protected override void OnUpdate(TimeSpan deltaTime)
{
// A random new wind change is chosen at regular intervals.
const float WindInterval = 3;
_timeSinceWindChange += (float)deltaTime.TotalSeconds;
if (_timeSinceWindChange > WindInterval)
{
_lastAngle = _nextAngle;
_lastSpeed = _nextSpeed;
_timeSinceWindChange = 0;
// Get random target angle.
float a = RandomHelper.Random.NextFloat(-1, 1);
// Apply non-linear curve to make smaller changes more likely.
a = (float)Math.Pow(a, 3);
// Convert to angle and limit variation.
_nextAngle = _lastAngle + ConstantsF.PiOver2 * a * DirectionVariation;
// Get random target speed.
float s = RandomHelper.Random.NextFloat(0, 1);
_nextSpeed = MaxSpeed * (1 - s * SpeedVariation);
}
// Update current wind.
float p = _timeSinceWindChange / WindInterval;
float speed = InterpolationHelper.Lerp(_lastSpeed, _nextSpeed, p);
float angle = InterpolationHelper.Lerp(_lastAngle, _nextAngle, p);
Wind = speed * Matrix33F.CreateRotationY(angle) * Vector3F.UnitX;
}
private void SetCameraPose()
{
var vehiclePose = _vehicle.Pose;
if (_useSpectatorView)
{
// Spectator Mode:
// Camera is looking at the car from a fixed location in the level.
Vector3F position = new Vector3F(10, 8, 10);
Vector3F target = vehiclePose.Position;
Vector3F up = Vector3F.UnitY;
// Set the new camera view matrix. (Setting the View matrix changes the Pose.
// The pose is simply the inverse of the view matrix).
CameraNode.View = Matrix44F.CreateLookAt(position, target, up);
}
else
{
// Player Camera:
// Camera moves with the car. The look direction can be changed by moving the mouse.
Matrix33F yaw = Matrix33F.CreateRotationY(_yaw);
Matrix33F pitch = Matrix33F.CreateRotationX(_pitch);
Matrix33F orientation = vehiclePose.Orientation * yaw * pitch;
Vector3F forward = orientation * -Vector3F.UnitZ;
Vector3F up = Vector3F.UnitY;
Vector3F position = vehiclePose.Position - 10 * forward + 5 * up;
Vector3F target = vehiclePose.Position + 1 * up;
CameraNode.View = Matrix44F.CreateLookAt(position, target, up);
}
}
public SkeletonMappingSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Get dude model and start animation on the dude.
var modelNode = ContentManager.Load <ModelNode>("Dude/Dude");
_dudeMeshNode = modelNode.GetSubtree().OfType <MeshNode>().First().Clone();
_dudeMeshNode.PoseLocal = new Pose(new Vector3F(-0.5f, 0, 0), Matrix33F.CreateRotationY(ConstantsF.Pi));
SampleHelper.EnablePerPixelLighting(_dudeMeshNode);
GraphicsScreen.Scene.Children.Add(_dudeMeshNode);
var animations = _dudeMeshNode.Mesh.Animations;
var loopingAnimation = new AnimationClip <SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_dudeMeshNode.SkeletonPose);
// Get marine model - do not start any animations on the marine model.
modelNode = ContentManager.Load <ModelNode>("Marine/PlayerMarine");
_marineMeshNode = modelNode.GetSubtree().OfType <MeshNode>().First().Clone();
_marineMeshNode.PoseLocal = new Pose(new Vector3F(0.5f, 0, 0), Matrix33F.CreateRotationY(ConstantsF.Pi));
SampleHelper.EnablePerPixelLighting(_marineMeshNode);
GraphicsScreen.Scene.Children.Add(_marineMeshNode);
CreateSkeletonMapper();
}
public BoneJiggleSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
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 walkAnimation = new AnimationClip <SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
_walkAnimationController = AnimationService.StartAnimation(walkAnimation, (IAnimatableProperty)_meshNode.SkeletonPose);
_walkAnimationController.AutoRecycle();
// Create a BoneJiggler instance for the head bone (bone index 7).
_boneJiggler = new BoneJiggler(_meshNode.SkeletonPose, 7, new Vector3F(1.1f, 0, 0))
{
Spring = 100,
Damping = 3,
};
}
public SkinnedEffectSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
GraphicsScreen.ClearBackground = true;
GraphicsScreen.BackgroundColor = Color.CornflowerBlue;
SetCamera(new Vector3F(1, 1, 3), 0.2f, 0);
// Create a sky mesh and add an instance of this mesh to the scene.
var skyMesh = ProceduralSkyDome.CreateMesh(GraphicsService, ContentManager.Load <Texture2D>("sky"));
_sky = new MeshNode(skyMesh);
_sky.Name = "Sky"; // Always set a name - very useful for debugging!
GraphicsScreen.Scene.Children.Add(_sky);
// Load the skinned model. This model is processed using the DigitalRune Model
// Processor - not the default XNA model processor!
// In the folder that contains dude.fbx, there are several XML files (*.drmdl and *.drmat)
// which define the materials of the model. These material description files are
// automatically processed by the DigitalRune Model Processor. Please browse
// to the content folder and have a look at the *.drmdl and *.drmat files.
var dudeModel = ContentManager.Load <ModelNode>("Dude/Dude");
dudeModel = dudeModel.Clone();
dudeModel.PoseWorld = new Pose(Matrix33F.CreateRotationY(ConstantsF.Pi));
GraphicsScreen.Scene.Children.Add(dudeModel);
// The dude model consists of a single mesh.
var dudeMeshNode = dudeModel.GetSubtree().OfType <MeshNode>().First();
var mesh = dudeMeshNode.Mesh;
/*
* // The dude mesh consists of different materials (head, eyes, torso, ...).
* // We could change some of the material properties...
* foreach (var material in mesh.Materials)
* {
* // Get all SkinnedEffectBindings which wrap the XNA SkinnedEffect.
* // A material can consist of several effects - one effect for each render pass.
* // (Per default there is only one render pass called "Default".)
* foreach (var effectBinding in material.EffectBindings.OfType<SkinnedEffectBinding>())
* {
* // We could change effect parameters here, for example:
* effectBinding.PreferPerPixelLighting = true;
* }
* }
*/
// The DigitalRune Model Processor also loads animations.
// Start the first animation of the dude and let it loop forever.
