// Add a chain-like figure using TransformedFigure and CompositeFigure.
private void CreateChain()
{
var ellipse = new EllipseFigure
{
IsFilled = false,
RadiusX = 1f,
RadiusY = 1f,
};
var compositeFigure = new CompositeFigure();
for (int i = 0; i < 9; i++)
{
var transformedEllipse = new TransformedFigure(ellipse)
{
Scale = new Vector3F(0.4f, 0.2f, 1),
Pose = new Pose(new Vector3F(-2 + i * 0.5f, 0, 0), Matrix33F.CreateRotationX(ConstantsF.PiOver2 * (i % 2)))
};
compositeFigure.Children.Add(transformedEllipse);
}
_scene.Children.Add(new FigureNode(compositeFigure)
{
Name = "Chain",
StrokeThickness = 2,
StrokeColor = new Vector3F(0.1f),
StrokeAlpha = 1,
PoseLocal = new Pose(new Vector3F(0, 3, 0)),
});
}
//--------------------------------------------------------------
#region Creation & Cleanup
//--------------------------------------------------------------
/// <overloads>
/// <summary>
/// Initializes a new instance of the <see cref="TerrainDecalLayer"/> class.
/// </summary>
/// </overloads>
///
/// <summary>
/// Initializes a new instance of the <see cref="TerrainDecalLayer"/> class with the default
/// material.
/// </summary>
/// <param name="graphicService">The graphic service.</param>
/// <exception cref="ArgumentNullException">
/// <paramref name="graphicService"/> is <see langword="null"/>.
/// </exception>
public TerrainDecalLayer(IGraphicsService graphicService)
{
if (graphicService == null)
{
throw new ArgumentNullException("graphicService");
}
// Use a down orientation per default.
Pose = new Pose(Matrix33F.CreateRotationX(-ConstantsF.PiOver2));
var effect = graphicService.Content.Load <Effect>("DigitalRune/Terrain/TerrainDecalLayer");
Material = new Material
{
{ "Detail", new EffectBinding(graphicService, effect, null, EffectParameterHint.Material) }
};
FadeOutStart = int.MaxValue;
FadeOutEnd = int.MaxValue;
Width = 1;
Height = 1;
DiffuseColor = new Vector3F(1, 1, 1);
SpecularColor = new Vector3F(1, 1, 1);
SpecularPower = 10;
Alpha = 1;
DiffuseTexture = graphicService.GetDefaultTexture2DWhite();
SpecularTexture = graphicService.GetDefaultTexture2DBlack();
NormalTexture = graphicService.GetDefaultNormalTexture();
HeightTextureScale = 1;
HeightTexture = graphicService.GetDefaultTexture2DBlack();
UpdateAabb();
}
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 void CreateRotationX()
{
float angle = (float)MathHelper.ToRadians(30.0f);
Matrix33F m = Matrix33F.CreateRotationX(angle);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(0, (float)Math.Cos(angle), (float)Math.Sin(angle)), m * Vector3F.UnitY));
QuaternionF q = QuaternionF.CreateRotation(Vector3F.UnitX, angle);
Assert.IsTrue(Vector3F.AreNumericallyEqual(q.Rotate(Vector3F.One), m * Vector3F.One));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(Matrix33F.CreateRotation(Vector3F.UnitX, angle), m));
}
/// <summary>
/// Initializes a new instance of the <see cref="TerrainDecalLayer"/> class with a custom
/// material.
/// </summary>
/// <param name="material">The material.</param>
/// <exception cref="ArgumentNullException">
/// <paramref name="material"/> is <see langword="null"/>.
/// </exception>
public TerrainDecalLayer(Material material)
{
if (material == null)
{
throw new ArgumentNullException("material");
}
// Use a down orientation per default.
Pose = new Pose(Matrix33F.CreateRotationX(-ConstantsF.PiOver2));
Material = material;
UpdateAabb();
}
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);
}
private void UpdateEphemeris()
{
#if XBOX
_ephemeris.Time = new DateTimeOffset(_time.Ticks, TimeSpan.Zero);
#else
_ephemeris.Time = _time;
#endif
_ephemeris.Update();
var sunDirection = (Vector3F)_ephemeris.SunDirectionRefracted;
var sunUp = sunDirection.Orthonormal1;
var moonDirection = (Vector3F)_ephemeris.MoonPosition.Normalized;
var moonUp = (Vector3F)_ephemeris.EquatorialToWorld.TransformDirection(Vector3D.Up);
#if true
_starfield.PoseWorld = new Pose((Matrix33F)_ephemeris.EquatorialToWorld.Minor);
_sun.LookAt((Vector3F)_ephemeris.SunDirectionRefracted, sunUp);
_moon.SunDirection = (Vector3F)_ephemeris.SunPosition.Normalized;
#else
Vector3F sunRotationAxis = new Vector3F(0, -0.1f, 1).Normalized;
float hour = (float)_time.TimeOfDay.TotalHours / 24;
Matrix33F sunRotation = Matrix33F.CreateRotation(sunRotationAxis, hour * ConstantsF.TwoPi - ConstantsF.PiOver2);
_starfield.Orientation = sunRotation;
_sun.Direction = sunRotation * new Vector3F(1, 0, 0);
_moon.SunDirection = _sun.Direction;
#endif
_milkyWaySkybox.PoseWorld = new Pose(
(Matrix33F)_ephemeris.EquatorialToWorld.Minor
* Matrix33F.CreateRotationZ(ConstantsF.PiOver2)
* Matrix33F.CreateRotationX(ConstantsF.PiOver2));
_moon.LookAt(moonDirection, moonUp);
_cieSkyFilter.SunDirection = sunDirection;
_gradientSky.SunDirection = sunDirection;
_gradientTextureSky.SunDirection = sunDirection;
_gradientTextureSky.TimeOfDay = _time.TimeOfDay;
_scatteringSky.SunDirection = sunDirection;
_cloudLayerNode.SunDirection = _scatteringSky.SunDirection;
_cloudLayerNode.SunLight = ChangeSaturation(_scatteringSky.GetSunlight() / 5f, 1);
//_cloudPlaneRenderer.Color = new Vector4F(ChangeSaturation(_scatteringSky.GetFogColor(128), 0.9f) * 1.0f, 1);
//Vector3F c = (_scatteringSky.GetFogColor(128) + _scatteringSky.GetSunlight() / 10) / 2;
//_cloudPlaneRenderer.Color = new Vector4F(c, 1);
_cloudLayerNode.AmbientLight = _scatteringSky.GetAmbientLight(1024) / 6f;
//_cloudLayerNode.AmbientLight = _scatteringSky.GetFogColor(128) * _scatteringSky.GetAmbientLight(256).Length / 6f;
}
public override void Update(GameTime gameTime)
{
base.Update(gameTime);
// ----- Animate the 2 cubes.
