, capsule, 0.06f, 0.2f, Matrix.CreateRotationZ(MathHelper.ToRadians(90)), Vector3.Zero);
limbs[(int)LimbId.LowerArmRight] = new CapsuleObject(this.Game, capsule, 0.06f, 0.2f, Matrix.CreateRotationZ(MathHelper.ToRadians(90)), Vector3.Zero);
if (type == RagdollType.Complex)
{
limbs[(int)LimbId.FootLeft] = new SphereObject(this.Game, sphere, 0.07f, Matrix.Identity, Vector3.Zero);
limbs[(int)LimbId.FootRight] = new SphereObject(this.Game, sphere, 0.07f, Matrix.Identity, Vector3.Zero);
limbs[(int)LimbId.HandLeft] = new SphereObject(this.Game, sphere, 0.05f, Matrix.Identity, Vector3.Zero);
limbs[(int)LimbId.HandRight] = new SphereObject(this.Game, sphere, 0.05f, Matrix.Identity, Vector3.Zero);
limbs[(int)LimbId.Torso] = new BoxObject(this.Game, box, new Vector3(0.2f, 0.4f,0.35f), Matrix.Identity, Vector3.Zero);
limbs[(int)LimbId.Hips] = new BoxObject(this.Game, box, new Vector3(0.2f, 0.2f,0.35f), Matrix.Identity, Vector3.Zero);
}
else
{
limbs[(int)LimbId.Torso] = new BoxObject(this.Game, box, new Vector3(0.2f, 0.6f, 0.35f), Matrix.Identity, Vector3.Zero);
}
limbs[(int)LimbId.Head].PhysicsBody.Position = new Vector3(0.03f, 0.5f,0);
limbs[(int)LimbId.UpperLegLeft].PhysicsBody.Position = new Vector3(0, -0.4f, 0.12f);
limbs[(int)LimbId.UpperLegRight].PhysicsBody.Position = new Vector3(0, -0.4f, -0.12f);
limbs[(int)LimbId.LowerLegLeft].PhysicsBody.Position = new Vector3(0, -0.7f, 0.12f);
limbs[(int)LimbId.LowerLegRight].PhysicsBody.Position = new Vector3(0, -0.7f, -0.12f);
limbs[(int)LimbId.UpperArmLeft].PhysicsBody.Position = new Vector3(0, 0.25f, 0.25f);
limbs[(int)LimbId.UpperArmRight].PhysicsBody.Position = new Vector3(0, 0.25f, -0.25f);
limbs[(int)LimbId.LowerArmLeft].PhysicsBody.Position = new Vector3(0, 0.25f, 0.5f);
limbs[(int)LimbId.LowerArmRight].PhysicsBody.Position = new Vector3(0, 0.25f, -0.5f);
if (type == RagdollType.Complex)
{
limbs[(int)LimbId.FootLeft].PhysicsBody.Position = new Vector3(0.13f, -0.85f, 0.12f);
limbs[(int)LimbId.FootRight].PhysicsBody.Position = new Vector3(0.13f, -0.85f, -0.12f);
limbs[(int)LimbId.HandLeft].PhysicsBody.Position = new Vector3(0, 0.25f, 0.72f);
limbs[(int)LimbId.HandRight].PhysicsBody.Position = new Vector3(0, 0.25f, -0.72f);
limbs[(int)LimbId.Torso].PhysicsBody.Position = new Vector3(0, 0.2f, 0.0f);
limbs[(int)LimbId.Hips].PhysicsBody.Position = new Vector3(0, -0.1f, 0.0f);
}
else
{
limbs[(int)LimbId.Torso].PhysicsBody.Position = new Vector3(0, 0, 0);
}
// set up hinge joints
float haldWidth = 0.2f;
float sidewaysSlack = 0.1f;
float damping = 0.5f;
for (int i = 0; i < numJoints; i++)
joints[i] = new HingeJoint();
if (type == RagdollType.Complex)
{
joints[(int)JointId.Spine].Initialise(limbs[(int)LimbId.Hips].PhysicsBody,
limbs[(int)LimbId.Torso].PhysicsBody,
new Vector3(0.0f, 0.0f, 1.0f),
new Vector3(0.0f, 0.1f, 0.0f),
haldWidth, 70.0f, 30.0f,
3.0f * sidewaysSlack,
damping);
joints[(int)JointId.Neck].Initialise(limbs[(int)LimbId.Hips].PhysicsBody,
limbs[(int)LimbId.Head].PhysicsBody,
new Vector3(0.0f, 0.0f, 1.0f),
new Vector3(-0.05f, 0.25f, 0.0f),