// (We keep the animation controller to be able to stop the animation in
// Dispose() below.)
var timeline = new TimelineClip(mesh.Animations.Values.First())
{
Duration = TimeSpan.MaxValue,
LoopBehavior = LoopBehavior.Cycle,
};
_animationController = AnimationService.StartAnimation(timeline, (IAnimatableProperty)dudeMeshNode.SkeletonPose);
}
public SkySample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
_graphicsScreen = new DeferredGraphicsScreen(Services);
_graphicsScreen.DrawReticle = true;
GraphicsService.Screens.Insert(0, _graphicsScreen);
GameObjectService.Objects.Add(new DeferredGraphicsOptionsObject(Services));
Services.Register(typeof(DebugRenderer), null, _graphicsScreen.DebugRenderer);
Services.Register(typeof(IScene), null, _graphicsScreen.Scene);
// Add gravity and damping to the physics Simulation.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a custom game object which controls the camera.
var cameraGameObject = new CameraObject(Services);
GameObjectService.Objects.Add(cameraGameObject);
_graphicsScreen.ActiveCameraNode = cameraGameObject.CameraNode;
GameObjectService.Objects.Add(new GrabObject(Services));
GameObjectService.Objects.Add(new GroundObject(Services));
GameObjectService.Objects.Add(new DudeObject(Services));
GameObjectService.Objects.Add(new ObjectCreatorObject(Services));
GameObjectService.Objects.Add(new LavaBallsObject(Services));
GameObjectService.Objects.Add(new FogObject(Services));
GameObjectService.Objects.Add(new StaticObject(Services, "Barrier/Barrier", 0.9f, new Pose(new Vector3F(0, 0, -2))));
GameObjectService.Objects.Add(new StaticObject(Services, "Barrier/Cylinder", 0.9f, new Pose(new Vector3F(3, 0, 0), QuaternionF.CreateRotationY(MathHelper.ToRadians(-20)))));
// The DynamicSkyObject creates the dynamic sky and lights.
GameObjectService.Objects.Add(new DynamicSkyObject(Services));
// Add a few palm trees.
Random random = new Random(12345);
for (int i = 0; i < 10; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-3, -8), 0, random.NextFloat(0, -5));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
float scale = random.NextFloat(0.5f, 1.2f);
GameObjectService.Objects.Add(new StaticObject(Services, "PalmTree/palm_tree", scale, new Pose(position, orientation)));
}
// Add a grain filter to add some noise in the night.
_graphicsScreen.PostProcessors.Add(new GrainFilter(GraphicsService)
{
IsAnimated = true,
LuminanceThreshold = 0.3f,
ScaleWithLuminance = true,
Strength = 0.04f,
GrainScale = 1.5f,
});
}
public SplitScreenSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
_graphicsScreen = new SplitScreen(Services);
_graphicsScreen.DrawReticle = true;
GraphicsService.Screens.Insert(0, _graphicsScreen);
Services.Register(typeof(DebugRenderer), null, _graphicsScreen.DebugRenderer);
Services.Register(typeof(IScene), null, _graphicsScreen.Scene);
// Add gravity and damping to the physics Simulation.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a custom game object which controls the camera of player A.
var cameraGameObject = new CameraObject(Services);
GameObjectService.Objects.Add(cameraGameObject);
_graphicsScreen.ActiveCameraNodeA = cameraGameObject.CameraNode;
var projection = (PerspectiveProjection)cameraGameObject.CameraNode.Camera.Projection;
projection.SetFieldOfView(
projection.FieldOfViewY,
GraphicsService.GraphicsDevice.Viewport.AspectRatio / 2,
projection.Near,
projection.Far);
cameraGameObject.CameraNode.Camera = new Camera(projection);
// A second camera for player B.
_cameraNodeB = new CameraNode(cameraGameObject.CameraNode.Camera);
_graphicsScreen.ActiveCameraNodeB = _cameraNodeB;
GameObjectService.Objects.Add(new GrabObject(Services));
GameObjectService.Objects.Add(new GroundObject(Services));
GameObjectService.Objects.Add(new DudeObject(Services));
GameObjectService.Objects.Add(new ObjectCreatorObject(Services));
GameObjectService.Objects.Add(new LavaBallsObject(Services));
GameObjectService.Objects.Add(new FogObject(Services));
GameObjectService.Objects.Add(new StaticObject(Services, "Barrier/Barrier", 0.9f, new Pose(new Vector3F(0, 0, -2))));
GameObjectService.Objects.Add(new StaticObject(Services, "Barrier/Cylinder", 0.9f, new Pose(new Vector3F(3, 0, 0), QuaternionF.CreateRotationY(MathHelper.ToRadians(-20)))));
GameObjectService.Objects.Add(new StaticSkyObject(Services));
// Add a few palm trees.
Random random = new Random(12345);
for (int i = 0; i < 10; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-3, -8), 0, random.NextFloat(0, -5));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
float scale = random.NextFloat(0.5f, 1.2f);
GameObjectService.Objects.Add(new StaticObject(Services, "PalmTree/palm_tree", scale, new Pose(position, orientation)));
}
GameObjectService.Objects.Add(new OptionsObject(Services));
}
public WaterFallSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
_particleSystem = WaterFall.CreateWaterFall(ContentManager);
_particleSystem.Pose = new Pose(new Vector3F(0, 2, 0), Matrix33F.CreateRotationY(ConstantsF.Pi));
ParticleSystemService.ParticleSystems.Add(_particleSystem);
_particleSystemNode = new ParticleSystemNode(_particleSystem);
GraphicsScreen.Scene.Children.Add(_particleSystemNode);
}
public FlameJetSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
_flameJet = FlameJet.Create(ContentManager);
_flameJet.Pose = new Pose(new Vector3F(0, 2, 0), Matrix33F.CreateRotationY(ConstantsF.PiOver2));
ParticleSystemService.ParticleSystems.Add(_flameJet);
_particleSystemNode = new ParticleSystemNode(_flameJet);
GraphicsScreen.Scene.Children.Add(_particleSystemNode);
}
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);
}
public override void Update(GameTime gameTime)
{
// This sample clears the debug renderer each frame.
