Prevents the connected entities from twisting relative to each other beyond given limits.
Inheritance: JointLimit, I1DImpulseConstraintWithError, I1DJacobianConstraint
Esempio n. 1
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        /// <summary>
        /// Constructs a new constraint which restricts three degrees of linear freedom and one degree of angular freedom between two entities.
        /// </summary>
        /// <param name="connectionA">First entity of the constraint pair.</param>
        /// <param name="connectionB">Second entity of the constraint pair.</param>
        /// <param name="anchor">Point around which both entities rotate.</param>
        /// <param name="hingeAxis">Axis of allowed rotation in world space to be attached to connectionA.  Will be kept perpendicular with the twist axis.</param>
        public SwivelHingeJoint(Entity connectionA, Entity connectionB, ref Vector3 anchor, ref Vector3 hingeAxis)
        {
            if (connectionA == null)
                connectionA = TwoEntityConstraint.WorldEntity;
            if (connectionB == null)
                connectionB = TwoEntityConstraint.WorldEntity;
            BallSocketJoint = new BallSocketJoint(connectionA, connectionB, ref anchor);
			Vector3 tmp;
			BallSocketJoint.OffsetB.Invert( out tmp );
            AngularJoint = new SwivelHingeAngularJoint(connectionA, connectionB, ref hingeAxis, ref tmp );
            HingeLimit = new RevoluteLimit(connectionA, connectionB);
            HingeMotor = new RevoluteMotor(connectionA, connectionB, hingeAxis);
            TwistLimit = new TwistLimit(connectionA, connectionB, ref BallSocketJoint.worldOffsetA, ref tmp, 0, 0);
            TwistMotor = new TwistMotor(connectionA, connectionB, ref BallSocketJoint.worldOffsetA, ref tmp );
            HingeLimit.IsActive = false;
            HingeMotor.IsActive = false;
            TwistLimit.IsActive = false;
            TwistMotor.IsActive = false;

			//Ensure that the base and test direction is perpendicular to the free axis.
			Vector3 baseAxis; anchor.Sub( ref connectionA.position, out baseAxis );
            if (baseAxis.LengthSquared() < Toolbox.BigEpsilon) //anchor and connection a in same spot, so try the other way.
                connectionB.position.Sub( ref anchor, out baseAxis );
            baseAxis.AddScaled( ref hingeAxis, -Vector3.Dot( ref baseAxis, ref hingeAxis) , out baseAxis );
            if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
            {
                //However, if the free axis is totally aligned (like in an axis constraint), pick another reasonable direction.
                Vector3.Cross(ref hingeAxis, ref Vector3.Up, out baseAxis);
                if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
                {
                    Vector3.Cross(ref hingeAxis, ref Vector3.Right, out baseAxis);
                }
            }
            HingeLimit.Basis.SetWorldAxes(ref hingeAxis, ref baseAxis, ref connectionA.orientationMatrix);
            HingeMotor.Basis.SetWorldAxes( ref hingeAxis, ref baseAxis, ref connectionA.orientationMatrix);

			connectionB.position.Sub( ref anchor, out baseAxis );
            baseAxis.AddScaled( ref hingeAxis, -Vector3.Dot(ref baseAxis, ref hingeAxis), out baseAxis );
            if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
            {
                //However, if the free axis is totally aligned (like in an axis constraint), pick another reasonable direction.
                Vector3.Cross(ref hingeAxis, ref Vector3.Up, out baseAxis);
                if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
                {
                    Vector3.Cross(ref hingeAxis, ref Vector3.Right, out baseAxis);
                }
            }
            HingeLimit.TestAxis = baseAxis;
            HingeMotor.TestAxis = baseAxis;


            Add(BallSocketJoint);
            Add(AngularJoint);
            Add(HingeLimit);
            Add(HingeMotor);
            Add(TwistLimit);
            Add(TwistMotor);
        }
Esempio n. 2
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        /// <summary>
        /// Constructs a new constraint which restricts three degrees of linear freedom and one degree of angular freedom between two entities.
        /// </summary>
        /// <param name="connectionA">First entity of the constraint pair.</param>
        /// <param name="connectionB">Second entity of the constraint pair.</param>
        /// <param name="anchor">Point around which both entities rotate.</param>
        /// <param name="hingeAxis">Axis of allowed rotation in world space to be attached to connectionA.  Will be kept perpendicular with the twist axis.</param>
        public SwivelHingeJoint(Entity connectionA, Entity connectionB, Vector3 anchor, Vector3 hingeAxis)
        {
            if (connectionA == null)
                connectionA = TwoEntityConstraint.WorldEntity;
            if (connectionB == null)
                connectionB = TwoEntityConstraint.WorldEntity;
            BallSocketJoint = new BallSocketJoint(connectionA, connectionB, anchor);
            AngularJoint = new SwivelHingeAngularJoint(connectionA, connectionB, hingeAxis, -BallSocketJoint.OffsetB);
            HingeLimit = new RevoluteLimit(connectionA, connectionB);
            HingeMotor = new RevoluteMotor(connectionA, connectionB, hingeAxis);
            TwistLimit = new TwistLimit(connectionA, connectionB, BallSocketJoint.OffsetA, -BallSocketJoint.OffsetB, 0, 0);
            TwistMotor = new TwistMotor(connectionA, connectionB, BallSocketJoint.OffsetA, -BallSocketJoint.OffsetB);
            HingeLimit.IsActive = false;
            HingeMotor.IsActive = false;
            TwistLimit.IsActive = false;
            TwistMotor.IsActive = false;

