Example #1
0
 static void Main(string[] args)
 {
     using (RagDollDemo game = new RagDollDemo())
     {
         game.Run();
     }
 }
        	public RagDoll (RagDollDemo ragDollDemo,DynamicsWorld ownerWorld, ref IndexedVector3 positionOffset,StreamWriter streamWriter)
		
	        {
                m_ownerWorld = ownerWorld;
                m_ragDollDemo = ragDollDemo;
		        // Setup the geometry
                m_shapes[(int)BODYPART.PELVIS] = new CapsuleShape(0.15f, 0.20f);
                m_shapes[(int)BODYPART.SPINE] = new CapsuleShape(0.15f, 0.28f);
                m_shapes[(int)BODYPART.HEAD] = new CapsuleShape(0.10f, 0.05f);
                m_shapes[(int)BODYPART.LEFT_UPPER_LEG] = new CapsuleShape(0.07f, 0.45f);
                m_shapes[(int)BODYPART.LEFT_LOWER_LEG] = new CapsuleShape(0.05f, 0.37f);
                m_shapes[(int)BODYPART.RIGHT_UPPER_LEG] = new CapsuleShape(0.07f, 0.45f);
                m_shapes[(int)BODYPART.RIGHT_LOWER_LEG] = new CapsuleShape(0.05f, 0.37f);
                m_shapes[(int)BODYPART.LEFT_UPPER_ARM] = new CapsuleShape(0.05f, 0.33f);
                m_shapes[(int)BODYPART.LEFT_LOWER_ARM] = new CapsuleShape(0.04f, 0.25f);
                m_shapes[(int)BODYPART.RIGHT_UPPER_ARM] = new CapsuleShape(0.05f, 0.33f);
                m_shapes[(int)BODYPART.RIGHT_LOWER_ARM] = new CapsuleShape(0.04f, 0.25f);

		        // Setup all the rigid bodies
		        IndexedMatrix offset = IndexedMatrix.CreateTranslation(positionOffset);

		        IndexedMatrix transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,1,0));

				IndexedMatrix adjusted = offset*transform;

                m_bodies[(int)BODYPART.PELVIS] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.PELVIS],true);
				m_bodies[(int)BODYPART.PELVIS].SetUserPointer("PELVIS");
                transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,1.2f,0));
				adjusted = offset * transform;
				m_bodies[(int)BODYPART.SPINE] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.SPINE], true);
				m_bodies[(int)BODYPART.SPINE].SetUserPointer("SPINE");

                transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,1.6f,0));
				adjusted = offset * transform;
				m_bodies[(int)BODYPART.HEAD] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.HEAD], true);
				m_bodies[(int)BODYPART.HEAD].SetUserPointer("HEAD");

				transform = IndexedMatrix.CreateTranslation(new IndexedVector3(-0.18f, 0.65f, 0));
				adjusted = offset * transform
                    ;
				m_bodies[(int)BODYPART.LEFT_UPPER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_UPPER_LEG], true);
				m_bodies[(int)BODYPART.LEFT_UPPER_LEG].SetUserPointer("LEFTUPPERLEG");

				transform = IndexedMatrix.CreateTranslation(new IndexedVector3(-0.18f, 0.2f, 0));
				adjusted = offset *transform;
				m_bodies[(int)BODYPART.LEFT_LOWER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_LOWER_LEG], true);
				m_bodies[(int)BODYPART.LEFT_LOWER_LEG].SetUserPointer("LEFTLOWERLEG");

				transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0.18f, 0.65f, 0));
				adjusted = offset * transform;
				m_bodies[(int)BODYPART.RIGHT_UPPER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_UPPER_LEG], true);
				m_bodies[(int)BODYPART.RIGHT_UPPER_LEG].SetUserPointer("RIGHTUPPERLEG");

				transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0.18f, 0.2f, 0));
				adjusted = offset*transform;
				m_bodies[(int)BODYPART.RIGHT_LOWER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_LOWER_LEG], true);
				m_bodies[(int)BODYPART.RIGHT_LOWER_LEG].SetUserPointer("RIGHTLOWERLEG");

				transform = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
				transform._origin = new IndexedVector3(-0.35f, 1.45f, 0);
				adjusted = offset *transform;
				m_bodies[(int)BODYPART.LEFT_UPPER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_UPPER_ARM], true);
				m_bodies[(int)BODYPART.LEFT_UPPER_ARM].SetUserPointer("LEFTUPPERARM");