_animationTime += (float)gameTime.ElapsedGameTime.TotalSeconds * 10;
// Before updating the positions and orientations, store the previous poses of
// the scene nodes. (The property SceneNode.LastPoseWorld is read by certain
// post-processing effects, such as motion blur.)
_movingCube.SetLastPose(true);
_rotatingCube.SetLastPose(true);
_movingCube.PoseWorld = new Pose(new Vector3F(-6, 1, -3 + (float)Math.Sin(_animationTime) * 2f));
_rotatingCube.PoseWorld = new Pose(new Vector3F(-4, 1, -1), Matrix33F.CreateRotationX(_animationTime));
// <1> / <Shift> + <1> --> Change number of samples.
if (InputService.IsPressed(Keys.D1, true))
{
bool isShiftDown = (InputService.ModifierKeys & ModifierKeys.Shift) != 0;
float delta = isShiftDown ? +1 : -1;
_objectMotionBlur.NumberOfSamples = MathHelper.Max(_objectMotionBlur.NumberOfSamples + delta, 1);
}
// <2> / <Shift> + <2> --> Change max blur radius.
if (InputService.IsDown(Keys.D2))
{
// Increase or decrease value by a factor of 1.01 every frame (1/60 s).
bool isShiftDown = (InputService.ModifierKeys & ModifierKeys.Shift) != 0;
float factor = isShiftDown ? 1.01f : 1.0f / 1.01f;
float time = (float)gameTime.ElapsedGameTime.TotalSeconds;
_objectMotionBlur.MaxBlurRadius =
MathHelper.Max(_objectMotionBlur.MaxBlurRadius * (float)Math.Pow(factor, time * 60), 1);
}
// <3> / <Shift> + <3> --> Toggle soft edges.
if (InputService.IsPressed(Keys.D3, false))
{
_objectMotionBlur.SoftenEdges = !_objectMotionBlur.SoftenEdges;
}
GraphicsScreen.DebugRenderer.DrawText(
"\n\nHold <1> or <Shift>+<1> to decrease or increase the number of samples: " + _objectMotionBlur.NumberOfSamples
+ "\nHold <2> or <Shift>+<2> to decrease or increase the max blur radius: " + _objectMotionBlur.MaxBlurRadius
+ "\nPress <3> to toggle soft edges: " + _objectMotionBlur.SoftenEdges);
}
private static Pose GetRandomPose()
{
// Get a random position.
const float decalAreaSize = 20;
var randomPosition = new Vector3F(
RandomHelper.Random.NextFloat(-decalAreaSize, decalAreaSize),
0,
RandomHelper.Random.NextFloat(-decalAreaSize, 0));
// Decals are project along the forward (-z) direction.
// To project onto the terrain we have to point the decal down.
var downOrientation = Matrix33F.CreateRotationX(-ConstantsF.PiOver2);
// Get a random rotation around z.
var randomOrientation = Matrix33F.CreateRotationZ(RandomHelper.Random.NextFloat(0, ConstantsF.TwoPi));
return(new Pose(randomPosition, downOrientation * randomOrientation));
}
public CampfireSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
var particleSystem = Campfire.CreateCampfire(ContentManager);
// Add a smoke effect as a child to the campfire.
particleSystem.Children = new ParticleSystemCollection();
particleSystem.Children.Add(CampfireSmoke.CreateCampfireSmoke(ContentManager));
// Position the campfire (including its child) in the level.
// (The fire effect lies in the xy plane and shoots into the forward direction (= -z axis).
// Therefore, we rotate the particle system to shoot upwards.)
particleSystem.Pose = new Pose(new Vector3F(0, 0.2f, 0), Matrix33F.CreateRotationX(ConstantsF.PiOver2));
ParticleSystemService.ParticleSystems.Add(particleSystem);
_particleSystemNode = new ParticleSystemNode(particleSystem);
GraphicsScreen.Scene.Children.Add(_particleSystemNode);
}
public void Test1()
{
Pose p = Pose.Identity;
Assert.AreEqual(Matrix44F.Identity, p.ToMatrix44F());
Assert.AreEqual(Matrix33F.Identity, p.Orientation);
Assert.AreEqual(Vector3F.Zero, p.Position);
p.Position = new Vector3F(1, 2, 3);
p.Orientation = Matrix33F.CreateRotation(new Vector3F(3, -4, 9), 0.49f);
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToWorldDirection(Vector3F.UnitX), 0), p * new Vector4F(1, 0, 0, 0)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToWorldDirection(Vector3F.UnitY), 0), p * new Vector4F(0, 1, 0, 0)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToWorldDirection(Vector3F.UnitZ), 0), p * new Vector4F(0, 0, 1, 0)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToWorldPosition(Vector3F.UnitX), 1), p * new Vector4F(1, 0, 0, 1)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToWorldPosition(Vector3F.UnitY), 1), p * new Vector4F(0, 1, 0, 1)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToWorldPosition(Vector3F.UnitZ), 1), p * new Vector4F(0, 0, 1, 1)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToLocalDirection(Vector3F.UnitX), 0), p.Inverse * new Vector4F(1, 0, 0, 0)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToLocalDirection(Vector3F.UnitY), 0), p.Inverse * new Vector4F(0, 1, 0, 0)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToLocalDirection(Vector3F.UnitZ), 0), p.Inverse * new Vector4F(0, 0, 1, 0)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToLocalPosition(Vector3F.UnitX), 1), p.Inverse * new Vector4F(1, 0, 0, 1)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToLocalPosition(Vector3F.UnitY), 1), p.Inverse * new Vector4F(0, 1, 0, 1)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToLocalPosition(Vector3F.UnitZ), 1), p.Inverse * new Vector4F(0, 0, 1, 1)));
Pose p2 = Pose.FromMatrix(new Matrix44F(p.Orientation, Vector3F.Zero));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(p.Orientation, p2.Orientation));
Assert.IsTrue(Vector3F.AreNumericallyEqual(p2.Position, Vector3F.Zero));
Matrix44F m = p2;
m.SetColumn(3, new Vector4F(p.Position, 1));
p2 = Pose.FromMatrix(m);
Assert.IsTrue(Matrix33F.AreNumericallyEqual(p.Orientation, p2.Orientation));
Assert.AreEqual(p.Position, p2.Position);
//Assert.IsTrue(Vector3F.AreNumericallyEqual(p.Position, p2.Position));
// Test other constructors.