            //Ensure that the base and test direction is perpendicular to the free axis.
            Vector3 baseAxis = anchor - connectionA.position;
            if (baseAxis.LengthSquared() < Toolbox.BigEpsilon) //anchor and connection a in same spot, so try the other way.
                baseAxis = connectionB.position - anchor;
            baseAxis -= Vector3.Dot(baseAxis, hingeAxis) * hingeAxis;
            if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
            {
                //However, if the free axis is totally aligned (like in an axis constraint), pick another reasonable direction.
                baseAxis = Vector3.Cross(hingeAxis, Vector3.Up);
                if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
                {
                    baseAxis = Vector3.Cross(hingeAxis, Vector3.Right);
                }
            }
            HingeLimit.Basis.SetWorldAxes(hingeAxis, baseAxis, connectionA.orientationMatrix);
            HingeMotor.Basis.SetWorldAxes(hingeAxis, baseAxis, connectionA.orientationMatrix);

            baseAxis = connectionB.position - anchor;
            baseAxis -= Vector3.Dot(baseAxis, hingeAxis) * hingeAxis;
            if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
            {
                //However, if the free axis is totally aligned (like in an axis constraint), pick another reasonable direction.
                baseAxis = Vector3.Cross(hingeAxis, Vector3.Up);
                if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
                {
                    baseAxis = Vector3.Cross(hingeAxis, Vector3.Right);
                }
            }
            HingeLimit.TestAxis = baseAxis;
            HingeMotor.TestAxis = baseAxis;


            Add(BallSocketJoint);
            Add(AngularJoint);
            Add(HingeLimit);
            Add(HingeMotor);
            Add(TwistLimit);
            Add(TwistMotor);
        }
 /// <summary>
 /// Constructs a new constraint which restricts three degrees of linear freedom and one degree of twisting angular freedom between two entities.
 /// This constructs the internal constraints, but does not configure them.  Before using a constraint constructed in this manner,
 /// ensure that its active constituent constraints are properly configured.  The entire group as well as all internal constraints are initially inactive (IsActive = false).
 /// </summary>
 public UniversalJoint()
 {
     IsActive = false;
     BallSocketJoint = new BallSocketJoint();
     TwistJoint = new TwistJoint();
     Limit = new TwistLimit();
     Motor = new TwistMotor();
     Add(BallSocketJoint);
     Add(TwistJoint);
     Add(Limit);
     Add(Motor);
 }
 /// <summary>
 /// Constructs a new constraint which restricts three degrees of linear freedom and one degree of twisting angular freedom between two entities.
 /// </summary>
 /// <param name="connectionA">First entity of the constraint pair.</param>
 /// <param name="connectionB">Second entity of the constraint pair.</param>
 /// <param name="anchor">Point around which both entities rotate in world space.</param>
 public UniversalJoint(Entity connectionA, Entity connectionB, Vector3 anchor)
 {
     if (connectionA == null)
         connectionA = TwoEntityConstraint.WorldEntity;
     if (connectionB == null)
         connectionB = TwoEntityConstraint.WorldEntity;
     BallSocketJoint = new BallSocketJoint(connectionA, connectionB, anchor);
     TwistJoint = new TwistJoint(connectionA, connectionB, BallSocketJoint.OffsetA, -BallSocketJoint.OffsetB);
     Limit = new TwistLimit(connectionA, connectionB, BallSocketJoint.OffsetA, -BallSocketJoint.OffsetB, 0, 0);
     Motor = new TwistMotor(connectionA, connectionB, BallSocketJoint.OffsetA, -BallSocketJoint.OffsetB);
     Limit.IsActive = false;
     Motor.IsActive = false;
     Add(BallSocketJoint);
     Add(TwistJoint);
     Add(Limit);
     Add(Motor);
 }
        /// <summary>
        /// Constructs a new constraint which restricts three degrees of linear freedom and one degree of angular freedom between two entities.
        /// This constructs the internal constraints, but does not configure them.  Before using a constraint constructed in this manner,
        /// ensure that its active constituent constraints are properly configured.  The entire group as well as all internal constraints are initially inactive (IsActive = false).
        /// </summary>
        public SwivelHingeJoint()
        {
            IsActive = false;
            BallSocketJoint = new BallSocketJoint();
            AngularJoint = new SwivelHingeAngularJoint();
            HingeLimit = new RevoluteLimit();
            HingeMotor = new RevoluteMotor();
            TwistLimit = new TwistLimit();
            TwistMotor = new TwistMotor();