_graphicsScreen.DebugRenderer.Clear();
// A second camera for player B.
var totalTime = (float)gameTime.TotalGameTime.TotalSeconds;
var position = Matrix33F.CreateRotationY(totalTime * 0.1f) * new Vector3F(4, 2, 4);
_cameraNodeB.View = Matrix44F.CreateLookAt(position, new Vector3F(0, 0, 0), new Vector3F(0, 1, 0));
}
public void CreateRotationY()
{
float angle = (float)MathHelper.ToRadians(30);
Matrix33F m = Matrix33F.CreateRotationY(angle);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F((float)Math.Sin(angle), 0, (float)Math.Cos(angle)), m * Vector3F.UnitZ));
QuaternionF q = QuaternionF.CreateRotation(Vector3F.UnitY, angle);
Assert.IsTrue(Vector3F.AreNumericallyEqual(q.Rotate(Vector3F.One), m * Vector3F.One));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(Matrix33F.CreateRotation(Vector3F.UnitY, angle), m));
}
public override void Update(GameTime gameTime)
{
// Update the poses of the animated scene nodes.
var frontWheelSteeringRotation = Matrix33F.CreateRotationY(_frontWheelSteeringAngle.Value);
_frontWheelLeft.PoseLocal = _frontWheelLeftRestPose * new Pose(frontWheelSteeringRotation);
_frontWheelRight.PoseLocal = _frontWheelRightRestPose * new Pose(frontWheelSteeringRotation);
_hatch.PoseLocal = _hatchRestPose * new Pose(Matrix33F.CreateRotationX(_hatchAngle.Value));
_turret.PoseLocal = _turretRestPose * new Pose(Matrix33F.CreateRotationY(_turretAngle.Value));
_cannon.PoseLocal = _cannonRestPose * new Pose(Matrix33F.CreateRotationX(_cannonAngle.Value));
base.Update(gameTime);
}
protected override void OnUpdate(TimeSpan deltaTime)
{
// Rotate camera around origin.
_cameraRotation += 0.1f * (float)deltaTime.TotalSeconds;
var cameraPosition = Matrix33F.CreateRotationY(_cameraRotation) * new Vector3F(10, 5, 10);
var targetPosition = new Vector3F(0, 1, 0);
var up = new Vector3F(0, 1, 0);
var viewMatrix = Matrix44F.CreateLookAt(cameraPosition, targetPosition, up);
CameraNode.PoseWorld = Pose.FromMatrix(viewMatrix.Inverse);
Scene.Update(deltaTime);
}
protected override void OnUpdate(TimeSpan deltaTime)
{
// Mouse centering (controlled by the MenuComponent) is disabled if the game
// is inactive or if the GUI is active. In these cases, we do not want to move
// the player.
if (!_inputService.EnableMouseCentering)
{
return;
}
float deltaTimeF = (float)deltaTime.TotalSeconds;
// Update steering direction from left/right arrow keys.
UpdateSteeringAngle(deltaTimeF);
// Update acceleration from up/down arrow keys.
UpdateAcceleration(deltaTimeF);
// Pressing <Space> activates handbrake
if (_inputService.IsDown(Keys.Space) || _inputService.IsDown(Buttons.A, LogicalPlayerIndex.One))
{
// Braking force from handbrake needs to be applied to back wheels.
const float brakeForce = 6000;
Vehicle.Wheels[2].MotorForce = 0;
Vehicle.Wheels[3].MotorForce = 0;
Vehicle.Wheels[2].BrakeForce = brakeForce;
Vehicle.Wheels[3].BrakeForce = brakeForce;
}
else
{
Vehicle.Wheels[2].BrakeForce = 0;
Vehicle.Wheels[3].BrakeForce = 0;
}
// Update poses of graphics models.
// Update SceneNode.LastPoseWorld (required for optional effects, like motion blur).
_vehicleModelNode.SetLastPose(true);
_vehicleModelNode.PoseWorld = Vehicle.Chassis.Pose;
for (int i = 0; i < _wheelModelNodes.Length; i++)
{
var pose = Vehicle.Wheels[i].Pose;
if (Vehicle.Wheels[i].Offset.X < 0)
{
// Left wheel.
pose.Orientation = pose.Orientation * Matrix33F.CreateRotationY(ConstantsF.Pi);
}
_wheelModelNodes[i].SetLastPose(true);
_wheelModelNodes[i].PoseWorld = pose;
}
}
/// <summary>
/// Adds test objects (walls, palm trees, ...) to the scene.
/// </summary>
private void AddTestObjects()
{
// Add a few palm trees.
Random random = new Random(12345);
for (int i = 0; i < 10; i++)
{
Vector3F position = new Vector3F(3.5f, 0, 2.5f - i / 2.0f);
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
float scale = random.NextFloat(0.5f, 1.2f);
Pose pose = _globalRotation * new Pose(position, orientation);
GameObjectService.Objects.Add(new StaticObject(Services, "PalmTree/palm_tree", scale, pose));
}
// Add a vertical concrete wall.
GameObjectService.Objects.Add(
new StaticObject(
Services,
"Building/concrete_small_window_1",
#if XNA
new Vector3F(1.0f, 1.6f, 1.8f),
_globalRotation * new Pose(new Vector3F(3.5f, 1.8f, -4f), Matrix33F.CreateRotationY(0)),
#else
new Vector3F(1.8f, 1.6f, 1.0f),
_globalRotation * new Pose(new Vector3F(3.5f, 1.8f, -4f), Matrix33F.CreateRotationY(ConstantsF.PiOver2)),
#endif
true,
false));
// Add a vertical brick wall.
GameObjectService.Objects.Add(
new StaticObject(
Services,
"Building/wall_brick_1",
new Vector3F(1.8f, 1.6f, 1),
_globalRotation * new Pose(new Vector3F(-3f, 1.8f, -4f), Matrix33F.CreateRotationY(ConstantsF.PiOver2)),
true,
false));
// Create a ceiling using a rotated wall.
GameObjectService.Objects.Add(
new StaticObject(
Services,
"Building/wall_brick_1",
new Vector3F(1.8f, 2.8f, 1),
_globalRotation * new Pose(new Vector3F(0.3f, 4, -4), Matrix33F.CreateRotationZ(ConstantsF.PiOver2) * Matrix33F.CreateRotationY(ConstantsF.PiOver2)),
true,
false));
}
public override void Update(GameTime gameTime)
{
// Move models in circles.
_angle += (float)gameTime.ElapsedGameTime.TotalSeconds * 0.6f;
// Set SceneNode.LastPoseWorld to the current pose. This is only required
// when advanced effects are used, like post-process motion blur. Since this
// is not the case in this sample, we could skip this step. However, it is a
// good practice to always update SceneNode.LastPoseWorld and LastScaleWorld
// before the pose or scale is changed.
_model0.SetLastPose(true);
_model1.SetLastPose(true);
// Update the position and orientation of the models.
_model0.PoseWorld = new Pose(new Vector3F(2, 0, 0))
* new Pose(Matrix33F.CreateRotationY(_angle))
* new Pose(new Vector3F(2, 0, 0));
_model1.PoseWorld = new Pose(new Vector3F(-2, 0, 0))
* new Pose(Matrix33F.CreateRotationY(-_angle + 0.5f))
* new Pose(new Vector3F(-2, 0, 0));
// Draw the bounding shapes of the meshes.