haldWidth, 50.0f, 20.0f,
3.0f * sidewaysSlack,
damping);
joints[(int)JointId.ShoulderLeft].Initialise(limbs[(int)LimbId.Torso].PhysicsBody,
limbs[(int)LimbId.UpperArmLeft].PhysicsBody,
new Vector3(1.0f, 0.0f, 0.0f),
new Vector3(0.0f, 0.05f, 0.15f),
haldWidth, 70.0f, 30.0f,
0.7f,
damping);
joints[(int)JointId.ShoulderRight].Initialise(limbs[(int)LimbId.Torso].PhysicsBody,
limbs[(int)LimbId.UpperArmRight].PhysicsBody,
new Vector3(1.0f, 0.0f, 0.0f),
new Vector3(0.0f, 0.05f, -0.15f),
haldWidth, 30.0f, 75.0f,
0.7f,
damping);
joints[(int)JointId.HipLeft].Initialise(limbs[(int)LimbId.Hips].PhysicsBody,
limbs[(int)LimbId.UpperLegLeft].PhysicsBody,
new Vector3(0.0f, 0.0f, 1.0f),
new Vector3(0.0f, -0.25f, 0.12f),
haldWidth, 10.0f, 60.0f,
0.4f,
damping);
joints[(int)JointId.HipRight].Initialise(limbs[(int)LimbId.Hips].PhysicsBody,
limbs[(int)LimbId.UpperLegRight].PhysicsBody,
new Vector3(0.0f, 0.0f, 1.0f),
new Vector3(0.0f, -0.25f, -0.12f),
haldWidth, 10.0f, 60.0f,
0.4f,
damping);
joints[(int)JointId.AnkleLeft].Initialise(limbs[(int)LimbId.LowerLegLeft].PhysicsBody,
limbs[(int)LimbId.FootLeft].PhysicsBody,
new Vector3(0.0f, 0.0f, 1.0f),
new Vector3(0.0f, -0.15f, 0.15f),
haldWidth, 30.0f, 10.0f,
0.01f,
damping);
joints[(int)JointId.AnkleRight].Initialise(limbs[(int)LimbId.LowerLegRight].PhysicsBody,
limbs[(int)LimbId.FootRight].PhysicsBody,
new Vector3(0.0f, 0.0f, 1.0f),
new Vector3(0.0f, -0.15f, -0.15f),
haldWidth, 30.0f, 10.0f,
0.01f,
damping);
joints[(int)JointId.WristLeft].Initialise(limbs[(int)LimbId.LowerArmLeft].PhysicsBody,
limbs[(int)LimbId.HandLeft].PhysicsBody,
new Vector3(0.0f, 1.0f, 0.0f),
new Vector3(0.0f, 0.0f, 0.12f),
haldWidth, 45.0f, 70.0f,
0.01f,
damping);
joints[(int)JointId.WristRight].Initialise(limbs[(int)LimbId.LowerArmRight].PhysicsBody,
limbs[(int)LimbId.HandRight].PhysicsBody,
new Vector3(0.0f, 1.0f, 0.0f),
new Vector3(0.0f, 0.0f, -0.12f),
haldWidth, 45.0f, 70.0f,
0.01f,
damping);
}
else
{
joints[(int)JointId.Neck].Initialise(limbs[(int)LimbId.Torso].PhysicsBody,
limbs[(int)LimbId.Head].PhysicsBody,
new Vector3(0.0f, 0.0f, 1.0f),
new Vector3(-0.05f, 0.25f, 0.0f),
haldWidth, 50.0f, 20.0f,
3 * sidewaysSlack,
damping);
joints[(int)JointId.ShoulderLeft].Initialise(limbs[(int)LimbId.Torso].PhysicsBody,
limbs[(int)LimbId.UpperArmLeft].PhysicsBody,
new Vector3(1.0f, 0.0f, 0.0f),
new Vector3(0.0f, 0.25f, 0.15f),
haldWidth, 30.0f, 75.0f,
0.7f,
damping);
joints[(int)JointId.ShoulderRight].Initialise(limbs[(int)LimbId.Torso].PhysicsBody,
limbs[(int)LimbId.UpperArmRight].PhysicsBody,
new Vector3(1.0f, 0.0f, 0.0f),
new Vector3(0.0f, 0.25f, -0.15f),
haldWidth, 75.0f, 30.0f,
0.7f,
damping);
joints[(int)JointId.HipLeft].Initialise(limbs[(int)LimbId.Torso].PhysicsBody,
limbs[(int)LimbId.UpperLegLeft].PhysicsBody,
new Vector3(0.0f, 0.0f, 1.0f),
new Vector3(0.0f, -0.25f, 0.12f),
haldWidth, 10.0f, 60.0f,
0.4f,
damping);
joints[(int)JointId.HipRight].Initialise(limbs[(int)LimbId.Torso].PhysicsBody,
limbs[(int)LimbId.UpperLegRight].PhysicsBody,
new Vector3(0.0f, 0.0f, 1.0f),