            Add(BallSocketJoint);
            Add(AngularJoint);
            Add(HingeLimit);
            Add(HingeMotor);
            Add(TwistLimit);
            Add(TwistMotor);
        }
Esempio n. 6
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        /// <summary>
        /// Constructs a new constraint which restricts three degrees of linear freedom and one degree of twisting angular freedom between two entities.
        /// </summary>
        /// <param name="connectionA">First entity of the constraint pair.</param>
        /// <param name="connectionB">Second entity of the constraint pair.</param>
        /// <param name="anchor">Point around which both entities rotate in world space.</param>
        public UniversalJoint(Entity connectionA, Entity connectionB, ref Vector3 anchor)
        {
            if (connectionA == null)
                connectionA = TwoEntityConstraint.WorldEntity;
            if (connectionB == null)
                connectionB = TwoEntityConstraint.WorldEntity;
            BallSocketJoint = new BallSocketJoint(connectionA, connectionB, ref anchor);
			Vector3 tmp; BallSocketJoint.OffsetB.Invert( out tmp );
            TwistJoint = new TwistJoint(connectionA, connectionB, ref BallSocketJoint.worldOffsetA, ref tmp);
            Limit = new TwistLimit(connectionA, connectionB, ref BallSocketJoint.worldOffsetA, ref tmp, 0, 0);
            Motor = new TwistMotor(connectionA, connectionB, ref BallSocketJoint.worldOffsetA, ref tmp );
            Limit.IsActive = false;
            Motor.IsActive = false;
            Add(BallSocketJoint);
            Add(TwistJoint);
            Add(Limit);
            Add(Motor);
        }
Esempio n. 7
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        public JointLimitTestDemo(DemosGame game)
            : base(game)
        {
            float bounciness = 1;
            float baseMass = 100;
            float armMass = 10;
            //DistanceLimit
            Box boxA = new Box(new Vector3(-21, 4, 0), 3, 3, 3, baseMass);
            Box boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
            CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
            boxB.ActivityInformation.IsAlwaysActive = true;

            var distanceLimit = new DistanceLimit(boxA, boxB, boxA.Position, boxB.Position - new Vector3(0, 2, 0), 1, 6);
            distanceLimit.Bounciness = bounciness;

            Space.Add(boxA);
            Space.Add(boxB);
            Space.Add(distanceLimit);

            //EllipseSwingLimit
            boxA = new Box(new Vector3(-14, 4, 0), 3, 3, 3, baseMass);
            boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
            CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
            boxB.ActivityInformation.IsAlwaysActive = true;

            var ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
            var ellipseSwingLimit = new EllipseSwingLimit(boxA, boxB, Vector3.Up, MathHelper.Pi / 1.5f, MathHelper.Pi / 3);
            ellipseSwingLimit.Bounciness = bounciness;

            Space.Add(boxA);
            Space.Add(boxB);
            Space.Add(ballSocketJoint);
            Space.Add(ellipseSwingLimit);

            //LinearAxisLimit
            boxA = new Box(new Vector3(-7, 4, 0), 3, 3, 3, baseMass);
            boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
            CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
            boxB.ActivityInformation.IsAlwaysActive = true;

            var pointOnLineJoint = new PointOnLineJoint(boxA, boxB, boxA.Position, Vector3.Up, boxB.Position + new Vector3(0, -2, 0));
            var linearAxisLimit = new LinearAxisLimit(boxA, boxB, boxA.Position, boxB.Position + new Vector3(0, -2, 0), Vector3.Up, 0, 4);
            linearAxisLimit.Bounciness = bounciness;

            Space.Add(boxA);
            Space.Add(boxB);
            Space.Add(pointOnLineJoint);
            Space.Add(linearAxisLimit);

            //RevoluteLimit
            boxA = new Box(new Vector3(0, 4, 0), 3, 3, 3, baseMass);
            boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
            CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
            boxB.ActivityInformation.IsAlwaysActive = true;

            ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
            var revoluteAngularJoint = new RevoluteAngularJoint(boxA, boxB, Vector3.Forward);
            var revoluteLimit = new RevoluteLimit(boxA, boxB, Vector3.Forward, Vector3.Up, -MathHelper.PiOver4, MathHelper.PiOver4);
            revoluteLimit.Bounciness = bounciness;

            Space.Add(boxA);
            Space.Add(boxB);
            Space.Add(ballSocketJoint);
            Space.Add(revoluteAngularJoint);
            Space.Add(revoluteLimit);

            //SwingLimit
            boxA = new Box(new Vector3(7, 4, 0), 3, 3, 3, baseMass);
            boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
            CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
            boxB.ActivityInformation.IsAlwaysActive = true;

            ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
            var swingLimit = new SwingLimit(boxA, boxB, Vector3.Up, Vector3.Up, MathHelper.PiOver4);
            swingLimit.Bounciness = bounciness;

            Space.Add(boxA);
            Space.Add(boxB);
            Space.Add(ballSocketJoint);
            Space.Add(swingLimit);

            //TwistLimit
            boxA = new Box(new Vector3(14, 4, 0), 3, 3, 3, baseMass);
            boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
            CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
            boxB.ActivityInformation.IsAlwaysActive = true;

            ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
            revoluteAngularJoint = new RevoluteAngularJoint(boxA, boxB, Vector3.Up);
            var twistLimit = new TwistLimit(boxA, boxB, Vector3.Up, Vector3.Up, -MathHelper.PiOver4, MathHelper.PiOver4);
            twistLimit.Bounciness = bounciness;

            Space.Add(boxA);
            Space.Add(boxB);
            Space.Add(ballSocketJoint);
            Space.Add(revoluteAngularJoint);
            Space.Add(twistLimit);

            Space.Add(new Box(new Vector3(0, 0, 0), 60, 1, 60));
            game.Camera.Position = new Vector3(0, 6, 15);
        }
Esempio n. 8
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        /// <summary>
        /// Constructs a new demo.
        /// </summary>
        /// <param name="game">Game owning this demo.</param>
        public UnfortunateGuyDemo(DemosGame game)
            : base(game)
        {
            Entity ground = new Box(Vector3.Zero, 10, 1, 10);
            Space.Add(ground);

            //Rather than add basically redundant code for every limb, this demo
            //focuses on a single arm, showing some extra details and limits.

