public override void Init()
{
IKSolver ikSolver;
World world;
AddSystems(new FpsCounter(updatesPerSec: 10),
world = new World(),
ikSolver = new IKSolver(),
new Renderer());
base.Init();
CreateIKChain(ikSolver, Quaternion.Identity, 1.0f, new Vector3(0.0f, 0.0f, 0.0f));
//CreateIKChain(ikSolver, Quaternion.CreateFromAxisAngle(Vector3.Backward, MathHelper.ToRadians(0.0f)), 1.0f, new Vector3(-0.6f, 0.0f, 0.0f));
//CreateIKChain(ikSolver, Quaternion.CreateFromAxisAngle(Vector3.Backward, MathHelper.ToRadians(-0.0f)), 1.0f, new Vector3(0.6f, 0.0f, 0.0f));
InitScene(Vector3.Zero);
world.Bounds = new BoundingBox(-3.5f * new Vector3(1.0f, 0.0f, 1.0f), 3.5f * Vector3.One);
}
private void CreateIKChain(IKSolver ikSolver, Quaternion rot, float scale, Vector3 pos)
{
ikbc = ikSolver.CreateBoneChain();
var t = 0.15f;
ikbc.AddBone(0.2f * scale, Color.Gray, new Vector3(0.0f, 0.5f, 0.0f) + pos, t);
for (var i = 0; i < 2; i++)
{
t *= 0.8f;
ikbc.AddBone(0.3f * scale, Color.Gray, null, t);
t *= 0.8f;
ikbc.AddBone(0.3f * scale, Color.Gray, null, t);
}
t *= 0.8f;
ikbc.AddBone(0.3f * scale, Color.Red, null, t);
ikbc.mBones[0].BaseRot = rot;
ikbc.DropPos1 = new Vector3(-0.6f, 1.1f, 0.8f);
ikbc.DropPos2 = new Vector3(0.6f, 1.1f, 0.8f);
var g = Program.Inst.GraphicsDevice;
var stoolColor = Color.Red;
var stoolTransform = Matrix.CreateScale(0.5f * Vector3.One) * Matrix.CreateTranslation(0.25f * Vector3.Up + pos);
var stoolMesh = MeshGen.Disc(0.4f, 1.0f).FlipNormals().Transform(stoolTransform).Color(stoolColor);
AddEntity(new EcsEntity(new CAabb {
Aabb = stoolMesh.Aabb()
},
new CMesh {
Mesh = stoolMesh.Gpu(g)
}));
}