Assert.AreEqual(Vector3F.Zero, new Pose(QuaternionF.CreateRotationX(0.3f)).Position);
Assert.AreEqual(Matrix33F.CreateRotationX(0.3f), new Pose(Matrix33F.CreateRotationX(0.3f)).Orientation);
Assert.AreEqual(new Vector3F(1, 2, 3), new Pose(new Vector3F(1, 2, 3)).Position);
Assert.AreEqual(Matrix33F.Identity, new Pose(new Vector3F(1, 2, 3)).Orientation);
}
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 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));
}
public BrownOut(ContentManager contentManager)
{
Pose = new Pose(Matrix33F.CreateRotationX(-ConstantsF.PiOver2));
// Smoke on a ring.
var outerRingSmoke = CreateSmoke(contentManager);
outerRingSmoke.Effectors.Add(new StreamEmitter {
DefaultEmissionRate = 30
});
outerRingSmoke.Effectors.Add(new StartPositionEffector
{
Distribution = new CircleDistribution {
OuterRadius = 5, InnerRadius = 4
}
});
// Smoke in the area inside the ring.
var innerCircleSmoke = CreateSmoke(contentManager);
innerCircleSmoke.Effectors.Add(new StreamEmitter {
DefaultEmissionRate = 10
});
innerCircleSmoke.Effectors.Add(new StartPositionEffector
{
Distribution = new CircleDistribution {
OuterRadius = 4, InnerRadius = 0
}
});
// Uniform particle parameter that are the same for all child particle systems.
Parameters.AddUniform <float>(ParticleParameterNames.Lifetime).DefaultValue = 5;
_isDepthSortedParameter = Parameters.AddUniform <bool>(ParticleParameterNames.IsDepthSorted);
_isDepthSortedParameter.DefaultValue = true;
Children = new ParticleSystemCollection {
outerRingSmoke, innerCircleSmoke
};
}
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;
}
public static void Load(CollisionDomain collisionDomain)
{
// Create a box for the ground.
AddObject("Ground", new Pose(new Vector3F(0, -5, 0)), new BoxShape(60, 10, 60), collisionDomain);
// Create a small flying sphere to visualize the approx. head height. - This is just
// for debugging so that we have a feeling for heights.
AddObject("Sphere", new Pose(new Vector3F(0, 1.5f, 0)), new SphereShape(0.2f), collisionDomain);
// Create small walls at the level boundary.
AddObject("WallLeft", new Pose(new Vector3F(-30, 1, 0)), new BoxShape(0.3f, 2, 60), collisionDomain);
AddObject("WallRight", new Pose(new Vector3F(30, 1, 0)), new BoxShape(0.3f, 2, 60), collisionDomain);
AddObject("WallFront", new Pose(new Vector3F(0, 1, -30)), new BoxShape(60, 2, 0.3f), collisionDomain);
AddObject("WallBack", new Pose(new Vector3F(0, 1, 30)), new BoxShape(60, 2, 0.3f), collisionDomain);
// 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.
AddObject("House0", new Pose(new Vector3F(10, 1, -10)), new BoxShape(8, 2, 8f), collisionDomain);
AddObject("House1", new Pose(new Vector3F(13, 1, -4)), new BoxShape(2, 2, 4), collisionDomain);
AddObject("House2", new Pose(new Vector3F(10, 2, -15), Matrix33F.CreateRotationY(-0.3f)), new BoxShape(8, 4, 2), collisionDomain);
//
// 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;
Pose pose = new Pose(new Vector3F(0, startHeight + stepHeight / 2, -2 - i * stepDepth));
BoxShape shape = new BoxShape(2, stepHeight, stepDepth);
AddObject("Step" + i, pose, shape, collisionDomain);
startHeight += stepHeight;
}
//
// 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);
AddObject("Heightfield", new Pose(new Vector3F(10, 0, 10)), heightField, collisionDomain);
// 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++)
{
Pose pose = new Pose(
new Vector3F(RandomHelper.Random.NextFloat(-5, 5), 0, RandomHelper.Random.NextFloat(10, 20)),
RandomHelper.Random.NextQuaternionF());
BoxShape shape = new BoxShape(RandomHelper.Random.NextVector3F(0.05f, 0.8f));
AddObject("Stone" + i, pose, shape, collisionDomain);
}
// 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.
AddObject("SlopeGround", new Pose(new Vector3F(-2, 1.8f, -12), QuaternionF.CreateRotationX(0.4f)), new BoxShape(2, 0.5f, 10), collisionDomain);
AddObject("SlopeRoof", new Pose(new Vector3F(-2, 5.6f, -12), QuaternionF.CreateRotationX(-0.4f)), new BoxShape(2, 0.5f, 10), collisionDomain);
// Slopes with different tilt angles.