            //Make the torso.
            var bodies = new List<CompoundShapeEntry>()
            {
                new CompoundShapeEntry(new BoxShape(2, 1.5f, 1), new Vector3(-1, 3, 0), 50),
                new CompoundShapeEntry(new SphereShape(.45f), new Vector3(.4f, 3, 0), 1),
                new CompoundShapeEntry(new SphereShape(.25f), new Vector3(-1.9f, 3.5f, 0), 1),
                new CompoundShapeEntry(new SphereShape(.25f), new Vector3(-1.9f, 2.5f, 0), 1),
                new CompoundShapeEntry(new SphereShape(.25f), new Vector3(-.3f, 2.3f, 0), 1)
            };

            var torso = new CompoundBody(bodies, 54);
            Space.Add(torso);

            //Make the upper arm.
            Entity upperArm = new Box(torso.Position + new Vector3(1, 1.4f, 0), .4f, 1.2f, .4f, 8);
            Space.Add(upperArm);

            //A ball socket joint will handle the linear degrees of freedom between the two entities.
            var ballSocketJoint = new BallSocketJoint(torso, upperArm, torso.Position + new Vector3(1, .7f, 0));
            Space.Add(ballSocketJoint);

            //Shoulders don't have a simple limit.  The EllipseSwingLimit allows angles within an ellipse, which is closer to how some joints function
            //than just flat planes (like two RevoluteLimits) or a single angle (like SwingLimits).
            var swingLimit = new EllipseSwingLimit(torso, upperArm, Vector3.Up, MathHelper.PiOver2, MathHelper.PiOver4 * 3);
            Space.Add(swingLimit);

            //Upper arms can't spin around forever.
            var twistLimit = new TwistLimit(torso, upperArm, Vector3.Up, Vector3.Up, -MathHelper.PiOver4 / 2, MathHelper.PiOver4);
            twistLimit.SpringSettings.StiffnessConstant = 100;
            twistLimit.SpringSettings.DampingConstant = 100;
            Space.Add(twistLimit);

            //Make the lower arm.
            Entity lowerArm = new Box(upperArm.Position + new Vector3(0, 1.4f, 0), .35f, 1.3f, .35f, 8);
            Space.Add(lowerArm);

            var elbow = new SwivelHingeJoint(upperArm, lowerArm, upperArm.Position + new Vector3(0, .6f, 0), Vector3.Forward);
            //Forearm can twist a little.
            elbow.TwistLimit.IsActive = true;
            elbow.TwistLimit.MinimumAngle = -MathHelper.PiOver4 / 2;
            elbow.TwistLimit.MaximumAngle = MathHelper.PiOver4 / 2;
            elbow.TwistLimit.SpringSettings.DampingConstant = 100;
            elbow.TwistLimit.SpringSettings.StiffnessConstant = 100;

            //The elbow is like a hinge, but it can't hyperflex.
            elbow.HingeLimit.IsActive = true;
            elbow.HingeLimit.MinimumAngle = 0;
            elbow.HingeLimit.MaximumAngle = MathHelper.Pi * .7f;
            Space.Add(elbow);

            Entity hand = new Box(lowerArm.Position + new Vector3(0, .9f, 0), .4f, .55f, .25f, 3);
            Space.Add(hand);

            ballSocketJoint = new BallSocketJoint(lowerArm, hand, lowerArm.Position + new Vector3(0, .7f, 0));
            Space.Add(ballSocketJoint);

            //Wrists can use an ellipse limit too.
            swingLimit = new EllipseSwingLimit(lowerArm, hand, Vector3.Up, MathHelper.PiOver4, MathHelper.PiOver2);
            Space.Add(swingLimit);

            //Allow a little extra twist beyond the forearm.
            twistLimit = new TwistLimit(lowerArm, hand, Vector3.Up, Vector3.Up, -MathHelper.PiOver4 / 2, MathHelper.PiOver4 / 2);
            twistLimit.SpringSettings.StiffnessConstant = 100;
            twistLimit.SpringSettings.DampingConstant = 100;
            Space.Add(twistLimit);

            //The hand is pretty floppy without some damping.
            var angularMotor = new AngularMotor(lowerArm, hand);
            angularMotor.Settings.VelocityMotor.Softness = .5f;
            Space.Add(angularMotor);