//
// Note - Bounding shapes of skinned models:
// The model description file (dude.drmdl) specifies a custom bounding shape
// (see the attributes AabbMinimum and AabbMaximum in this file). For
// skinned models this bounding shape must be chosen manually. It must be big
// enough to contain all poses of the model. - In future DigitalRune Graphics
// versions we will automatically compute suitable bounding shapes for
// animated models.
_debugRenderer.Clear();
foreach (var sceneNode in _scene.GetSubtree().OfType <MeshNode>())
{
_debugRenderer.DrawObject(sceneNode, Color.Orange, true, false);
}
// Draw a coordinate cross at the world space origin.
_debugRenderer.DrawAxes(Pose.Identity, 1, false);
// Update the scene - this must be called once per frame.
// The scene will compute internal collision information for camera frustum
// culling or light culling (which lights overlap with which mesh nodes).
_scene.Update(gameTime.ElapsedGameTime);
base.Update(gameTime);
}
public DudeWalkingSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
var modelNode = ContentManager.Load <ModelNode>("Dude/Dude");
var 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);
// The imported animations are stored in the mesh.
Dictionary <string, SkeletonKeyFrameAnimation> animations = meshNode.Mesh.Animations;
// The Dude model contains only one animation, which is a SkeletonKeyFrameAnimation with
// a walk cycle.
SkeletonKeyFrameAnimation walkAnimation = animations.Values.First();
// Wrap the walk animation in an animation clip that loops the animation forever.
AnimationClip <SkeletonPose> loopingAnimation = new AnimationClip <SkeletonPose>(walkAnimation)
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
// Start the animation and keep the created AnimationController.
// We must cast the SkeletonPose to IAnimatableProperty because SkeletonPose implements
// IAnimatableObject and IAnimatableProperty. We must tell the AnimationService if we want
// to animate an animatable property of the SkeletonPose (IAnimatableObject), or if we want to
// animate the whole SkeletonPose (IAnimatableProperty).
_animationController = AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)meshNode.SkeletonPose);
// The animation will be applied the next time AnimationManager.ApplyAnimations() is called
// in the main loop. ApplyAnimations() is called before this method is called, therefore
// the model will be rendered in the bind pose in this frame and in the first animation key
// frame in the next frame - this creates an annoying visual popping effect.
// We can avoid this if we call AnimationController.UpdateAndApply(). This will immediately
// change the model pose to the first key frame pose.
_animationController.UpdateAndApply();
// (Optional) Enable Auto-Recycling:
// After the animation is stopped, the animation service will recycle all
// intermediate data structures.
_animationController.AutoRecycle();
}
public AutoRagdollShapesSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
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.AutoRecycle();
animationController.UpdateAndApply();
// Create a ragdoll for the Dude model.
_ragdoll = CreateRagdoll(_meshNode);
// 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;
}
}
// Add ragdoll rigid bodies to the simulation.
_ragdoll.AddToSimulation(Simulation);
}
private void UpdateOrientation(Vector delta)
{
Pose pose = _cameraNode.PoseWorld;
// Get previous yaw and pitch angles.
float yaw, pitch;
GetYawPitch(pose.Orientation, out yaw, out pitch);
// Apply delta.
float speed = (float)Speed;
yaw -= (float)delta.X * speed;
pitch -= (float)delta.Y * speed;
// Set new camera orientation.
pose.Orientation = Matrix33F.CreateRotationY(yaw) * Matrix33F.CreateRotationX(pitch);
_cameraNode.PoseWorld = pose;
}
public CompressionSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
var modelNode = ContentManager.Load <ModelNode>("Dude/Dude");
SampleHelper.EnablePerPixelLighting(modelNode);
_meshNodeUncompressed = modelNode.GetSubtree().OfType <MeshNode>().First().Clone();
_meshNodeUncompressed.PoseLocal = new Pose(new Vector3F(-0.5f, 0, 0), Matrix33F.CreateRotationY(ConstantsF.Pi));
GraphicsScreen.Scene.Children.Add(_meshNodeUncompressed);
_meshNodeCompressed = _meshNodeUncompressed.Clone();
_meshNodeCompressed.PoseLocal = new Pose(new Vector3F(0.5f, 0, 0), Matrix33F.CreateRotationY(ConstantsF.Pi));
GraphicsScreen.Scene.Children.Add(_meshNodeCompressed);
Dictionary <string, SkeletonKeyFrameAnimation> animations = _meshNodeUncompressed.Mesh.Animations;
_animation = animations.Values.First();
RestartAnimations();
}
public override void Update(GameTime gameTime)
{
if (_avatarPose == null)
{
if (_avatarRenderer.State == AvatarRendererState.Ready)
{
_avatarPose = new AvatarPose(_avatarRenderer);
AnimationService.StartAnimation(_walkAnimation, _avatarPose).AutoRecycle();
}
}
else
{
// Update pose of attached baseball bat.
// The offset of the baseball bat origin to the bone origin (in bone space)
Pose offset = new Pose(new Vector3F(0.01f, 0.05f, 0.0f), Matrix33F.CreateRotationY(MathHelper.ToRadians(-20)));
// The bone position in model space
SrtTransform bonePose = _avatarPose.SkeletonPose.GetBonePoseAbsolute((int)AvatarBone.SpecialRight);
// The baseball bat matrix in world space
_baseballBatMeshNode.PoseWorld = _pose * (Pose)bonePose * offset;
}
}
protected override void OnLoad()
{
var contentManager = _services.GetInstance <ContentManager>();
// ----- Graphics
// Load graphics model (created using the ModelWithCollisionMeshProcessor).
var originalModelNode = contentManager.Load <ModelNode>("Saucer/saucer");
// The collision shape is stored in the UserData.
var shape = (Shape)originalModelNode.UserData;
// We do not want to change the shared Saucer instance in the content manager.
// Let's create a clone. But we do not want to clone the shape in the UserData,
// this would be a waste of time and memory.
originalModelNode.UserData = null;
_modelNode = originalModelNode.Clone(); // Clone without UserData.
originalModelNode.UserData = shape;
_modelNode.PoseWorld = new Pose(Vector3F.Zero, Matrix33F.CreateRotationY(-ConstantsF.PiOver2));
// Add model to the scene for rendering.
var scene = _services.GetInstance <IScene>();
scene.Children.Add(_modelNode);
// ----- Collision Detection
// Create a collision object and add it to the collision domain.