// The character controller has a slope limit. Only flat slopes should be climbable.
for (int i = 0; i < 10; i++)
{
float stepHeight = 0.1f + i * 0.1f;
Pose pose = new Pose(
new Vector3F(-10, i * 0.5f, -i * 2),
Matrix33F.CreateRotationX(MathHelper.ToRadians(10) + i * MathHelper.ToRadians(10)));
BoxShape shape = new BoxShape(8 * (1 - i * 0.1f), 0.5f, 30);
AddObject("Slope" + i, pose, shape, collisionDomain);
startHeight += stepHeight;
}
// 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.)
AddObject("LongSlope", new Pose(new Vector3F(-20, 3, -10), Matrix33F.CreateRotationX(0.4f)), new BoxShape(4, 5f, 30), collisionDomain);
AddObject("LongSlopeWall", new Pose(new Vector3F(-22, 5, -10)), new BoxShape(0.5f, 10f, 25), collisionDomain);
// 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(1, 2, 3), new Pose(new Vector3F(15, 0, 5))));
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,
};
AddObject("Mesh", new Pose(new Vector3F(-30, 0, 10)), meshShape, collisionDomain);
}
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;
}
if (_inputService.IsPressed(Keys.Enter, true))
{
// Toggle between player camera and spectator view.
_useSpectatorView = !_useSpectatorView;
}
else
{
float deltaTimeF = (float)deltaTime.TotalSeconds;
// Compute new yaw and pitch from mouse movement.
float deltaYaw = 0;
deltaYaw -= _inputService.MousePositionDelta.X;
deltaYaw -= _inputService.GetGamePadState(LogicalPlayerIndex.One).ThumbSticks.Right.X * 10;
_yaw += deltaYaw * deltaTimeF * 0.1f;
float deltaPitch = 0;
deltaPitch -= _inputService.MousePositionDelta.Y;
deltaPitch += _inputService.GetGamePadState(LogicalPlayerIndex.One).ThumbSticks.Right.Y * 10;
_pitch += deltaPitch * deltaTimeF * 0.1f;
// Limit the pitch angle to less than +/- 90°.
float limit = ConstantsF.PiOver2 - 0.01f;
_pitch = MathHelper.Clamp(_pitch, -limit, limit);
}
// Update SceneNode.LastPoseWorld - this is required for some effects, like
// camera motion blur.
CameraNode.LastPoseWorld = CameraNode.PoseWorld;
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 DistortionSample(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 StaticSkyObject(Services)); // Skybox + some lights.
//GameObjectService.Objects.Add(new GroundObject(Services));
// Add a ground plane with some detail to see the water refractions.
Simulation.RigidBodies.Add(new RigidBody(new PlaneShape(new Vector3F(0, 1, 0), 0)));
GameObjectService.Objects.Add(new StaticObject(Services, "Gravel/Gravel", 1, new Pose(new Vector3F(0, 0.001f, 0))));
GameObjectService.Objects.Add(new DudeObject(Services));
GameObjectService.Objects.Add(new DynamicObject(Services, 1));
GameObjectService.Objects.Add(new DynamicObject(Services, 2));
GameObjectService.Objects.Add(new DynamicObject(Services, 3));
GameObjectService.Objects.Add(new DynamicObject(Services, 5));
GameObjectService.Objects.Add(new DynamicObject(Services, 6));
GameObjectService.Objects.Add(new DynamicObject(Services, 7));
GameObjectService.Objects.Add(new ObjectCreatorObject(Services));
GameObjectService.Objects.Add(new FogObject(Services));
GameObjectService.Objects.Add(new CampfireObject(Services));
GameObjectService.Objects.Add(new LavaBallsObject(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 DistortionFilter to post-processors.
_distortionFilter = new DistortionFilter(GraphicsService, ContentManager);
_graphicsScreen.PostProcessors.Add(_distortionFilter);
// Add 3 particle systems.
// The ParticleSystems are added to the IParticleSystemService.
// The ParticleSystemNodes are added to the Scene of the DistortionFilter - not the usual Scene!
_fireDistortionParticleSystemNode = new ParticleSystemNode(CreateFireDistortionParticleSystem())
{
PoseLocal = new Pose(new Vector3F(0, 0f, -1), Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
ParticleSystemService.ParticleSystems.Add(_fireDistortionParticleSystemNode.ParticleSystem);
_distortionFilter.Scene.Children.Add(_fireDistortionParticleSystemNode);
_explosionDistortionParticleSystemNode = new ParticleSystemNode(CreateExplosionDistortionParticleSystem())
{
PoseLocal = new Pose(new Vector3F(0, 0, -1)),
};
ParticleSystemService.ParticleSystems.Add(_explosionDistortionParticleSystemNode.ParticleSystem);
_distortionFilter.Scene.Children.Add(_explosionDistortionParticleSystemNode);
_novaDistortionParticleSystemNode = new ParticleSystemNode(CreateNovaDistortionParticleSystem())
{
PoseLocal = new Pose(new Vector3F(0, 0.5f, -1), Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
ParticleSystemService.ParticleSystems.Add(_novaDistortionParticleSystemNode.ParticleSystem);
_distortionFilter.Scene.Children.Add(_novaDistortionParticleSystemNode);
}
protected override void OnLoad()
{
var contentManager = _services.GetInstance <ContentManager>();
_lights.Add(new LightNode(new AmbientLight
{
Color = new Vector3F(0.9f, 0.9f, 1f),
Intensity = 0.05f,
HemisphericAttenuation = 1,
})
{
Name = "AmbientLight",
// This ambient light is "infinite", the pose is irrelevant for the lighting. It is only
// used for the debug rendering below.
PoseWorld = new Pose(new Vector3F(0, 4, 0)),
});
_lights.Add(new LightNode(new DirectionalLight
{
Color = new Vector3F(0.6f, 0.8f, 1f),
DiffuseIntensity = 0.1f,
SpecularIntensity = 0.1f,
})
{
Name = "DirectionalLightWithShadow",
Priority = 10, // This is the most important light.