            //Make sure the parts of the arm don't collide.
            CollisionRules.AddRule(torso, upperArm, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(lowerArm, upperArm, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(lowerArm, hand, CollisionRule.NoBroadPhase);

            game.Camera.Position = new Vector3(0, 4, 20);
        }
Esempio n. 9
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        public Ragdoll()
        {
            #region Ragdoll Entities
            //Create the ragdoll's bones.
            var pelvis = new Box(Vector3.Zero, .5f, .28f, .33f, 20);
            var torsoBottom = new Box(pelvis.Position + new Vector3(0, .3f, 0), .42f, .48f, .3f, 15);
            var torsoTop = new Box(torsoBottom.Position + new Vector3(0, .3f, 0), .5f, .38f, .32f, 20);

            var neck = new Box(torsoTop.Position + new Vector3(0, .2f, .04f), .19f, .24f, .2f, 5);
            var head = new Sphere(neck.Position + new Vector3(0, .22f, -.04f), .19f, 7);

            var leftUpperArm = new Box(torsoTop.Position + new Vector3(-.46f, .1f, 0), .52f, .19f, .19f, 6);
            var leftForearm = new Box(leftUpperArm.Position + new Vector3(-.5f, 0, 0), .52f, .18f, .18f, 5);
            var leftHand = new Box(leftForearm.Position + new Vector3(-.35f, 0, 0), .28f, .13f, .22f, 4);

            var rightUpperArm = new Box(torsoTop.Position + new Vector3(.46f, .1f, 0), .52f, .19f, .19f, 6);
            var rightForearm = new Box(rightUpperArm.Position + new Vector3(.5f, 0, 0), .52f, .18f, .18f, 5);
            var rightHand = new Box(rightForearm.Position + new Vector3(.35f, 0, 0), .28f, .13f, .22f, 4);

            var leftThigh = new Box(pelvis.Position + new Vector3(-.15f, -.4f, 0), .23f, .63f, .23f, 10);
            var leftShin = new Box(leftThigh.Position + new Vector3(0, -.6f, 0), .21f, .63f, .21f, 7);
            var leftFoot = new Box(leftShin.Position + new Vector3(0, -.35f, -.1f), .23f, .15f, .43f, 5);

            var rightThigh = new Box(pelvis.Position + new Vector3(.15f, -.4f, 0), .23f, .63f, .23f, 10);
            var rightShin = new Box(rightThigh.Position + new Vector3(0, -.6f, 0), .21f, .63f, .21f, 7);
            var rightFoot = new Box(rightShin.Position + new Vector3(0, -.35f, -.1f), .23f, .15f, .43f, 5);
            #endregion

            #region Bone List
            //Make a convenient list of all of the bones.
            bones.Add(pelvis);
            bones.Add(torsoBottom);
            bones.Add(torsoTop);
            bones.Add(neck);
            bones.Add(head);
            bones.Add(leftUpperArm);
            bones.Add(leftForearm);
            bones.Add(leftHand);
            bones.Add(rightUpperArm);
            bones.Add(rightForearm);
            bones.Add(rightHand);
            bones.Add(leftThigh);
            bones.Add(leftShin);
            bones.Add(leftFoot);
            bones.Add(rightThigh);
            bones.Add(rightShin);
            bones.Add(rightFoot);
            #endregion

            #region Collision Rules
            //Prevent adjacent limbs from colliding.
            CollisionRules.AddRule(pelvis, torsoBottom, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(torsoBottom, torsoTop, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(torsoTop, neck, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(neck, head, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(head, torsoTop, CollisionRule.NoBroadPhase);

            CollisionRules.AddRule(torsoTop, leftUpperArm, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(leftUpperArm, leftForearm, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(leftForearm, leftHand, CollisionRule.NoBroadPhase);

            CollisionRules.AddRule(torsoTop, rightUpperArm, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(rightUpperArm, rightForearm, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(rightForearm, rightHand, CollisionRule.NoBroadPhase);

            CollisionRules.AddRule(pelvis, leftThigh, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(leftThigh, leftShin, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(leftThigh, torsoBottom, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(leftShin, leftFoot, CollisionRule.NoBroadPhase);

            CollisionRules.AddRule(pelvis, rightThigh, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(rightThigh, rightShin, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(rightThigh, torsoBottom, CollisionRule.NoBroadPhase);
            CollisionRules.AddRule(rightShin, rightFoot, CollisionRule.NoBroadPhase);
            #endregion

            //Create the constraints between the bones.
            #region Pelvis up to Head Constraints
            var pelvisToTorsoBottomBallSocketJoint = new BallSocketJoint(pelvis, torsoBottom, pelvis.Position + new Vector3(0, .1f, 0));
            var pelvisToTorsoBottomTwistLimit = new TwistLimit(pelvis, torsoBottom, Vector3.Up, Vector3.Up, -MathHelper.Pi / 6, MathHelper.Pi / 6);
            var pelvisToTorsoBottomSwingLimit = new SwingLimit(pelvis, torsoBottom, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
            var pelvisToTorsoBottomMotor = new AngularMotor(pelvis, torsoBottom);
            pelvisToTorsoBottomMotor.Settings.VelocityMotor.Softness = .05f;

