| public static RotationZ ( float radians ) : Quaternion | ||
| radians | float | rotation amount |
| return | Quaternion | |
public void SetConstraints(BipedSkeleton skeleton)
{
#region Cone constraints
#region Spine too head
skeleton[Joint.SPINE0].Constraints = (Spine);
skeleton[Joint.SPINE1].Constraints = (Spine);
skeleton[Joint.NECK].Constraints = (Neck);
#endregion
#region Legs
skeleton[Joint.HIP_L].Constraints = (SwapXZ(Femur));
skeleton[Joint.HIP_R].Constraints = (Femur);
skeleton[Joint.KNEE_L].Constraints = (SwapXZ(Knee));
skeleton[Joint.KNEE_R].Constraints = (Knee);
skeleton[Joint.ANKLE_L].Constraints = (SwapXZ(Ankle));
skeleton[Joint.ANKLE_R].Constraints = (Ankle);
skeleton[Joint.FOOTBASE_L].Constraints = (SwapXZ(FootBase));
skeleton[Joint.FOOTBASE_R].Constraints = (FootBase);
#endregion
#region Arms
skeleton[Joint.CLAVICLE_L].Constraints = (SwapXZ(Clavicula));
skeleton[Joint.CLAVICLE_R].Constraints = (Clavicula);
skeleton[Joint.SHOULDER_L].Constraints = (SwapXZ(Shoulder));
skeleton[Joint.SHOULDER_R].Constraints = (Shoulder);
skeleton[Joint.ELBOW_L].Constraints = (SwapXZ(Elbow));
skeleton[Joint.ELBOW_R].Constraints = (Elbow);
skeleton[Joint.WRIST_L].Constraints = (SwapXZ(Wrist));
skeleton[Joint.WRIST_R].Constraints = (Wrist);
#endregion
#endregion
#region ParentPointers
skeleton[Joint.CLAVICLE_R].ParentPointer = QuaternionHelper2.RotationZ(-MathHelper.PiOver2);
skeleton[Joint.CLAVICLE_L].ParentPointer = QuaternionHelper2.RotationZ(MathHelper.PiOver2);
skeleton[Joint.HIP_R].ParentPointer = QuaternionHelper2.RotationZ(MathHelper.Pi);
skeleton[Joint.HIP_L].ParentPointer = QuaternionHelper2.RotationZ(MathHelper.Pi);
skeleton[Joint.ANKLE_R].ParentPointer = QuaternionHelper2.RotationX(MathHelper.PiOver4) * QuaternionHelper2.RotationZ(-MathHelper.PiOver4);
skeleton[Joint.ANKLE_L].ParentPointer = QuaternionHelper2.RotationX(MathHelper.PiOver4) * QuaternionHelper2.RotationZ(MathHelper.PiOver4);
skeleton[Joint.FOOTBASE_L].ParentPointer = QuaternionHelper2.RotationX(MathHelper.PiOver4) *
QuaternionHelper2.RotationZ(-MathHelper.PiOver4);
skeleton[Joint.FOOTBASE_R].ParentPointer = QuaternionHelper2.RotationX(MathHelper.PiOver4) *
QuaternionHelper2.RotationZ(MathHelper.PiOver4);
#endregion
#region TwistConstraints
#region Spine
skeleton[Joint.SPINE0].TwistLimit = (SpineTwist);
skeleton[Joint.SPINE1].TwistLimit = (SpineTwist);
skeleton[Joint.SPINE3].TwistLimit = (NoTwist);
skeleton[Joint.NECK].TwistLimit = (NeckTwist);
#endregion
#region Legs
skeleton[Joint.HIP_L].TwistLimit = (FemurTwist);
skeleton[Joint.HIP_R].TwistLimit = (FemurTwist);
skeleton[Joint.KNEE_L].TwistLimit = (KneeTwist);
skeleton[Joint.KNEE_R].TwistLimit = (KneeTwist);
skeleton[Joint.ANKLE_L].TwistLimit = (AnkleTwist);
skeleton[Joint.ANKLE_R].TwistLimit = (AnkleTwist);
skeleton[Joint.FOOTBASE_L].TwistLimit = (FootBaseTwist);
skeleton[Joint.FOOTBASE_R].TwistLimit = (FootBaseTwist);
#endregion
#region Arms
skeleton[Joint.CLAVICLE_L].TwistLimit = (ClaviculaTwist);
skeleton[Joint.SHOULDER_L].TwistLimit = (ShoulderTwist);
skeleton[Joint.ELBOW_L].TwistLimit = (ElbowTwist);
skeleton[Joint.WRIST_L].TwistLimit = (WristTwist);
skeleton[Joint.CLAVICLE_R].TwistLimit = (ClaviculaTwist);
skeleton[Joint.SHOULDER_R].TwistLimit = (ShoulderTwist);
skeleton[Joint.ELBOW_R].TwistLimit = (ElbowTwist);
skeleton[Joint.WRIST_R].TwistLimit = (WristTwist);
#endregion
#endregion
#region stiffness
#region Arms
skeleton[Joint.CLAVICLE_L].Stiffness = (verystiff);
skeleton[Joint.CLAVICLE_R].Stiffness = (verystiff);
skeleton[Joint.WRIST_L].Stiffness = (barelymoving);
skeleton[Joint.WRIST_R].Stiffness = (barelymoving);
#endregion
#region Legs
skeleton[Joint.ANKLE_L].Stiffness = (barelymoving);
skeleton[Joint.ANKLE_R].Stiffness = (barelymoving);
skeleton[Joint.FOOTBASE_L].Stiffness = (barelymoving);
skeleton[Joint.FOOTBASE_R].Stiffness = (barelymoving);
#endregion
#endregion
}