PoseWorld = new Pose(new Vector3F(0, 5, 0), Matrix33F.CreateRotationY(-1.4f) * Matrix33F.CreateRotationX(-0.6f)),
Shadow = new CascadedShadow
{
PreferredSize = 1024,
DepthBiasScale = new Vector4F(0.99f),
DepthBiasOffset = new Vector4F(0),
FadeOutDistance = 20,
MaxDistance = 30,
MinLightDistance = 5,
ShadowFog = 0.5f,
JitterResolution = 3000,
SplitDistribution = 0.7f
}
});
_lights.Add(new LightNode(new DirectionalLight
{
Color = new Vector3F(0.8f, 0.4f, 0.0f),
DiffuseIntensity = 0.1f,
SpecularIntensity = 0.0f,
})
{
Name = "DirectionalLight",
PoseWorld = new Pose(new Vector3F(0, 6, 0), Matrix33F.CreateRotationY(-1.4f) * Matrix33F.CreateRotationX(-0.6f) * Matrix33F.CreateRotationX(ConstantsF.Pi)),
});
_lights.Add(new LightNode(new PointLight
{
Color = new Vector3F(0, 1, 0),
DiffuseIntensity = 2,
SpecularIntensity = 2,
Range = 3,
Attenuation = 1f,
})
{
Name = "PointLight",
PoseWorld = new Pose(new Vector3F(-7, 1, 0))
});
_lights.Add(new LightNode(new PointLight
{
DiffuseIntensity = 4,
SpecularIntensity = 4,
Range = 3,
Attenuation = 1f,
Texture = contentManager.Load <TextureCube>("LavaBall/LavaCubeMap"),
})
{
Name = "PointLightWithTexture",
PoseWorld = new Pose(new Vector3F(-2, 1, 0))
});
_lights.Add(new LightNode(new PointLight
{
Color = new Vector3F(1, 1, 1),
DiffuseIntensity = 2,
SpecularIntensity = 2,
Range = 3,
Attenuation = 1f,
})
{
Name = "PointLightWithShadow",
PoseWorld = new Pose(new Vector3F(2, 1, 0)),
Shadow = new CubeMapShadow
{
PreferredSize = 128,
DepthBiasScale = 0.9f,
DepthBiasOffset = -0.01f,
}
});
_lights.Add(new LightNode(new PointLight
{
Color = new Vector3F(1, 1, 1),
DiffuseIntensity = 4,
SpecularIntensity = 4,
Range = 3,
Attenuation = 1f,
Texture = contentManager.Load <TextureCube>("MagicSphere/ColorCube"),
})
{
Name = "PointLightWithTextureAndShadow",
PoseWorld = new Pose(new Vector3F(7, 1, 0)),
Shadow = new CubeMapShadow
{
PreferredSize = 128,
DepthBiasScale = 0.9f,
DepthBiasOffset = -0.01f,
}
});
_lights.Add(new LightNode(new ProjectorLight
{
Texture = contentManager.Load <Texture2D>("TVBox/TestCard"),
})
{
Name = "ProjectorLight",
PoseWorld = Pose.FromMatrix(Matrix44F.CreateLookAt(new Vector3F(-1, 1, -6), new Vector3F(-5, 0, -6), new Vector3F(0, 1, 0))).Inverse,
});
_lights.Add(new LightNode(new ProjectorLight
{
Texture = contentManager.Load <Texture2D>("TVBox/TestCard"),
})
{
Name = "ProjectorLightWithShadow",
PoseWorld = Pose.FromMatrix(Matrix44F.CreateLookAt(new Vector3F(5, 1, -6), new Vector3F(1, 0, -6), new Vector3F(0, 1, 0))).Inverse,
Shadow = new StandardShadow
{
PreferredSize = 128,
}
});
_lights.Add(new LightNode(new Spotlight
{
Color = new Vector3F(0, 1, 0),
DiffuseIntensity = 2,
SpecularIntensity = 2,
})
{
Name = "Spotlight",
PoseWorld = Pose.FromMatrix(Matrix44F.CreateLookAt(new Vector3F(-7, 1, -12), new Vector3F(-10, 0, -12), new Vector3F(0, 1, 0))).Inverse,
});
_lights.Add(new LightNode(new Spotlight
{
DiffuseIntensity = 2,
SpecularIntensity = 2,
Texture = contentManager.Load <Texture2D>("TVBox/TestCard"),
})
{
Name = "SpotlightWithTexture",
PoseWorld = Pose.FromMatrix(Matrix44F.CreateLookAt(new Vector3F(-1, 1, -12), new Vector3F(-5, 0, -12), new Vector3F(0, 1, 0))).Inverse,
});
_lights.Add(new LightNode(new Spotlight
{
DiffuseIntensity = 2,
SpecularIntensity = 2,
})
{
Name = "SpotlightWithShadow",
PoseWorld = Pose.FromMatrix(Matrix44F.CreateLookAt(new Vector3F(5, 1, -12), new Vector3F(1, 0, -12), new Vector3F(0, 1, 0))).Inverse,
Shadow = new StandardShadow
{
PreferredSize = 128,
}
});
_lights.Add(new LightNode(new Spotlight
{
Color = new Vector3F(1, 1, 0),
DiffuseIntensity = 2,
SpecularIntensity = 2,
Texture = contentManager.Load <Texture2D>("TVBox/TestCard"),
})
{
Name = "SpotlightWithTextureAndShadow",
PoseWorld = Pose.FromMatrix(Matrix44F.CreateLookAt(new Vector3F(11, 1, -12), new Vector3F(5, 0, -12), new Vector3F(0, 1, 0))).Inverse,
Shadow = new StandardShadow
{
PreferredSize = 128,
}
});
var scene = _services.GetInstance <IScene>();
_debugRenderer = _services.GetInstance <DebugRenderer>();
foreach (var lightNode in _lights)
{
scene.Children.Add(lightNode);
}
}
private void UpdateSky()
{
// Update ephemeris model.