_geometricObject = new GeometricObject(shape, _modelNode.PoseWorld);
_collisionObject = new CollisionObject(_geometricObject);
// Important: We do not need detailed contact information when a collision
// is detected. The information of whether we have contact or not is sufficient.
// Therefore, we can set the type to "Trigger". This increases the performance
// dramatically.
_collisionObject.Type = CollisionObjectType.Trigger;
var collisionDomain = _services.GetInstance <CollisionDomain>();
collisionDomain.CollisionObjects.Add(_collisionObject);
}
public void Orthogonalize()
{
var m = Matrix33F.CreateRotationX(0.1f) * Matrix33F.CreateRotationY(20) * Matrix33F.CreateRotationZ(1000);
// Introduce error.
m.M01 += 0.1f;
m.M22 += 0.1f;
Assert.IsFalse(m.IsOrthogonal);
Assert.IsFalse(m.IsRotation);
m.Orthogonalize();
Assert.IsTrue(m.IsOrthogonal);
Assert.IsTrue(m.IsRotation);
// Orthogonalizing and orthogonal matrix does not change the matrix.
var n = m;
n.Orthogonalize();
Assert.IsTrue(Matrix33F.AreNumericallyEqual(m, n));
}
private void OnMouseMove(object sender, MouseEventArgs eventArgs)
{
var mousePosition = eventArgs.GetPosition(AssociatedObject);
if (eventArgs.LeftButton == MouseButtonState.Pressed)
{
var target = CameraTarget;
float speed = (float)Speed;
Vector delta = mousePosition - _lastMousePosition;
// Rotation around y-axis in world space
float angle0 = (float)delta.X * speed * _upDirection;
Pose rotation0 = new Pose(Matrix33F.CreateRotationY(angle0));
// Rotation around x-axis in view space.
float angle1 = (float)delta.Y * speed;
Pose rotation1 = new Pose(Matrix33F.CreateRotationX(angle1));
float distance = (CameraTarget - _cameraNode.PoseWorld.Position).Length;
// Variant #1: Set camera pose.
var pose = new Pose(target)
* rotation0.Inverse
* new Pose(-target)
* _cameraNode.PoseWorld
* new Pose(new Vector3F(0, 0, -distance))
* rotation1.Inverse
* new Pose(new Vector3F(0, 0, distance));
// Re-orthogonalize to remove numerical errors which could add up.
var orientation = pose.Orientation;
orientation.Orthogonalize();
pose.Orientation = orientation;
CameraNode.PoseWorld = pose;
}
_lastMousePosition = mousePosition;
}
protected override void OnLoad()
{
var contentManager = _services.GetInstance <ContentManager>();
// ----- Graphics
// Load a graphics model and add it to the scene for rendering.
_modelNode = contentManager.Load <ModelNode>("Ship/Ship").Clone();
_modelNode.PoseWorld = new Pose(Vector3F.Zero, Matrix33F.CreateRotationY(-ConstantsF.PiOver2));
var scene = _services.GetInstance <IScene>();
scene.Children.Add(_modelNode);
// ----- Collision Detection
// Create a collision object and add it to the collision domain.
// Load collision shape from a separate model (created using the CollisionShapeProcessor).
var shape = contentManager.Load <Shape>("Ship/Ship_CollisionModel");
// Create a GeometricObject (= Shape + Pose + Scale).
_geometricObject = new GeometricObject(shape, _modelNode.PoseWorld);
// Create a collision object and add it to the collision domain.
_collisionObject = new CollisionObject(_geometricObject);
// Important: We do not need detailed contact information when a collision
// is detected. The information of whether we have contact or not is sufficient.
// Therefore, we can set the type to "Trigger". This increases the performance
// dramatically.
_collisionObject.Type = CollisionObjectType.Trigger;
// Add the collision object to the collision domain of the game.
var collisionDomain = _services.GetInstance <CollisionDomain>();
collisionDomain.CollisionObjects.Add(_collisionObject);
}
public override void Update(GameTime gameTime)
{
base.Update(gameTime);
var debugRenderer = GraphicsScreen.DebugRenderer;
debugRenderer.Clear();
// <Space> --> Reset skeleton pose to bind pose.
if (InputService.IsDown(Keys.Space))
{
_meshNode.SkeletonPose.ResetBoneTransforms();
}
// ----- Detect collisions
// Get all contact sets of the head.
RigidBody headBody = _ragdoll.Bodies[7];
var headContacts = Simulation.CollisionDomain.GetContacts(headBody.CollisionObject);
GraphicsScreen.BackgroundColor = Color.CornflowerBlue;
foreach (var contactSet in headContacts)
{
// Get the rigid body that collided with the head.
RigidBody otherBody;
if (contactSet.ObjectA.GeometricObject == headBody)
{
otherBody = contactSet.ObjectB.GeometricObject as RigidBody;
}
else
{
otherBody = contactSet.ObjectA.GeometricObject as RigidBody;
}
// If the head collided with a ball (from the BallShooter.cs), then set the hit flag.
if (otherBody != null && otherBody.Name.StartsWith("Ball"))
{
debugRenderer.DrawText("\n\nHIT DETECTED!!!");
GraphicsScreen.BackgroundColor = Color.DarkRed;
break;
}
}
// Move model in a circle.
var rotation = Matrix33F.CreateRotationY((float)gameTime.TotalGameTime.TotalSeconds * 0.3f);
_meshNode.PoseWorld = new Pose(rotation * new Vector3F(3, 0, 0), rotation);
// Sync pose with ragdoll.
_ragdoll.Pose = _meshNode.PoseWorld;
// Update the bodies to match the current skeleton pose.
// This method changes the body poses directly.
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
// Use DebugRenderer to visualize rigid bodies.
