public CollisionDetectionOnlyRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
SetCamera(new Vector3F(0, 1, 6), 0, 0);
// Add a game object which allows to shoot balls.
_ballShooterObject = new BallShooterObject(Services);
GameObjectService.Objects.Add(_ballShooterObject);
var modelNode = ContentManager.Load <ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType <MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0), Matrix33F.CreateRotationY(ConstantsF.Pi));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
var animations = _meshNode.Mesh.Animations;
var loopingAnimation = new AnimationClip <SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_meshNode.SkeletonPose);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll.
_ragdoll.Pose = _meshNode.PoseWorld;
// And copy the bone poses of the current skeleton pose.
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
foreach (var body in _ragdoll.Bodies)
{
if (body != null)
{
// Set all bodies to kinematic - they should not be affected by forces.
body.MotionType = MotionType.Kinematic;
// Disable collision response.
body.CollisionResponseEnabled = false;
}
}
// In this sample, we do not need joints, limits or motors.
_ragdoll.DisableJoints();
_ragdoll.DisableLimits();
_ragdoll.DisableMotors();
// Add ragdoll rigid bodies to the simulation.
_ragdoll.AddToSimulation(Simulation);
}
private void InitializeModelAndRagdoll()
{
// Load Dude model.
var contentManager = Services.GetInstance <ContentManager>();
var dudeModelNode = contentManager.Load <ModelNode>("Dude/Dude");
_meshNode = dudeModelNode.GetSubtree().OfType <MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3(0, 0, 0));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
// Disable sleeping.
foreach (var body in _ragdoll.Bodies)
{
if (body != null)
{
body.CanSleep = false;
//body.CollisionResponseEnabled = false;
}
}
// The pelvis bone (index 1) is updated directly from the Kinect hip center.
_ragdoll.Bodies[1].MotionType = MotionType.Kinematic;
// In this sample we use a passive ragdoll where we need joints to hold the
// limbs together and limits to restrict angular movement.
_ragdoll.EnableJoints();
_ragdoll.EnableLimits();
// Set all motors to constraint motors that only use damping. This adds a damping
// effect to all ragdoll limbs.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 100;
motor.ConstraintSpring = 0;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
}
public ActiveRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
// Add game objects which allow to shoot balls and grab rigid bodies.
_ballShooterObject = new BallShooterObject(Services)
{
Speed = 10
};
GameObjectService.Objects.Add(_ballShooterObject);
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
var modelNode = ContentManager.Load <ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType <MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
// Create a copy of the dude's skeleton.
_targetSkeletonPose = SkeletonPose.Create(_meshNode.Mesh.Skeleton);
// Animate the _targetSkeletonPose.
var animations = _meshNode.Mesh.Animations;
var loopingAnimation = new AnimationClip <SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_targetSkeletonPose);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_targetSkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_targetSkeletonPose);
// In this sample we use an active ragdoll. We need joints because constraint ragdoll
// motors only affect the body rotations.
_ragdoll.EnableJoints();
// We disable limits. If limits are enabled, the ragdoll could get unstable if
// the animation tries to move a limb beyond an allowed limit. (This happens if
// a pose in the animation violates one of our limits.)
_ragdoll.DisableLimits();
// Set all motors to constraint motors. Constraint motors are like springs that
// rotate the limbs to a target position.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 10000;
motor.ConstraintSpring = 100000;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
// Add a rigid body.
var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f))
{
Name = "Box",
Pose = new Pose(new Vector3F(0, 3, 0)),
};
Simulation.RigidBodies.Add(box);
}
public KinematicRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
// Add game objects which allow to shoot balls and grab rigid bodies.