#if XBOX
_ephemeris.Time = new DateTimeOffset(_time.Ticks, TimeSpan.Zero);
#else
_ephemeris.Time = _time;
#endif
_ephemeris.Update();
// Update rotation of milky way. We also need to add an offset because the
// cube map texture is rotated.
_milkyWayNode.PoseWorld = new Pose(
(Matrix33F)_ephemeris.EquatorialToWorld.Minor
* Matrix33F.CreateRotationZ(ConstantsF.PiOver2 + -0.004f)
* Matrix33F.CreateRotationX(ConstantsF.PiOver2 + -0.002f));
// Update rotation of stars.
_starfieldNode.PoseWorld = new Pose((Matrix33F)_ephemeris.EquatorialToWorld.Minor);
// Update direction of sun.
SunDirection = (Vector3F)_ephemeris.SunDirectionRefracted;
var sunUp = SunDirection.Orthonormal1;
_sunNode.LookAt(SunDirection, sunUp);
// Update direction of moon.
var moonDirection = (Vector3F)_ephemeris.MoonPosition.Normalized;
var moonUp = (Vector3F)_ephemeris.EquatorialToWorld.TransformDirection(Vector3D.Up);
_moonNode.LookAt(moonDirection, moonUp);
// The moon needs to know the sun position and brightness to compute the moon phase.
_moonNode.SunDirection = (Vector3F)_ephemeris.SunPosition.Normalized;
_moonNode.SunLight = Ephemeris.ExtraterrestrialSunlight * SunlightScale;
// The ScatteringSky needs the sun direction and brightness to compute the sky colors.
_scatteringSkyNode.SunDirection = SunDirection;
_scatteringSkyNode.SunColor = Ephemeris.ExtraterrestrialSunlight * ScatteringSkyLightScale;
// Update the light directions.
_sunlightNode.LookAt(-SunDirection, sunUp);
_moonlightNode.LookAt(-moonDirection, moonUp);
// The ScatteringSkyNode can compute the actual sunlight.
SunLight = _scatteringSkyNode.GetSunlight();
// Undo the ScatteringSkyLightScale and apply a custom scale for the sunlight.
SunLight = SunLight / ScatteringSkyLightScale * SunlightScale;
// The ScatteringSkyNode can also compute the ambient light by sampling the
// sky hemisphere.
AmbientLight = _scatteringSkyNode.GetAmbientLight(256);
AmbientLight = AmbientLight / ScatteringSkyLightScale * SunlightScale;
// Desaturate the ambient light to avoid very blue shadows.
AmbientLight = InterpolationHelper.Lerp(
new Vector3F(Vector3F.Dot(AmbientLight, GraphicsHelper.LuminanceWeights)),
AmbientLight,
0.5f);
// The Ephemeris model can compute the actual moonlight.
Vector3F moonlight, moonAmbient;
Ephemeris.GetMoonlight(
_scatteringSkyNode.ObserverAltitude,
2.2f,
_ephemeris.MoonPosition,
(float)_ephemeris.MoonPhaseAngle,
out moonlight,
out moonAmbient);
moonlight *= MoonlightScale;
moonAmbient *= MoonlightScale;
// Scale sun light to 0 at horizon.
var directionalLightColor = SunLight;
directionalLightColor *= MathHelper.Clamp(SunDirection.Y / 0.1f, 0, 1);
var directionalLight = ((DirectionalLight)_sunlightNode.Light);
directionalLight.Color = directionalLightColor;
((DirectionalLight)_moonlightNode.Light).Color = moonlight;
((AmbientLight)_ambientLightNode.Light).Color = AmbientLight + moonAmbient + LightPollution;
// Use the sunlight color to create a bright sun disk.
var sunDiskColor = SunLight;
sunDiskColor.TryNormalize();
_sunNode.GlowColor0 = sunDiskColor * Ephemeris.ExtraterrestrialSunlight.Length * SunlightScale * 10;
if (_enableClouds)
{
// Update lighting info of cloud layer nodes.
_cloudLayerNode0.SunDirection = SunDirection;
_cloudLayerNode0.SunLight = SunLight;
_cloudLayerNode0.AmbientLight = AmbientLight;
// The second cloud layer uses simple unlit clouds (only ambient lighting).
_cloudLayerNode1.SunDirection = SunDirection;
_cloudLayerNode1.SunLight = Vector3F.Zero;
_cloudLayerNode1.AmbientLight = AmbientLight + SunLight;
// Use the cloud map as the texture for the directional light to create cloud shadows.
if (EnableCloudShadows)
{
directionalLight.Texture = _cloudLayerNode0.CloudMap.Texture;
}
else
{
directionalLight.Texture = null;
}
// Compute a texture offset so that the current sun position and the projected cloud
// shadows match.
// Since sky dome is always centered on the camera, position the sunlight node in
// line with the camera.
var cameraPosition = _cameraObject.CameraNode.PoseWorld.Position;
var upVector = Vector3F.AreNumericallyEqual(SunDirection, Vector3F.UnitZ) ? Vector3F.UnitY : Vector3F.UnitZ;
_sunlightNode.LookAt(cameraPosition + SunDirection, cameraPosition, upVector);
// Choose a scale for the cloud shadows.
directionalLight.TextureScale = new Vector2F(-1000);
// Get the scaled texture offset for the sun direction.
directionalLight.TextureOffset = _cloudLayerNode0.GetTextureCoordinates(SunDirection) *
directionalLight.TextureScale;
}
// The ScatteringSkyNode can also estimate a fog color by sampling the horizon colors.
Vector3F fogColor = _scatteringSkyNode.GetFogColor(256, FogSampleAngle);
// Desaturate the fog color.
fogColor = InterpolationHelper.Lerp(
new Vector3F(Vector3F.Dot(fogColor, GraphicsHelper.LuminanceWeights)),
fogColor,
FogSaturation);
// Find any FogNode in the scene and update its fog color.
foreach (var fogNode in ((Scene)_scene).GetSubtree().OfType <FogNode>())
{
var fog = fogNode.Fog;
fog.Color0 = fog.Color1 = new Vector4F(fogColor, 1);
fog.ScatteringSymmetry = FogScatteringSymmetry;
}
// TODO: If the fog is dense, reduce the direct light and increase the ambient light.