				transform = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
				transform._origin = new IndexedVector3(-0.7f, 1.45f, 0);
				adjusted = offset * transform;
				m_bodies[(int)BODYPART.LEFT_LOWER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_LOWER_ARM], true);
				m_bodies[(int)BODYPART.LEFT_LOWER_ARM].SetUserPointer("LEFTLOWERARM");

				transform = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_HALF_PI);
				transform._origin = new IndexedVector3(0.35f, 1.45f, 0);
				adjusted = offset * transform;
				m_bodies[(int)BODYPART.RIGHT_UPPER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_UPPER_ARM], true);
				m_bodies[(int)BODYPART.RIGHT_UPPER_ARM].SetUserPointer("RIGHTUPPERARM");

				transform = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_HALF_PI);
				transform._origin = new IndexedVector3(0.7f, 1.45f, 0);
				adjusted = offset * transform;
				m_bodies[(int)BODYPART.RIGHT_LOWER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_LOWER_ARM], true);
				m_bodies[(int)BODYPART.RIGHT_LOWER_ARM].SetUserPointer("RIGHTLOWERARM");

		        // Setup some damping on the m_bodies
		        for (int i = 0; i < (int)BODYPART.COUNT; ++i)
		        {
					if (m_bodies[i] != null)
					{
                        //m_bodies[i].SetDamping(0.05f, 0.85f);
                        m_bodies[i].SetDamping(0.5f, 0.85f);
						m_bodies[i].SetDeactivationTime(0.8f);
						m_bodies[i].SetSleepingThresholds(1.6f, 2.5f);
					}
                }

		        // Now setup the constraints
		        HingeConstraint hingeC;
		        ConeTwistConstraint coneC;

		        IndexedMatrix localA = IndexedMatrix.Identity;
                IndexedMatrix localB = IndexedMatrix.Identity;

                localA = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
                localA._origin = new IndexedVector3(0.0f, 0.15f, 0.0f);
                localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
                localB._origin = new IndexedVector3(0.0f, -0.15f, 0.0f);
                hingeC = new HingeConstraint(m_bodies[(int)BODYPART.PELVIS], m_bodies[(int)BODYPART.SPINE], ref localA, ref localB);
		        hingeC.SetLimit(-MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_HALF_PI);
                m_joints[(int)JOINT.PELVIS_SPINE] = hingeC;
                m_joints[(int)JOINT.PELVIS_SPINE].m_debugName = "PELVIS_SPINE";
		        hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

                m_ownerWorld.AddConstraint(m_joints[(int)JOINT.PELVIS_SPINE], true);


                localA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                localA._origin = new IndexedVector3(0.0f, 0.30f, 0.0f);
                localB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                localB._origin = new IndexedVector3(0.0f, -0.14f, 0.0f);
                coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.SPINE], m_bodies[(int)BODYPART.HEAD], ref localA, ref localB);
		        coneC.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_HALF_PI);
                m_joints[(int)JOINT.SPINE_HEAD] = coneC;
                m_joints[(int)JOINT.SPINE_HEAD].m_debugName = "SPINE_HEAD";

		        coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

                m_ownerWorld.AddConstraint(m_joints[(int)JOINT.SPINE_HEAD], true);


				localA = IndexedMatrix.Identity;
				localB = IndexedMatrix.Identity;
				localA = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_QUARTER_PI * 5);
				localA._origin = new IndexedVector3(-0.18f, -0.10f, 0.0f);
				localB = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_QUARTER_PI * 5);
				localB._origin = new IndexedVector3(0.0f, 0.225f, 0.0f);
				coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.PELVIS], m_bodies[(int)BODYPART.LEFT_UPPER_LEG], ref localA, ref localB);
				coneC.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, 0);
				m_joints[(int)JOINT.LEFT_HIP] = coneC;
                m_joints[(int)JOINT.LEFT_HIP].m_debugName = "LEFT_HIP";

				coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

				m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_HIP], true);

				localA = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
				localA._origin = new IndexedVector3(0.0f, -0.225f, 0.0f);
				localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
				localB._origin = new IndexedVector3(0.0f, 0.185f, 0.0f);
				hingeC = new HingeConstraint(m_bodies[(int)BODYPART.LEFT_UPPER_LEG], m_bodies[(int)BODYPART.LEFT_LOWER_LEG], ref localA, ref localB);
				hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI);
				m_joints[(int)JOINT.LEFT_KNEE] = hingeC;
                m_joints[(int)JOINT.LEFT_KNEE].m_debugName = "LEFT_KNEE";

				hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

				m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_KNEE], true);


				localA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_QUARTER_PI);
				localA._origin = new IndexedVector3(0.18f, -0.10f, 0.0f);
				localB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_QUARTER_PI);
				localB._origin = new IndexedVector3(0.0f, 0.225f, 0.0f);
				coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.PELVIS], m_bodies[(int)BODYPART.RIGHT_UPPER_LEG], ref localA, ref localB);
				coneC.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, 0);
				m_joints[(int)JOINT.RIGHT_HIP] = coneC;
                m_joints[(int)JOINT.RIGHT_HIP].m_debugName = "RIGHT_HIP";

				coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

				m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_HIP], true);

				localA = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
				localA._origin = new IndexedVector3(0.0f, -0.225f, 0.0f);
				localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
				localB._origin = new IndexedVector3(0.0f, 0.185f, 0.0f);
				hingeC = new HingeConstraint(m_bodies[(int)BODYPART.RIGHT_UPPER_LEG], m_bodies[(int)BODYPART.RIGHT_LOWER_LEG], ref localA, ref localB);
				hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI);
				m_joints[(int)JOINT.RIGHT_KNEE] = hingeC;
                m_joints[(int)JOINT.RIGHT_KNEE].m_debugName = "RIGHT_KNEE";

				hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

				m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_KNEE], true);


				localA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_PI);
				localA._origin = new IndexedVector3(-0.2f, 0.15f, 0.0f);
				localB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
				localB._origin = new IndexedVector3(0.0f, -0.18f, 0.0f);
				coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.SPINE], m_bodies[(int)BODYPART.LEFT_UPPER_ARM], ref localA, ref localB);
				coneC.SetLimit(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_HALF_PI, 0);
				coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

				m_joints[(int)JOINT.LEFT_SHOULDER] = coneC;
                m_joints[(int)JOINT.LEFT_SHOULDER].m_debugName = "LEFT_SHOULDER";

				m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_SHOULDER], true);

				localA = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
				localA._origin = new IndexedVector3(0.0f, 0.18f, 0.0f);
				localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
				localB._origin = new IndexedVector3(0.0f, -0.14f, 0.0f);
				hingeC = new HingeConstraint(m_bodies[(int)BODYPART.LEFT_UPPER_ARM], m_bodies[(int)BODYPART.LEFT_LOWER_ARM], ref localA, ref localB);
				//		hingeC.setLimit(-MathUtil.SIMD_HALF_PI), 0));
				hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI);
				m_joints[(int)JOINT.LEFT_ELBOW] = hingeC;
                m_joints[(int)JOINT.LEFT_ELBOW].m_debugName = "LEFT_ELBOW";

				hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

				m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_ELBOW], true);

				localA = MathUtil.SetEulerZYX(0, 0, 0);
				localA._origin = new IndexedVector3(0.2f, 0.15f, 0.0f);
				localB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
				localB._origin = new IndexedVector3(0.0f, -0.18f, 0.0f);
				coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.SPINE], m_bodies[(int)BODYPART.RIGHT_UPPER_ARM], ref localA, ref localB);
				coneC.SetLimit(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_HALF_PI, 0);
				m_joints[(int)JOINT.RIGHT_SHOULDER] = coneC;
                m_joints[(int)JOINT.RIGHT_SHOULDER].m_debugName = "RIGHT_SHOULDER";

				coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

				m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_SHOULDER], true);

				localA = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
				localA._origin = new IndexedVector3(0.0f, 0.18f, 0.0f);
				localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
				localB._origin = new IndexedVector3(0.0f, -0.14f, 0.0f);
				hingeC = new HingeConstraint(m_bodies[(int)BODYPART.RIGHT_UPPER_ARM], m_bodies[(int)BODYPART.RIGHT_LOWER_ARM], ref localA, ref localB);
				//		hingeC.setLimit(-MathUtil.SIMD_HALF_PI), 0));
				hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI);
				m_joints[(int)JOINT.RIGHT_ELBOW] = hingeC;
                m_joints[(int)JOINT.RIGHT_ELBOW].m_debugName = "RIGHT_ELBOW";

				hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

                m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_ELBOW], true); 
				
				
	        }
 static void Main(string[] args)
 {
     using (RagDollDemo game = new RagDollDemo())
     {
         game.Run();
     }
 }
Example #4
0
            public RagDoll(RagDollDemo ragDollDemo, DynamicsWorld ownerWorld, ref IndexedVector3 positionOffset, StreamWriter streamWriter)