foreach (var body in Simulation.RigidBodies)
{
if (body.Name.StartsWith("Ball"))
{
debugRenderer.DrawObject(body, Color.Gray, false, false);
}
else
{
debugRenderer.DrawObject(body, Color.Gray, true, false);
}
}
}
/// <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>
/// <param name="scale">A scaling factor to scale the size of the ragdoll.</param>
public static void Create(SkeletonPose skeletonPose, Ragdoll ragdoll, Simulation simulation, float scale)
{
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 * scale, 0.4f * scale, 0.55f * scale), massFrame, material);
ragdoll.BodyOffsets[pelvis] = new Pose(new Vector3F(0, 0, 0));
var backLower = skeleton.GetIndex("Spine");
ragdoll.Bodies[backLower] = new RigidBody(new BoxShape(0.36f * scale, 0.4f * scale, 0.55f * scale), massFrame, material);
ragdoll.BodyOffsets[backLower] = new Pose(new Vector3F(0.18f * scale, 0, 0));
var backUpper = skeleton.GetIndex("Spine2");
ragdoll.Bodies[backUpper] = new RigidBody(new BoxShape(0.5f * scale, 0.4f * scale, 0.65f * scale), massFrame, material);
ragdoll.BodyOffsets[backUpper] = new Pose(new Vector3F(0.25f * scale, 0, 0));
var neck = skeleton.GetIndex("Neck");
ragdoll.Bodies[neck] = new RigidBody(new CapsuleShape(0.12f * scale, 0.3f * scale), massFrame, material);
ragdoll.BodyOffsets[neck] = new Pose(new Vector3F(0.15f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[neck].CollisionObject.Enabled = false;
ragdoll.Bodies[head] = new RigidBody(new SphereShape(0.2f * scale), massFrame, material);
ragdoll.BodyOffsets[head] = new Pose(new Vector3F(0.15f * scale, 0.02f * scale, 0));
var armUpperLeft = skeleton.GetIndex("L_UpperArm");
ragdoll.Bodies[armUpperLeft] = new RigidBody(new CapsuleShape(0.12f * scale, 0.6f * scale), massFrame, material);
ragdoll.BodyOffsets[armUpperLeft] = new Pose(new Vector3F(0.2f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var armLowerLeft = skeleton.GetIndex("L_Forearm");
ragdoll.Bodies[armLowerLeft] = new RigidBody(new CapsuleShape(0.08f * scale, 0.5f * scale), massFrame, material);
ragdoll.BodyOffsets[armLowerLeft] = new Pose(new Vector3F(0.2f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var handLeft = skeleton.GetIndex("L_Hand");
ragdoll.Bodies[handLeft] = new RigidBody(new BoxShape(0.2f * scale, 0.06f * scale, 0.15f * scale), massFrame, material);
ragdoll.BodyOffsets[handLeft] = new Pose(new Vector3F(0.1f * scale, 0, 0));
var armUpperRight = skeleton.GetIndex("R_UpperArm");
ragdoll.Bodies[armUpperRight] = new RigidBody(new CapsuleShape(0.12f * scale, 0.6f * scale), massFrame, material);
ragdoll.BodyOffsets[armUpperRight] = new Pose(new Vector3F(0.2f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var armLowerRight = skeleton.GetIndex("R_Forearm");
ragdoll.Bodies[armLowerRight] = new RigidBody(new CapsuleShape(0.08f * scale, 0.5f * scale), massFrame, material);
ragdoll.BodyOffsets[armLowerRight] = new Pose(new Vector3F(0.2f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var handRight = skeleton.GetIndex("R_Hand");
ragdoll.Bodies[handRight] = new RigidBody(new BoxShape(0.2f * scale, 0.06f * scale, 0.15f * scale), massFrame, material);
ragdoll.BodyOffsets[handRight] = new Pose(new Vector3F(0.1f * scale, 0, 0));
var legUpperLeft = skeleton.GetIndex("L_Thigh1");
ragdoll.Bodies[legUpperLeft] = new RigidBody(new CapsuleShape(0.16f * scale, 0.8f * scale), massFrame, material);
ragdoll.BodyOffsets[legUpperLeft] = new Pose(new Vector3F(0.4f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var legLowerLeft = skeleton.GetIndex("L_Knee2");
ragdoll.Bodies[legLowerLeft] = new RigidBody(new CapsuleShape(0.12f * scale, 0.65f * scale), massFrame, material);
ragdoll.BodyOffsets[legLowerLeft] = new Pose(new Vector3F(0.32f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
//var footLeft = skeleton.GetIndex("L_Ankle1");
ragdoll.Bodies[footLeft] = new RigidBody(new BoxShape(0.20f * scale, 0.5f * scale, 0.3f * scale), massFrame, material);
ragdoll.BodyOffsets[footLeft] = new Pose(new Vector3F(0.16f * scale, 0.15f * scale, 0));
var legUpperRight = skeleton.GetIndex("R_Thigh");
ragdoll.Bodies[legUpperRight] = new RigidBody(new CapsuleShape(0.16f * scale, 0.8f * scale), massFrame, material);
ragdoll.BodyOffsets[legUpperRight] = new Pose(new Vector3F(0.4f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var legLowerRight = skeleton.GetIndex("R_Knee");
ragdoll.Bodies[legLowerRight] = new RigidBody(new CapsuleShape(0.12f * scale, 0.65f * scale), massFrame, material);
ragdoll.BodyOffsets[legLowerRight] = new Pose(new Vector3F(0.32f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var footRight = skeleton.GetIndex("R_Ankle");
ragdoll.Bodies[footRight] = new RigidBody(new BoxShape(0.20f * scale, 0.5f * scale, 0.3f * scale), massFrame, material);
ragdoll.BodyOffsets[footRight] = new Pose(new Vector3F(0.16f * scale, 0.15f * scale, 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
}
//--------------------------------------------------------------
#region Methods
//--------------------------------------------------------------
protected override void OnLoad()
{
// Add rigid bodies to simulation.
var simulation = _services.GetInstance <Simulation>();
// We use a random number generator with a custom seed.
RandomHelper.Random = new Random(123);
// ----- Add a ground plane.
AddBody(simulation, "GroundPlane", Pose.Identity, new PlaneShape(Vector3F.UnitY, 0), MotionType.Static);
// ----- Create a small flying sphere.
AddBody(simulation, "Sphere", new Pose(new Vector3F(0, 1f, 0)), new SphereShape(0.2f), MotionType.Static);
// ----- Create small walls at the level boundary.
AddBody(simulation, "WallLeft", new Pose(new Vector3F(-30, 1, 0)), new BoxShape(0.3f, 2, 60), MotionType.Static);
AddBody(simulation, "WallRight", new Pose(new Vector3F(30, 1, 0)), new BoxShape(0.3f, 2, 60), MotionType.Static);
AddBody(simulation, "WallFront", new Pose(new Vector3F(0, 1, -30)), new BoxShape(60, 2, 0.3f), MotionType.Static);
AddBody(simulation, "WallBack", new Pose(new Vector3F(0, 1, 30)), new BoxShape(60, 2, 0.3f), MotionType.Static);
// ----- Create a few bigger objects.
// We position the boxes so that we have a few corners we can run into. Character controllers
// should be stable when the user runs into corners.
AddBody(simulation, "House0", new Pose(new Vector3F(10, 1, -10)), new BoxShape(8, 2, 8f), MotionType.Static);
AddBody(simulation, "House1", new Pose(new Vector3F(13, 1, -4)), new BoxShape(2, 2, 4), MotionType.Static);
AddBody(simulation, "House2", new Pose(new Vector3F(10, 2, -15), Matrix33F.CreateRotationY(-0.3f)), new BoxShape(8, 4, 2), MotionType.Static);
// ----- Create stairs with increasing step height.