new Vector3(0.0f, -0.25f, -0.12f),
haldWidth, 10.0f, 60.0f,
0.4f,
damping);
}
joints[(int)JointId.KneeLeft].Initialise(limbs[(int)LimbId.UpperLegLeft].PhysicsBody,
limbs[(int)LimbId.LowerLegLeft].PhysicsBody,
new Vector3(0.0f, 0.0f, 1.0f),
new Vector3(0.0f, -0.15f, 0.0f),
haldWidth, 100.0f, 0.0f,
sidewaysSlack,
damping);
joints[(int)JointId.KneeRight].Initialise(limbs[(int)LimbId.UpperLegRight].PhysicsBody,
limbs[(int)LimbId.LowerLegRight].PhysicsBody,
new Vector3(0.0f, 0.0f, 1.0f),
new Vector3(0.0f, -0.15f, 0.0f),
haldWidth, 100.0f, 0.0f,
sidewaysSlack,
damping);
joints[(int)JointId.ElbowLeft].Initialise(limbs[(int)LimbId.UpperArmLeft].PhysicsBody,
limbs[(int)LimbId.LowerArmLeft].PhysicsBody,
new Vector3(0.0f, 0.0f, 1.0f),
new Vector3(0.0f, 0.0f, 0.13f),
haldWidth, 0.0f, 130.0f,
sidewaysSlack,
damping);
joints[(int)JointId.ElbowRight].Initialise(limbs[(int)LimbId.UpperArmRight].PhysicsBody,
limbs[(int)LimbId.LowerArmRight].PhysicsBody,
new Vector3(0.0f, 0.0f, 1.0f),
new Vector3(0.0f, 0.0f, -0.13f),
haldWidth, 130.0f, 0.0f,
sidewaysSlack,
damping);
// disable some collisions between adjacent pairs
DisableCollisions(limbs[(int)LimbId.Torso].PhysicsBody, limbs[(int)LimbId.Head].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Torso].PhysicsBody, limbs[(int)LimbId.UpperLegLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Torso].PhysicsBody, limbs[(int)LimbId.UpperLegRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Torso].PhysicsBody, limbs[(int)LimbId.UpperArmLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Torso].PhysicsBody, limbs[(int)LimbId.UpperArmRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.UpperLegLeft].PhysicsBody, limbs[(int)LimbId.LowerLegLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.UpperLegRight].PhysicsBody, limbs[(int)LimbId.LowerLegRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.UpperArmLeft].PhysicsBody, limbs[(int)LimbId.LowerArmLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.UpperArmRight].PhysicsBody, limbs[(int)LimbId.LowerArmRight].PhysicsBody);
if (type == RagdollType.Complex)
{
DisableCollisions(limbs[(int)LimbId.Torso].PhysicsBody, limbs[(int)LimbId.Hips].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.LowerLegLeft].PhysicsBody, limbs[(int)LimbId.FootLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.LowerLegRight].PhysicsBody, limbs[(int)LimbId.FootRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.LowerArmLeft].PhysicsBody, limbs[(int)LimbId.HandLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.LowerArmRight].PhysicsBody, limbs[(int)LimbId.HandRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Hips].PhysicsBody, limbs[(int)LimbId.UpperLegLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Hips].PhysicsBody, limbs[(int)LimbId.UpperLegRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Hips].PhysicsBody, limbs[(int)LimbId.UpperArmLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Hips].PhysicsBody, limbs[(int)LimbId.UpperArmRight].PhysicsBody);
}
// he's not double-jointed...