            {
                m_ownerWorld  = ownerWorld;
                m_ragDollDemo = ragDollDemo;
                // Setup the geometry
                m_shapes[(int)BODYPART.PELVIS]          = new CapsuleShape(0.15f, 0.20f);
                m_shapes[(int)BODYPART.SPINE]           = new CapsuleShape(0.15f, 0.28f);
                m_shapes[(int)BODYPART.HEAD]            = new CapsuleShape(0.10f, 0.05f);
                m_shapes[(int)BODYPART.LEFT_UPPER_LEG]  = new CapsuleShape(0.07f, 0.45f);
                m_shapes[(int)BODYPART.LEFT_LOWER_LEG]  = new CapsuleShape(0.05f, 0.37f);
                m_shapes[(int)BODYPART.RIGHT_UPPER_LEG] = new CapsuleShape(0.07f, 0.45f);
                m_shapes[(int)BODYPART.RIGHT_LOWER_LEG] = new CapsuleShape(0.05f, 0.37f);
                m_shapes[(int)BODYPART.LEFT_UPPER_ARM]  = new CapsuleShape(0.05f, 0.33f);
                m_shapes[(int)BODYPART.LEFT_LOWER_ARM]  = new CapsuleShape(0.04f, 0.25f);
                m_shapes[(int)BODYPART.RIGHT_UPPER_ARM] = new CapsuleShape(0.05f, 0.33f);
                m_shapes[(int)BODYPART.RIGHT_LOWER_ARM] = new CapsuleShape(0.04f, 0.25f);

                // Setup all the rigid bodies
                IndexedMatrix offset = IndexedMatrix.CreateTranslation(positionOffset);

                IndexedMatrix transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, 1, 0));

                IndexedMatrix adjusted = offset * transform;

                m_bodies[(int)BODYPART.PELVIS] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.PELVIS], true);
                m_bodies[(int)BODYPART.PELVIS].SetUserPointer("PELVIS");
                transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, 1.2f, 0));
                adjusted  = offset * transform;
                m_bodies[(int)BODYPART.SPINE] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.SPINE], true);
                m_bodies[(int)BODYPART.SPINE].SetUserPointer("SPINE");

                transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, 1.6f, 0));
                adjusted  = offset * transform;
                m_bodies[(int)BODYPART.HEAD] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.HEAD], true);
                m_bodies[(int)BODYPART.HEAD].SetUserPointer("HEAD");

                transform = IndexedMatrix.CreateTranslation(new IndexedVector3(-0.18f, 0.65f, 0));
                adjusted  = offset * transform
                ;
                m_bodies[(int)BODYPART.LEFT_UPPER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_UPPER_LEG], true);
                m_bodies[(int)BODYPART.LEFT_UPPER_LEG].SetUserPointer("LEFTUPPERLEG");

                transform = IndexedMatrix.CreateTranslation(new IndexedVector3(-0.18f, 0.2f, 0));
                adjusted  = offset * transform;
                m_bodies[(int)BODYPART.LEFT_LOWER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_LOWER_LEG], true);
                m_bodies[(int)BODYPART.LEFT_LOWER_LEG].SetUserPointer("LEFTLOWERLEG");

                transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0.18f, 0.65f, 0));
                adjusted  = offset * transform;
                m_bodies[(int)BODYPART.RIGHT_UPPER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_UPPER_LEG], true);
                m_bodies[(int)BODYPART.RIGHT_UPPER_LEG].SetUserPointer("RIGHTUPPERLEG");

                transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0.18f, 0.2f, 0));
                adjusted  = offset * transform;
                m_bodies[(int)BODYPART.RIGHT_LOWER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_LOWER_LEG], true);
                m_bodies[(int)BODYPART.RIGHT_LOWER_LEG].SetUserPointer("RIGHTLOWERLEG");

                transform         = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                transform._origin = new IndexedVector3(-0.35f, 1.45f, 0);
                adjusted          = offset * transform;
                m_bodies[(int)BODYPART.LEFT_UPPER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_UPPER_ARM], true);
                m_bodies[(int)BODYPART.LEFT_UPPER_ARM].SetUserPointer("LEFTUPPERARM");

                transform         = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                transform._origin = new IndexedVector3(-0.7f, 1.45f, 0);
                adjusted          = offset * transform;
                m_bodies[(int)BODYPART.LEFT_LOWER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_LOWER_ARM], true);
                m_bodies[(int)BODYPART.LEFT_LOWER_ARM].SetUserPointer("LEFTLOWERARM");