}
protected override void OnLoad()
{
// Add rigid bodies to simulation.
var simulation = _services.GetInstance <Simulation>();
// ----- Add a ground plane.
AddBody(simulation, "GroundPlane", Pose.Identity, new PlaneShape(Vector3F.UnitY, 0), MotionType.Static);
// ----- Create a height field.
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
if (x == 0 || z == 0 || x == 19 || z == 19)
{
samples[z * numberOfSamplesX + x] = -1;
}
else
{
samples[z * numberOfSamplesX + x] = 1.0f + (float)(Math.Cos(z / 2f) * Math.Sin(x / 2f) * 1.0f);
}
}
}
HeightField heightField = new HeightField(0, 0, 120, 120, samples, numberOfSamplesX, numberOfSamplesZ);
//heightField.UseFastCollisionApproximation = true;
AddBody(simulation, "HeightField", new Pose(new Vector3F(10, 0, 20)), heightField, MotionType.Static);
// ----- Create rubble on the floor (small random objects on the floor).
for (int i = 0; i < 60; i++)
{
Vector3F position = new Vector3F(RandomHelper.Random.NextFloat(-5, 5), 0, RandomHelper.Random.NextFloat(10, 20));
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
BoxShape shape = new BoxShape(RandomHelper.Random.NextVector3F(0.05f, 0.5f));
AddBody(simulation, "Stone" + i, new Pose(position, orientation), shape, MotionType.Static);
}
// ----- Slopes with different tilt angles.
// Create a loop.
Vector3F slopePosition = new Vector3F(-20, -0.25f, -5);
BoxShape slopeShape = new BoxShape(8, 0.5f, 2);
for (int i = 1; i < 33; 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, "Loop" + i, new Pose(slopePosition, rotation), slopeShape, MotionType.Static);
}
// Create an arched bridge.
slopePosition = new Vector3F(-10, -2, -15);
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, "Bridge" + i, new Pose(position, rotation), slopeShape, MotionType.Static);
}
// ----- Create a mesh object.
// We first build a composite shape out of several primitives and then convert the
// composite shape to a triangle mesh. (Just for testing.)
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(1, 2, 3), new Pose(new Vector3F(15, 0, 5))));
ITriangleMesh mesh = compositeShape.GetMesh(0.01f, 3);
TriangleMeshShape meshShape = new TriangleMeshShape(mesh, true);
meshShape.Partition = new AabbTree <int>()
{
BottomUpBuildThreshold = 0
};
AddBody(simulation, "Mesh", new Pose(new Vector3F(-120, 0, 20)), meshShape, MotionType.Static);
// ----- Create a seesaw.
var seesawBase = AddBody(simulation, "SeesawBase", new Pose(new Vector3F(15, 0.5f, 0)), new BoxShape(0.2f, 1, 6), MotionType.Static);
var seesaw = AddBody(simulation, "Seesaw", new Pose(new Vector3F(16, 1.05f, 0)), new BoxShape(15, 0.1f, 6), MotionType.Dynamic);
seesaw.MassFrame.Mass = 500;
seesaw.CanSleep = false;
// Connect seesaw using a hinge joint.
simulation.Constraints.Add(new HingeJoint
{
BodyA = seesaw,
BodyB = seesawBase,
AnchorPoseALocal = new Pose(new Vector3F(1.0f, 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,
});
// ----- Distribute a few dynamic spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 40; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-60, 60);
position.Y = 10;
AddBody(simulation, "Sphere" + i, new Pose(position), sphereShape, MotionType.Dynamic);
}
BoxShape boxShape = new BoxShape(1.0f, 1.0f, 1.0f);
for (int i = 0; i < 40; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-60, 60);
position.Y = 1;
AddBody(simulation, "Box" + i, new Pose(position), boxShape, MotionType.Dynamic);
}
}
// Creates a lot of random objects.
private void CreateRandomObjects()
{
var random = new Random();
var isFirstHeightField = true;
int currentShape = 0;
int numberOfObjects = 0;
while (true)
{
numberOfObjects++;
if (numberOfObjects > ObjectsPerType)
{
currentShape++;
numberOfObjects = 0;
}
Shape shape;
switch (currentShape)
{
case 0:
// Box
shape = new BoxShape(ObjectSize, ObjectSize * 2, ObjectSize * 3);
break;
case 1:
// Capsule
shape = new CapsuleShape(0.3f * ObjectSize, 2 * ObjectSize);
break;
case 2:
// Cone
shape = new ConeShape(1 * ObjectSize, 2 * ObjectSize);
break;
case 3:
// Cylinder
shape = new CylinderShape(0.4f * ObjectSize, 2 * ObjectSize);
break;
case 4:
// Sphere
shape = new SphereShape(ObjectSize);
break;
case 5:
// Convex hull of several points.
ConvexHullOfPoints hull = new ConvexHullOfPoints();
hull.Points.Add(new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize));
hull.Points.Add(new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize));
hull.Points.Add(new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize));
shape = hull;
break;
case 6:
// A composite shape: two boxes that form a "T" shape.