_ballShooterObject = new BallShooterObject(Services)
{
Speed = 10
};
GameObjectService.Objects.Add(_ballShooterObject);
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
var modelNode = ContentManager.Load <ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType <MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0), Matrix33F.CreateRotationY(ConstantsF.Pi));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
var animations = _meshNode.Mesh.Animations;
var loopingAnimation = new AnimationClip <SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
var animationController = AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_meshNode.SkeletonPose);
animationController.UpdateAndApply();
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
// Set all bodies to kinematic - they should not be affected by forces.
foreach (var body in _ragdoll.Bodies)
{
if (body != null)
{
body.MotionType = MotionType.Kinematic;
}
}
// Set all motors to velocity motors. Velocity motors change RigidBody.LinearVelocity
// RigidBody.AngularVelocity to move the rigid bodies.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Velocity;
}
}
_ragdoll.EnableMotors();
// In this sample, we do not need joints or limits.
_ragdoll.DisableJoints();
_ragdoll.DisableLimits();
// Add ragdoll rigid bodies to the simulation.
_ragdoll.AddToSimulation(Simulation);
// Add a rigid body.
var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f))
{
Name = "Box",
Pose = new Pose(new Vector3F(0, 3, 0)),
};
Simulation.RigidBodies.Add(box);
}
public PassiveRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
// Add game objects which allow to shoot balls and grab rigid bodies.
_ballShooterObject = new BallShooterObject(Services)
{
Speed = 10
};
GameObjectService.Objects.Add(_ballShooterObject);
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
var modelNode = ContentManager.Load <ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType <MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
// Uncomment to disable dynamic movement (for debugging during ragdoll creation):
//foreach (var body in _ragdoll.Bodies)
// if (body != null)
// body.MotionType = MotionType.Kinematic;
// In this sample we use a passive ragdoll where we need joints to hold the
// limbs together and limits to restrict angular movement.
_ragdoll.EnableJoints();
_ragdoll.EnableLimits();
// Set all motors to constraint motors that only use damping. This adds a damping
// effect to all ragdoll limbs.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 5;
motor.ConstraintSpring = 0;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
// Add a rigid body.
var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f))
{
Name = "Box",
Pose = new Pose(new Vector3F(0, 3, 0)),
};
Simulation.RigidBodies.Add(box);
}
public IKPhysicsSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
// Add game objects which allows to grab rigid bodies.
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
// Add Dude model.
var modelNode = ContentManager.Load <ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType <MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the initial world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
// Enable constraints (joints and limits, no motors)
_ragdoll.EnableJoints();
_ragdoll.EnableLimits();
_ragdoll.DisableMotors();
foreach (var body in _ragdoll.Bodies)
{
if (body != null)
{
// Disable rigid body sleeping. (If we leave it enabled, the simulation might
// disable slow bodies before they reach their IK goal.)
body.CanSleep = false;
// Disable collisions response.
body.CollisionResponseEnabled = false;
}
}
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
// Disable all force effects (default gravity and damping).
Simulation.ForceEffects.Clear();
// Create constraints which hold selected bodies at their current position
// relative to the world.
// To constrain the position + orientation, we use a FixedJoint.
foreach (var boneName in new[] { "Pelvis" })
{
var ragdollBody = _ragdoll.Bodies[_meshNode.SkeletonPose.Skeleton.GetIndex(boneName)];
var ikJoint = new FixedJoint
{
AnchorPoseALocal = ragdollBody.Pose,
BodyA = Simulation.World,
AnchorPoseBLocal = Pose.Identity,
BodyB = ragdollBody,
CollisionEnabled = false,
MaxForce = 1000,
};
_ikJoints.Add(ikJoint);
Simulation.Constraints.Add(ikJoint);
}
// To constrain only the position, we use a BallJoint.
foreach (var boneName in new[] { "L_Hand", "R_Hand", "L_Ankle1", "R_Ankle" })
{
var ragdollBody = _ragdoll.Bodies[_meshNode.SkeletonPose.Skeleton.GetIndex(boneName)];
var ikJoint = new BallJoint
{
AnchorPositionALocal = ragdollBody.Pose.Position,
BodyA = Simulation.World,
AnchorPositionBLocal = Vector3F.Zero,
BodyB = ragdollBody,
CollisionEnabled = false,
MaxForce = 1000,
};
_ikJoints.Add(ikJoint);
Simulation.Constraints.Add(ikJoint);
}
}