            var torsoBottomToTorsoTopBallSocketJoint = new BallSocketJoint(torsoBottom, torsoTop, torsoBottom.Position + new Vector3(0, .25f, 0));
            var torsoBottomToTorsoTopSwingLimit = new SwingLimit(torsoBottom, torsoTop, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
            var torsoBottomToTorsoTopTwistLimit = new TwistLimit(torsoBottom, torsoTop, Vector3.Up, Vector3.Up, -MathHelper.Pi / 6, MathHelper.Pi / 6);
            var torsoBottomToTorsoTopMotor = new AngularMotor(torsoBottom, torsoTop);
            torsoBottomToTorsoTopMotor.Settings.VelocityMotor.Softness = .05f;

            var torsoTopToNeckBallSocketJoint = new BallSocketJoint(torsoTop, neck, torsoTop.Position + new Vector3(0, .15f, .05f));
            var torsoTopToNeckSwingLimit = new SwingLimit(torsoTop, neck, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
            var torsoTopToNeckTwistLimit = new TwistLimit(torsoTop, neck, Vector3.Up, Vector3.Up, -MathHelper.Pi / 8, MathHelper.Pi / 8);
            var torsoTopToNeckMotor = new AngularMotor(torsoTop, neck);
            torsoTopToNeckMotor.Settings.VelocityMotor.Softness = .1f;

            var neckToHeadBallSocketJoint = new BallSocketJoint(neck, head, neck.Position + new Vector3(0, .1f, .05f));
            var neckToHeadTwistLimit = new TwistLimit(neck, head, Vector3.Up, Vector3.Up, -MathHelper.Pi / 8, MathHelper.Pi / 8);
            var neckToHeadSwingLimit = new SwingLimit(neck, head, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
            var neckToHeadMotor = new AngularMotor(neck, head);
            neckToHeadMotor.Settings.VelocityMotor.Softness = .1f;
            #endregion

            #region Left Arm
            var torsoTopToLeftArmBallSocketJoint = new BallSocketJoint(torsoTop, leftUpperArm, torsoTop.Position + new Vector3(-.3f, .1f, 0));
            var torsoTopToLeftArmEllipseLimit = new EllipseSwingLimit(torsoTop, leftUpperArm, Vector3.Left, MathHelper.Pi * .75f, MathHelper.PiOver2);
            var torsoTopToLeftArmTwistLimit = new TwistLimit(torsoTop, leftUpperArm, Vector3.Left, Vector3.Left, -MathHelper.PiOver2, MathHelper.PiOver2);
            var torsoTopToLeftArmMotor = new AngularMotor(torsoTop, leftUpperArm);
            torsoTopToLeftArmMotor.Settings.VelocityMotor.Softness = .2f;

            var leftUpperArmToLeftForearmSwivelHingeJoint = new SwivelHingeJoint(leftUpperArm, leftForearm, leftUpperArm.Position + new Vector3(-.28f, 0, 0), Vector3.Up);
            leftUpperArmToLeftForearmSwivelHingeJoint.HingeLimit.IsActive = true;
            leftUpperArmToLeftForearmSwivelHingeJoint.TwistLimit.IsActive = true;
            leftUpperArmToLeftForearmSwivelHingeJoint.TwistLimit.MinimumAngle = -MathHelper.Pi / 8;
            leftUpperArmToLeftForearmSwivelHingeJoint.TwistLimit.MaximumAngle = MathHelper.Pi / 8;
            leftUpperArmToLeftForearmSwivelHingeJoint.HingeLimit.MinimumAngle = -MathHelper.Pi * .8f;
            leftUpperArmToLeftForearmSwivelHingeJoint.HingeLimit.MaximumAngle = 0;
            //The SwivelHingeJoint has motors, but they are separately defined for twist/bending.
            //The AngularMotor covers all degrees of freedom.
            var leftUpperArmToLeftForearmMotor = new AngularMotor(leftUpperArm, leftForearm);
            leftUpperArmToLeftForearmMotor.Settings.VelocityMotor.Softness = .3f;

            var leftForearmToLeftHandBallSocketJoint = new BallSocketJoint(leftForearm, leftHand, leftForearm.Position + new Vector3(-.2f, 0, 0));
            var leftForearmToLeftHandEllipseSwingLimit = new EllipseSwingLimit(leftForearm, leftHand, Vector3.Left, MathHelper.PiOver2, MathHelper.Pi / 6);
            var leftForearmToLeftHandTwistLimit = new TwistLimit(leftForearm, leftHand, Vector3.Left, Vector3.Left, -MathHelper.Pi / 6, MathHelper.Pi / 6);
            var leftForearmToLeftHandMotor = new AngularMotor(leftForearm, leftHand);
            leftForearmToLeftHandMotor.Settings.VelocityMotor.Softness = .4f;
            #endregion