// Each step is a box. With this object we can test if our character can climb up
// stairs. The character controller has a step height limit. Increasing step heights
// let us test if the step height limit works.
float startHeight = 0;
const float stepDepth = 1f;
for (int i = 0; i < 10; i++)
{
float stepHeight = 0.1f + i * 0.05f;
Vector3F position = new Vector3F(0, startHeight + stepHeight / 2, -2 - i * stepDepth);
AddBody(simulation, "Step" + i, new Pose(position), new BoxShape(2, stepHeight, stepDepth), MotionType.Static);
startHeight += stepHeight;
}
// ----- V obstacle to test if we get stuck.
AddBody(simulation, "V0", new Pose(new Vector3F(-5.5f, 0, 10), QuaternionF.CreateRotationZ(0.2f)), new BoxShape(1f, 2f, 2), MotionType.Static);
AddBody(simulation, "V1", new Pose(new Vector3F(-4, 0, 10), QuaternionF.CreateRotationZ(-0.2f)), new BoxShape(1f, 2f, 2), MotionType.Static);
// ----- Create a height field.
// Terrain that is uneven is best modeled with a height field. Height fields are faster
// than general triangle meshes.
// The height direction is the y direction.
// The height field lies in the x/z plane.
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
// Create arbitrary height values.
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
if (x == 0 || z == 0 || x == 19 || z == 19)
{
// Set this boundary elements to a low height, so that the height field is connected
// to the ground.
samples[z * numberOfSamplesX + x] = -1;
}
else
{
// A sine/cosine function that creates some interesting waves.
samples[z * numberOfSamplesX + x] = 1.0f + (float)(Math.Cos(z / 2f) * Math.Sin(x / 2f) * 1.0f);
}
}
}
var heightField = new HeightField(0, 0, 20, 20, samples, numberOfSamplesX, numberOfSamplesZ);
AddBody(simulation, "HeightField", new Pose(new Vector3F(10, 0, 10)), heightField, MotionType.Static);
// ----- Create rubble on the floor (small random objects on the floor).
// Our character should be able to move over small bumps on the ground.
for (int i = 0; i < 50; i++)
{
Vector3F position = new Vector3F(RandomHelper.Random.NextFloat(-5, 5), 0, RandomHelper.Random.NextFloat(10, 20));
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
Vector3F size = RandomHelper.Random.NextVector3F(0.05f, 0.8f);
AddBody(simulation, "Stone" + i, new Pose(position, orientation), new BoxShape(size), MotionType.Static);
}
// ----- Create some slopes to see how our character performs on/under sloped surfaces.
// Here we can test how the character controller behaves if the head touches an inclined
// ceiling.
AddBody(simulation, "SlopeGround", new Pose(new Vector3F(-2, 1.8f, -12), QuaternionF.CreateRotationX(0.4f)), new BoxShape(2, 0.5f, 10), MotionType.Static);
AddBody(simulation, "SlopeRoof", new Pose(new Vector3F(-2, 5.6f, -12), QuaternionF.CreateRotationX(-0.4f)), new BoxShape(2, 0.5f, 10), MotionType.Static);
// Create slopes with increasing tilt angles.
// The character controller has a slope limit. Only flat slopes should be climbable.
// Movement between slopes should be smooth.
Vector3F slopePosition = new Vector3F(-17, -0.25f, 6);
BoxShape slopeShape = new BoxShape(8, 0.5f, 5);
for (int i = 1; i < 8; i++)
{
Matrix33F oldRotation = Matrix33F.CreateRotationX((i - 1) * MathHelper.ToRadians(10));
Matrix33F rotation = Matrix33F.CreateRotationX(i * MathHelper.ToRadians(10));
slopePosition += (oldRotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2
+ (rotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2;
AddBody(simulation, "Slope" + i, new Pose(slopePosition, rotation), slopeShape, MotionType.Static);
}
// Create slopes with decreasing tilt angles.
slopePosition = new Vector3F(-8, -2, 5);
slopeShape = new BoxShape(8f, 0.5f, 5);
for (int i = 1; i < 8; i++)
{
Matrix33F oldRotation = Matrix33F.CreateRotationX(MathHelper.ToRadians(40) - (i - 1) * MathHelper.ToRadians(10));
Matrix33F rotation = Matrix33F.CreateRotationX(MathHelper.ToRadians(40) - i * MathHelper.ToRadians(10));
slopePosition += (oldRotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2
+ (rotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2;
Vector3F position = slopePosition - rotation * new Vector3F(0, slopeShape.WidthY / 2, 0);
AddBody(simulation, "Slope2" + i, new Pose(position, rotation), slopeShape, MotionType.Static);
}
// ----- Create a slope with a wall on one side.
// This objects let's us test how the character controller behaves while falling and
// sliding along a vertical wall. (Run up the slope and then jump down while moving into
// the wall.)
AddBody(simulation, "LongSlope", new Pose(new Vector3F(-24, 3, -10), Matrix33F.CreateRotationX(0.4f)), new BoxShape(4, 5f, 30), MotionType.Static);
AddBody(simulation, "LongSlopeWall", new Pose(new Vector3F(-26, 5, -10)), new BoxShape(0.5f, 10f, 25), MotionType.Static);
// ----- Create a trigger object that represents a ladder.
var ladder = AddBody(simulation, "Ladder", new Pose(new Vector3F(-25.7f, 5, 0)), new BoxShape(0.5f, 10f, 1), MotionType.Static);
ladder.CollisionObject.Type = CollisionObjectType.Trigger;
// ----- Create a mesh object to test walking on triangle meshes.
// Normally, the mesh would be loaded from a file. Here, we make a composite shape and
// let DigitalRune Geometry compute a mesh for it. Then we throw away the composite
// shape and use only the mesh. (We do this to test triangle meshes. Using the composite
// shape instead of the triangle mesh would be a lot faster.)