                transform         = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_HALF_PI);
                transform._origin = new IndexedVector3(0.35f, 1.45f, 0);
                adjusted          = offset * transform;
                m_bodies[(int)BODYPART.RIGHT_UPPER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_UPPER_ARM], true);
                m_bodies[(int)BODYPART.RIGHT_UPPER_ARM].SetUserPointer("RIGHTUPPERARM");

                transform         = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_HALF_PI);
                transform._origin = new IndexedVector3(0.7f, 1.45f, 0);
                adjusted          = offset * transform;
                m_bodies[(int)BODYPART.RIGHT_LOWER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_LOWER_ARM], true);
                m_bodies[(int)BODYPART.RIGHT_LOWER_ARM].SetUserPointer("RIGHTLOWERARM");

                // Setup some damping on the m_bodies
                for (int i = 0; i < (int)BODYPART.COUNT; ++i)
                {
                    if (m_bodies[i] != null)
                    {
                        //m_bodies[i].SetDamping(0.05f, 0.85f);
                        m_bodies[i].SetDamping(0.5f, 0.85f);
                        m_bodies[i].SetDeactivationTime(0.8f);
                        m_bodies[i].SetSleepingThresholds(1.6f, 2.5f);
                    }
                }

                // Now setup the constraints
                HingeConstraint     hingeC;
                ConeTwistConstraint coneC;

                IndexedMatrix localA = IndexedMatrix.Identity;
                IndexedMatrix localB = IndexedMatrix.Identity;

                localA         = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
                localA._origin = new IndexedVector3(0.0f, 0.15f, 0.0f);
                localB         = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
                localB._origin = new IndexedVector3(0.0f, -0.15f, 0.0f);
                hingeC         = new HingeConstraint(m_bodies[(int)BODYPART.PELVIS], m_bodies[(int)BODYPART.SPINE], ref localA, ref localB);
                hingeC.SetLimit(-MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_HALF_PI);
                m_joints[(int)JOINT.PELVIS_SPINE]             = hingeC;
                m_joints[(int)JOINT.PELVIS_SPINE].m_debugName = "PELVIS_SPINE";
                hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

                m_ownerWorld.AddConstraint(m_joints[(int)JOINT.PELVIS_SPINE], true);


                localA         = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                localA._origin = new IndexedVector3(0.0f, 0.30f, 0.0f);
                localB         = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                localB._origin = new IndexedVector3(0.0f, -0.14f, 0.0f);
                coneC          = new ConeTwistConstraint(m_bodies[(int)BODYPART.SPINE], m_bodies[(int)BODYPART.HEAD], ref localA, ref localB);
                coneC.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_HALF_PI);
                m_joints[(int)JOINT.SPINE_HEAD]             = coneC;
                m_joints[(int)JOINT.SPINE_HEAD].m_debugName = "SPINE_HEAD";

                coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

                m_ownerWorld.AddConstraint(m_joints[(int)JOINT.SPINE_HEAD], true);


                localA         = IndexedMatrix.Identity;
                localB         = IndexedMatrix.Identity;
                localA         = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_QUARTER_PI * 5);
                localA._origin = new IndexedVector3(-0.18f, -0.10f, 0.0f);
                localB         = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_QUARTER_PI * 5);
                localB._origin = new IndexedVector3(0.0f, 0.225f, 0.0f);
                coneC          = new ConeTwistConstraint(m_bodies[(int)BODYPART.PELVIS], m_bodies[(int)BODYPART.LEFT_UPPER_LEG], ref localA, ref localB);
                coneC.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, 0);
                m_joints[(int)JOINT.LEFT_HIP]             = coneC;
                m_joints[(int)JOINT.LEFT_HIP].m_debugName = "LEFT_HIP";

                coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

                m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_HIP], true);

                localA         = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
                localA._origin = new IndexedVector3(0.0f, -0.225f, 0.0f);
                localB         = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
                localB._origin = new IndexedVector3(0.0f, 0.185f, 0.0f);
                hingeC         = new HingeConstraint(m_bodies[(int)BODYPART.LEFT_UPPER_LEG], m_bodies[(int)BODYPART.LEFT_LOWER_LEG], ref localA, ref localB);
                hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI);
                m_joints[(int)JOINT.LEFT_KNEE]             = hingeC;
                m_joints[(int)JOINT.LEFT_KNEE].m_debugName = "LEFT_KNEE";

                hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

                m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_KNEE], true);


                localA         = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_QUARTER_PI);
                localA._origin = new IndexedVector3(0.18f, -0.10f, 0.0f);
                localB         = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_QUARTER_PI);
                localB._origin = new IndexedVector3(0.0f, 0.225f, 0.0f);
                coneC          = new ConeTwistConstraint(m_bodies[(int)BODYPART.PELVIS], m_bodies[(int)BODYPART.RIGHT_UPPER_LEG], ref localA, ref localB);
                coneC.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, 0);
                m_joints[(int)JOINT.RIGHT_HIP]             = coneC;
                m_joints[(int)JOINT.RIGHT_HIP].m_debugName = "RIGHT_HIP";

                coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

                m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_HIP], true);

                localA         = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
                localA._origin = new IndexedVector3(0.0f, -0.225f, 0.0f);
                localB         = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
                localB._origin = new IndexedVector3(0.0f, 0.185f, 0.0f);
                hingeC         = new HingeConstraint(m_bodies[(int)BODYPART.RIGHT_UPPER_LEG], m_bodies[(int)BODYPART.RIGHT_LOWER_LEG], ref localA, ref localB);
                hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI);
                m_joints[(int)JOINT.RIGHT_KNEE]             = hingeC;
                m_joints[(int)JOINT.RIGHT_KNEE].m_debugName = "RIGHT_KNEE";

                hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

                m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_KNEE], true);


                localA         = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_PI);
                localA._origin = new IndexedVector3(-0.2f, 0.15f, 0.0f);
                localB         = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                localB._origin = new IndexedVector3(0.0f, -0.18f, 0.0f);
                coneC          = new ConeTwistConstraint(m_bodies[(int)BODYPART.SPINE], m_bodies[(int)BODYPART.LEFT_UPPER_ARM], ref localA, ref localB);
                coneC.SetLimit(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_HALF_PI, 0);
                coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

                m_joints[(int)JOINT.LEFT_SHOULDER]             = coneC;
                m_joints[(int)JOINT.LEFT_SHOULDER].m_debugName = "LEFT_SHOULDER";

                m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_SHOULDER], true);

                localA         = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
                localA._origin = new IndexedVector3(0.0f, 0.18f, 0.0f);
                localB         = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
                localB._origin = new IndexedVector3(0.0f, -0.14f, 0.0f);
                hingeC         = new HingeConstraint(m_bodies[(int)BODYPART.LEFT_UPPER_ARM], m_bodies[(int)BODYPART.LEFT_LOWER_ARM], ref localA, ref localB);
                //		hingeC.setLimit(-MathUtil.SIMD_HALF_PI), 0));
                hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI);
                m_joints[(int)JOINT.LEFT_ELBOW]             = hingeC;
                m_joints[(int)JOINT.LEFT_ELBOW].m_debugName = "LEFT_ELBOW";

                hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

                m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_ELBOW], true);

                localA         = MathUtil.SetEulerZYX(0, 0, 0);
                localA._origin = new IndexedVector3(0.2f, 0.15f, 0.0f);
                localB         = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                localB._origin = new IndexedVector3(0.0f, -0.18f, 0.0f);
                coneC          = new ConeTwistConstraint(m_bodies[(int)BODYPART.SPINE], m_bodies[(int)BODYPART.RIGHT_UPPER_ARM], ref localA, ref localB);
                coneC.SetLimit(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_HALF_PI, 0);
                m_joints[(int)JOINT.RIGHT_SHOULDER]             = coneC;
                m_joints[(int)JOINT.RIGHT_SHOULDER].m_debugName = "RIGHT_SHOULDER";

                coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

                m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_SHOULDER], true);

                localA         = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
                localA._origin = new IndexedVector3(0.0f, 0.18f, 0.0f);
                localB         = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
                localB._origin = new IndexedVector3(0.0f, -0.14f, 0.0f);
                hingeC         = new HingeConstraint(m_bodies[(int)BODYPART.RIGHT_UPPER_ARM], m_bodies[(int)BODYPART.RIGHT_LOWER_ARM], ref localA, ref localB);
                //		hingeC.setLimit(-MathUtil.SIMD_HALF_PI), 0));
                hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI);
                m_joints[(int)JOINT.RIGHT_ELBOW]             = hingeC;
                m_joints[(int)JOINT.RIGHT_ELBOW].m_debugName = "RIGHT_ELBOW";

                hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

                m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_ELBOW], true);
            }