            #region Right Arm
            var torsoTopToRightArmBallSocketJoint = new BallSocketJoint(torsoTop, rightUpperArm, torsoTop.Position + new Vector3(.3f, .1f, 0));
            var torsoTopToRightArmEllipseLimit = new EllipseSwingLimit(torsoTop, rightUpperArm, Vector3.Right, MathHelper.Pi * .75f, MathHelper.PiOver2);
            var torsoTopToRightArmTwistLimit = new TwistLimit(torsoTop, rightUpperArm, Vector3.Right, Vector3.Right, -MathHelper.PiOver2, MathHelper.PiOver2);
            var torsoTopToRightArmMotor = new AngularMotor(torsoTop, rightUpperArm);
            torsoTopToRightArmMotor.Settings.VelocityMotor.Softness = .2f;

            var rightUpperArmToRightForearmSwivelHingeJoint = new SwivelHingeJoint(rightUpperArm, rightForearm, rightUpperArm.Position + new Vector3(.28f, 0, 0), Vector3.Up);
            rightUpperArmToRightForearmSwivelHingeJoint.HingeLimit.IsActive = true;
            rightUpperArmToRightForearmSwivelHingeJoint.TwistLimit.IsActive = true;
            rightUpperArmToRightForearmSwivelHingeJoint.TwistLimit.MinimumAngle = -MathHelper.Pi / 8;
            rightUpperArmToRightForearmSwivelHingeJoint.TwistLimit.MaximumAngle = MathHelper.Pi / 8;
            rightUpperArmToRightForearmSwivelHingeJoint.HingeLimit.MinimumAngle = 0;
            rightUpperArmToRightForearmSwivelHingeJoint.HingeLimit.MaximumAngle = MathHelper.Pi * .8f;
            //The SwivelHingeJoint has motors, but they are separately defined for twist/bending.
            //The AngularMotor covers all degrees of freedom.
            var rightUpperArmToRightForearmMotor = new AngularMotor(rightUpperArm, rightForearm);
            rightUpperArmToRightForearmMotor.Settings.VelocityMotor.Softness = .3f;

            var rightForearmToRightHandBallSocketJoint = new BallSocketJoint(rightForearm, rightHand, rightForearm.Position + new Vector3(.2f, 0, 0));
            var rightForearmToRightHandEllipseSwingLimit = new EllipseSwingLimit(rightForearm, rightHand, Vector3.Right, MathHelper.PiOver2, MathHelper.Pi / 6);
            var rightForearmToRightHandTwistLimit = new TwistLimit(rightForearm, rightHand, Vector3.Right, Vector3.Right, -MathHelper.Pi / 6, MathHelper.Pi / 6);
            var rightForearmToRightHandMotor = new AngularMotor(rightForearm, rightHand);
            rightForearmToRightHandMotor.Settings.VelocityMotor.Softness = .4f;
            #endregion

            #region Left Leg
            var pelvisToLeftThighBallSocketJoint = new BallSocketJoint(pelvis, leftThigh, pelvis.Position + new Vector3(-.15f, -.1f, 0));
            var pelvisToLeftThighEllipseSwingLimit = new EllipseSwingLimit(pelvis, leftThigh, Vector3.Normalize(new Vector3(-.2f, -1, -.6f)), MathHelper.Pi * .7f, MathHelper.PiOver4);
            pelvisToLeftThighEllipseSwingLimit.LocalTwistAxisB = Vector3.Down;
            var pelvisToLeftThighTwistLimit = new TwistLimit(pelvis, leftThigh, Vector3.Down, Vector3.Down, -MathHelper.Pi / 6, MathHelper.Pi / 6);
            var pelvisToLeftThighMotor = new AngularMotor(pelvis, leftThigh);
            pelvisToLeftThighMotor.Settings.VelocityMotor.Softness = .1f;

            var leftThighToLeftShinRevoluteJoint = new RevoluteJoint(leftThigh, leftShin, leftThigh.Position + new Vector3(0, -.3f, 0), Vector3.Right);
            leftThighToLeftShinRevoluteJoint.Limit.IsActive = true;
            leftThighToLeftShinRevoluteJoint.Limit.MinimumAngle = -MathHelper.Pi * .8f;
            leftThighToLeftShinRevoluteJoint.Limit.MaximumAngle = 0;
            leftThighToLeftShinRevoluteJoint.Motor.IsActive = true;
            leftThighToLeftShinRevoluteJoint.Motor.Settings.VelocityMotor.Softness = .2f;

            var leftShinToLeftFootBallSocketJoint = new BallSocketJoint(leftShin, leftFoot, leftShin.Position + new Vector3(0, -.3f, 0));
            var leftShinToLeftFootSwingLimit = new SwingLimit(leftShin, leftFoot, Vector3.Forward, Vector3.Forward, MathHelper.Pi / 8);
            var leftShinToLeftFootTwistLimit = new TwistLimit(leftShin, leftFoot, Vector3.Down, Vector3.Forward, -MathHelper.Pi / 8, MathHelper.Pi / 8);
            var leftShinToLeftFootMotor = new AngularMotor(leftShin, leftFoot);
            leftShinToLeftFootMotor.Settings.VelocityMotor.Softness = .2f;