CompositeShape compositeShape = new CompositeShape();
compositeShape.Children.Add(new GeometricObject(heightField, Pose.Identity));
compositeShape.Children.Add(new GeometricObject(new CylinderShape(1, 2), new Pose(new Vector3F(10, 1, 10))));
compositeShape.Children.Add(new GeometricObject(new SphereShape(3), new Pose(new Vector3F(15, 0, 15))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(4, 4, 3), new Pose(new Vector3F(15, 1.5f, 5))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(4, 4, 3), new Pose(new Vector3F(15, 1.5f, 0))));
ITriangleMesh mesh = compositeShape.GetMesh(0.01f, 3);
TriangleMeshShape meshShape = new TriangleMeshShape(mesh);
// Collision detection speed for triangle meshes can be improved by using a spatial
// partition. Here, we assign an AabbTree to the triangle mesh shape. The tree is
// built automatically when needed and it stores triangle indices (therefore the generic
// parameter of the AabbTree is int).
meshShape.Partition = new AabbTree <int>()
{
// The tree is automatically built using a mixed top-down/bottom-up approach. Bottom-up
// building is slower but produces better trees. If the tree building takes too long,
// we can lower the BottomUpBuildThreshold (default is 128).
BottomUpBuildThreshold = 0,
};
// Contact welding creates smoother contact normals - but it costs a bit of performance.
meshShape.EnableContactWelding = true;
AddBody(simulation, "Mesh", new Pose(new Vector3F(-30, 0, 10)), meshShape, MotionType.Static);
// ----- Create a seesaw.
var seesawBase = AddBody(simulation, "SeesawBase", new Pose(new Vector3F(5, 0.5f, 0)), new BoxShape(0.2f, 1, 1), MotionType.Static);
var seesaw = AddBody(simulation, "Seesaw", new Pose(new Vector3F(5, 1.05f, 0)), new BoxShape(5, 0.1f, 1), MotionType.Dynamic);
// Attach the seesaw to the base using a hinge joint.
simulation.Constraints.Add(new HingeJoint
{
BodyA = seesaw,
BodyB = seesawBase,
AnchorPoseALocal = new Pose(new Vector3F(0, 0, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
AnchorPoseBLocal = new Pose(new Vector3F(0, 0.5f, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
CollisionEnabled = false,
});
// ----- A platform that is moving up/down.
_elevator = AddBody(simulation, "Elevator", new Pose(new Vector3F(5, -1f, 5)), new BoxShape(3, 1f, 3), MotionType.Kinematic);
_elevator.LinearVelocity = new Vector3F(2, 2, 0);
// ----- A platform that is moving sideways.
_pusher = AddBody(simulation, "Pusher", new Pose(new Vector3F(15, 0.5f, 0)), new BoxShape(3, 1f, 3), MotionType.Kinematic);
_pusher.LinearVelocity = new Vector3F(0, 0, 2);
// ----- Create conveyor belt with two static boxes on the sides.
AddBody(simulation, "ConveyorSide0", new Pose(new Vector3F(19, 0.25f, 0)), new BoxShape(0.8f, 0.5f, 8f), MotionType.Static);
AddBody(simulation, "ConveyorSide1", new Pose(new Vector3F(21, 0.25f, 0)), new BoxShape(0.8f, 0.5f, 8f), MotionType.Static);
// The conveyor belt is a simple box with a special material.
var conveyorBelt = AddBody(simulation, "ConveyorBelt", new Pose(new Vector3F(20, 0.25f, 0)), new BoxShape(1f, 0.51f, 8f), MotionType.Static);
UniformMaterial materialWithSurfaceMotion = new UniformMaterial("ConveyorBelt", true) // Important: The second parameter enables the surface
{ // motion. It has to be set to true in the constructor!
SurfaceMotion = new Vector3F(0, 0, 1), // The surface motion relative to the object.
};
conveyorBelt.Material = materialWithSurfaceMotion;
// ----- Distribute a few dynamic spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-15, 15);
position.Y = 20;
AddBody(simulation, "Sphere" + i, new Pose(position), sphereShape, MotionType.Dynamic);
}
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-15, 15);
position.Y = 20;
AddBody(simulation, "Box" + i, new Pose(position), boxShape, MotionType.Dynamic);
}
}
public RefractionSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
_graphicsScreen = new DeferredGraphicsScreen(Services);
_graphicsScreen.DrawReticle = true;
GraphicsService.Screens.Insert(0, _graphicsScreen);
GameObjectService.Objects.Add(new DeferredGraphicsOptionsObject(Services));
Services.Register(typeof(DebugRenderer), null, _graphicsScreen.DebugRenderer);
Services.Register(typeof(IScene), null, _graphicsScreen.Scene);
// Add gravity and damping to the physics Simulation.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a custom game object which controls the camera.
var cameraGameObject = new CameraObject(Services);
GameObjectService.Objects.Add(cameraGameObject);
_graphicsScreen.ActiveCameraNode = cameraGameObject.CameraNode;
GameObjectService.Objects.Add(new GrabObject(Services));
GameObjectService.Objects.Add(new GroundObject(Services));
var lavaBallsObject = new LavaBallsObject(Services);
GameObjectService.Objects.Add(lavaBallsObject);
GameObjectService.Objects.Add(new ObjectCreatorObject(Services));
GameObjectService.Objects.Add(new FogObject(Services));
GameObjectService.Objects.Add(new StaticSkyObject(Services));
GameObjectService.Objects.Add(new CampfireObject(Services));
for (int i = 0; i < 10; i++)
{
GameObjectService.Objects.Add(new DynamicObject(Services, 1));
GameObjectService.Objects.Add(new DynamicObject(Services, 2));
GameObjectService.Objects.Add(new DynamicObject(Services, 3));
}
// Add a few palm trees.
Random random = new Random(12345);
for (int i = 0; i < 10; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-3, -8), 0, random.NextFloat(0, -5));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
float scale = random.NextFloat(0.5f, 1.2f);
GameObjectService.Objects.Add(new StaticObject(Services, "PalmTree/palm_tree", scale, new Pose(position, orientation)));
}
// Add a few dudes which use the refraction effect.
for (int i = 0; i < 5; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-4, 4), 0, random.NextFloat(2, -5));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
var dudeObject = new DudeObject(Services, "DudeRefracted/Dude")
{
Pose = new Pose(position, orientation)
};
GameObjectService.Objects.Add(dudeObject);
//dudeObject.AnimationController.Pause();
}
// The DeferredGraphicsScreen has a SceneRenderer, which contains all
// renderers necessary to render transparent objects (e.g. BillboardRenderer
// for particles, MeshRenderer for meshes, etc.).
// We remove the MeshRenderer and add our own RefractionMeshRenderer instead.
var meshRenderer = _graphicsScreen.AlphaBlendSceneRenderer.Renderers.OfType <MeshRenderer>().First();
_graphicsScreen.AlphaBlendSceneRenderer.Renderers.Remove(meshRenderer);
_graphicsScreen.AlphaBlendSceneRenderer.Renderers.Add(new RefractionMeshRenderer(GraphicsService));
}