DisableCollisions(limbs[(int)LimbId.Torso].PhysicsBody, limbs[(int)LimbId.LowerLegLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Torso].PhysicsBody, limbs[(int)LimbId.LowerLegRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.UpperArmLeft].PhysicsBody, limbs[(int)LimbId.UpperArmRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.UpperArmRight].PhysicsBody, limbs[(int)LimbId.UpperArmLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.UpperArmLeft].PhysicsBody, limbs[(int)LimbId.Head].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.UpperArmRight].PhysicsBody, limbs[(int)LimbId.Head].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.UpperLegLeft].PhysicsBody, limbs[(int)LimbId.Head].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.UpperLegRight].PhysicsBody, limbs[(int)LimbId.Head].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.LowerLegLeft].PhysicsBody, limbs[(int)LimbId.Head].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.LowerLegRight].PhysicsBody, limbs[(int)LimbId.Head].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.LowerLegLeft].PhysicsBody, limbs[(int)LimbId.Head].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.LowerLegRight].PhysicsBody, limbs[(int)LimbId.Head].PhysicsBody);
if (type == RagdollType.Complex)
{
DisableCollisions(limbs[(int)LimbId.Torso].PhysicsBody, limbs[(int)LimbId.FootLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Torso].PhysicsBody, limbs[(int)LimbId.FootRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Hips].PhysicsBody, limbs[(int)LimbId.FootLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Hips].PhysicsBody, limbs[(int)LimbId.FootRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Hips].PhysicsBody, limbs[(int)LimbId.LowerLegLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Hips].PhysicsBody, limbs[(int)LimbId.LowerLegRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Hips].PhysicsBody, limbs[(int)LimbId.LowerArmLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.Hips].PhysicsBody, limbs[(int)LimbId.LowerArmRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.FootLeft].PhysicsBody, limbs[(int)LimbId.HandLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.FootRight].PhysicsBody, limbs[(int)LimbId.HandRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.FootLeft].PhysicsBody, limbs[(int)LimbId.Head].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.FootRight].PhysicsBody, limbs[(int)LimbId.Head].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.FootLeft].PhysicsBody, limbs[(int)LimbId.UpperArmLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.FootRight].PhysicsBody, limbs[(int)LimbId.UpperArmRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.FootLeft].PhysicsBody, limbs[(int)LimbId.UpperArmRight].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.FootRight].PhysicsBody, limbs[(int)LimbId.UpperArmLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.FootLeft].PhysicsBody, limbs[(int)LimbId.UpperLegLeft].PhysicsBody);
DisableCollisions(limbs[(int)LimbId.FootRight].PhysicsBody, limbs[(int)LimbId.UpperLegRight].PhysicsBody);
}
foreach (HingeJoint joint in joints)
{
if (joint != null)
joint.EnableHinge();
}
foreach (PhysicObject limb in limbs)
{
if (limb != null)
{
limb.PhysicsBody.CollisionSkin.SetMaterialProperties(0, new JigLibX.Collision.MaterialProperties(0.2f, 3.0f, 2.0f));
this.Game.Components.Add(limb);
}
}
}