            #endregion

            #region Right Leg
            var pelvisToRightThighBallSocketJoint = new BallSocketJoint(pelvis, rightThigh, pelvis.Position + new Vector3(.15f, -.1f, 0));
            var pelvisToRightThighEllipseSwingLimit = new EllipseSwingLimit(pelvis, rightThigh, Vector3.Normalize(new Vector3(.2f, -1, -.6f)), MathHelper.Pi * .7f, MathHelper.PiOver4);
            pelvisToRightThighEllipseSwingLimit.LocalTwistAxisB = Vector3.Down;
            var pelvisToRightThighTwistLimit = new TwistLimit(pelvis, rightThigh, Vector3.Down, Vector3.Down, -MathHelper.Pi / 6, MathHelper.Pi / 6);
            var pelvisToRightThighMotor = new AngularMotor(pelvis, rightThigh);
            pelvisToRightThighMotor.Settings.VelocityMotor.Softness = .1f;

            var rightThighToRightShinRevoluteJoint = new RevoluteJoint(rightThigh, rightShin, rightThigh.Position + new Vector3(0, -.3f, 0), Vector3.Right);
            rightThighToRightShinRevoluteJoint.Limit.IsActive = true;
            rightThighToRightShinRevoluteJoint.Limit.MinimumAngle = -MathHelper.Pi * .8f;
            rightThighToRightShinRevoluteJoint.Limit.MaximumAngle = 0;
            rightThighToRightShinRevoluteJoint.Motor.IsActive = true;
            rightThighToRightShinRevoluteJoint.Motor.Settings.VelocityMotor.Softness = .2f;

            var rightShinToRightFootBallSocketJoint = new BallSocketJoint(rightShin, rightFoot, rightShin.Position + new Vector3(0, -.3f, 0));
            var rightShinToRightFootSwingLimit = new SwingLimit(rightShin, rightFoot, Vector3.Forward, Vector3.Forward, MathHelper.Pi / 8);
            var rightShinToRightFootTwistLimit = new TwistLimit(rightShin, rightFoot, Vector3.Down, Vector3.Forward, -MathHelper.Pi / 8, MathHelper.Pi / 8);
            var rightShinToRightFootMotor = new AngularMotor(rightShin, rightFoot);
            rightShinToRightFootMotor.Settings.VelocityMotor.Softness = .2f;

            #endregion

            #region Joint List
            //Collect the joints.
            joints.Add(pelvisToTorsoBottomBallSocketJoint);
            joints.Add(pelvisToTorsoBottomTwistLimit);
            joints.Add(pelvisToTorsoBottomSwingLimit);
            joints.Add(pelvisToTorsoBottomMotor);

            joints.Add(torsoBottomToTorsoTopBallSocketJoint);
            joints.Add(torsoBottomToTorsoTopTwistLimit);
            joints.Add(torsoBottomToTorsoTopSwingLimit);
            joints.Add(torsoBottomToTorsoTopMotor);

            joints.Add(torsoTopToNeckBallSocketJoint);
            joints.Add(torsoTopToNeckTwistLimit);
            joints.Add(torsoTopToNeckSwingLimit);
            joints.Add(torsoTopToNeckMotor);

            joints.Add(neckToHeadBallSocketJoint);
            joints.Add(neckToHeadTwistLimit);
            joints.Add(neckToHeadSwingLimit);
            joints.Add(neckToHeadMotor);

            joints.Add(torsoTopToLeftArmBallSocketJoint);
            joints.Add(torsoTopToLeftArmEllipseLimit);
            joints.Add(torsoTopToLeftArmTwistLimit);
            joints.Add(torsoTopToLeftArmMotor);

            joints.Add(leftUpperArmToLeftForearmSwivelHingeJoint);
            joints.Add(leftUpperArmToLeftForearmMotor);

            joints.Add(leftForearmToLeftHandBallSocketJoint);
            joints.Add(leftForearmToLeftHandEllipseSwingLimit);
            joints.Add(leftForearmToLeftHandTwistLimit);
            joints.Add(leftForearmToLeftHandMotor);

            joints.Add(torsoTopToRightArmBallSocketJoint);
            joints.Add(torsoTopToRightArmEllipseLimit);
            joints.Add(torsoTopToRightArmTwistLimit);
            joints.Add(torsoTopToRightArmMotor);

            joints.Add(rightUpperArmToRightForearmSwivelHingeJoint);
            joints.Add(rightUpperArmToRightForearmMotor);

            joints.Add(rightForearmToRightHandBallSocketJoint);
            joints.Add(rightForearmToRightHandEllipseSwingLimit);
            joints.Add(rightForearmToRightHandTwistLimit);
            joints.Add(rightForearmToRightHandMotor);

            joints.Add(pelvisToLeftThighBallSocketJoint);
            joints.Add(pelvisToLeftThighEllipseSwingLimit);
            joints.Add(pelvisToLeftThighTwistLimit);
            joints.Add(pelvisToLeftThighMotor);

            joints.Add(leftThighToLeftShinRevoluteJoint);

            joints.Add(leftShinToLeftFootBallSocketJoint);
            joints.Add(leftShinToLeftFootSwingLimit);
            joints.Add(leftShinToLeftFootTwistLimit);
            joints.Add(leftShinToLeftFootMotor);

            joints.Add(pelvisToRightThighBallSocketJoint);
            joints.Add(pelvisToRightThighEllipseSwingLimit);
            joints.Add(pelvisToRightThighTwistLimit);
            joints.Add(pelvisToRightThighMotor);

            joints.Add(rightThighToRightShinRevoluteJoint);

            joints.Add(rightShinToRightFootBallSocketJoint);
            joints.Add(rightShinToRightFootSwingLimit);
            joints.Add(rightShinToRightFootTwistLimit);
            joints.Add(rightShinToRightFootMotor);
            #endregion
        }