var composite = new CompositeShape();
composite.Children.Add(
new GeometricObject(
new BoxShape(ObjectSize, 3 * ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 0, 0))));
composite.Children.Add(
new GeometricObject(
new BoxShape(2 * ObjectSize, ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 2 * ObjectSize, 0))));
shape = composite;
break;
case 7:
shape = new CircleShape(ObjectSize);
break;
case 8:
{
var compBvh = new CompositeShape();
compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new BoxShape(0.8f, 0.5f, 0.5f), new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-MathHelper.ToRadians(15)))));
compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
compBvh.Partition = new AabbTree <int>();
shape = compBvh;
break;
}
case 9:
CompositeShape comp = new CompositeShape();
comp.Children.Add(new GeometricObject(new BoxShape(0.5f * ObjectSize, 1 * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0, 0.5f * ObjectSize, 0), QuaternionF.Identity)));
comp.Children.Add(new GeometricObject(new BoxShape(0.8f * ObjectSize, 0.5f * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0.3f * ObjectSize, 0.7f * ObjectSize, 0), QuaternionF.CreateRotationZ(-MathHelper.ToRadians(45)))));
comp.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 1.15f * ObjectSize, 0), QuaternionF.Identity)));
shape = comp;
break;
case 10:
shape = new ConvexHullOfPoints(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 11:
ConvexHullOfShapes shapeHull = new ConvexHullOfShapes();
shapeHull.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 2 * ObjectSize, 0), Matrix33F.Identity)));
shapeHull.Children.Add(new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize), Pose.Identity));
shape = shapeHull;
break;
case 12:
shape = Shape.Empty;
break;
case 13:
var numberOfSamplesX = 10;
var numberOfSamplesZ = 10;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
samples[z * numberOfSamplesX + x] = (float)(Math.Cos(z / 3f) * Math.Sin(x / 2f) * BoxSize / 6);
}
}
HeightField heightField = new HeightField(0, 0, 2 * BoxSize, 2 * BoxSize, samples, numberOfSamplesX, numberOfSamplesZ);
shape = heightField;
break;
//case 14:
//shape = new LineShape(new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, -0.3f).Normalized);
//break;
case 15:
shape = new LineSegmentShape(
new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, 0.3f) + 3 * ObjectSize * new Vector3F(0.1f, 0.2f, -0.3f));
break;
case 16:
shape = new MinkowskiDifferenceShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize))
};
break;
case 17:
shape = new MinkowskiSumShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize)),
};
break;
case 18:
shape = new OrthographicViewVolume(0, ObjectSize, 0, ObjectSize, ObjectSize / 2, ObjectSize * 2);
break;
case 19:
shape = new PerspectiveViewVolume(MathHelper.ToRadians(60f), 16f / 10, ObjectSize / 2, ObjectSize * 3);
break;
case 20:
shape = new PointShape(0.1f, 0.3f, 0.2f);
break;
case 21:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2);
break;
case 22:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2)
{
StopsAtFirstHit = true
};
break;
case 23:
shape = new RectangleShape(ObjectSize, ObjectSize * 2);
break;
case 24:
shape = new TransformedShape(
new GeometricObject(
new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize),
new Pose(new Vector3F(0.1f, 1, -0.2f))));
break;
case 25:
shape = new TriangleShape(
new Vector3F(ObjectSize, 0, 0), new Vector3F(0, ObjectSize, 0), new Vector3F(ObjectSize, ObjectSize, ObjectSize));
break;
//case 26:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
//case 27:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), QuaternionF.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), QuaternionF.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
case 28:
shape = new ConvexPolyhedron(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 29:
return;
default:
currentShape++;
continue;
}
// Create an object with the random shape, pose, color and velocity.
Pose randomPose = new Pose(
random.NextVector3F(-BoxSize + ObjectSize * 2, BoxSize - ObjectSize * 2),
random.NextQuaternionF());
var newObject = new MovingGeometricObject
{
Pose = randomPose,
Shape = shape,
LinearVelocity = random.NextQuaternionF().Rotate(new Vector3F(MaxLinearVelocity, 0, 0)),
AngularVelocity = random.NextQuaternionF().Rotate(Vector3F.Forward)
* RandomHelper.Random.NextFloat(0, MaxAngularVelocity),
};
if (RandomHelper.Random.NextBool())
{
newObject.LinearVelocity = Vector3F.Zero;
}
if (RandomHelper.Random.NextBool())
{
newObject.AngularVelocity = Vector3F.Zero;
}
if (shape is LineShape || shape is HeightField)
{
// Do not move lines or the height field.
newObject.LinearVelocity = Vector3F.Zero;
newObject.AngularVelocity = Vector3F.Zero;
}
// Create only 1 heightField!
if (shape is HeightField)
{
if (isFirstHeightField)
{
isFirstHeightField = true;
newObject.Pose = new Pose(new Vector3F(-BoxSize, -BoxSize, -BoxSize));
}
else
{
currentShape++;
numberOfObjects = 0;
continue;
}
}
// Add collision object to collision domain.
_domain.CollisionObjects.Add(new CollisionObject(newObject));
//co.Type = CollisionObjectType.Trigger;
//co.Name = "Object" + shape.GetType().Name + "_" + i;
}
}
public FigurePickerObject(IGraphicsService graphicsService, Scene scene, CameraObject cameraObject, DebugRenderer debugRenderer)
{
_cameraObject = cameraObject;
_scene = scene;
_debugRenderer = debugRenderer;
// Create a collision domain which manages all collision objects used for
// picking: the picking object and the collision objects for figure nodes.
_collisionDomain = new CollisionDomain(new CollisionDetection());
// Create the picking object:
// The picking object represents the mouse cursor or the reticle. Usually
// a ray is used, but in this example we want to use a cylinder/cone. This
// allows to check which objects within a certain radius of the reticle. A
// picking cylinder/cone is helpful for touch devices where the picking is
// done with an imprecise input method like the human finger.
// We want to pick objects in 10 pixel radius around the reticle. To determine
// the world space size of the required cylinder/cone, we can use the projection
// and the viewport.
const float pickingRadius = 10;
var projection = _cameraObject.CameraNode.Camera.Projection;
var viewport = graphicsService.GraphicsDevice.Viewport;
Shape pickingShape;
if (projection is OrthographicProjection)
{
// Use cylinder for orthographic projections:
// The cylinder is centered at the camera position and reaches from the
// camera position to the camera far plane. A TransformedShape is used
// to rotate and translate the cylinder.
float radius = projection.Width / viewport.Width * pickingRadius;
pickingShape = new TransformedShape(
new GeometricObject(
new CylinderShape(radius, projection.Far),
new Pose(new Vector3F(0, 0, -projection.Far / 2), Matrix33F.CreateRotationX(ConstantsF.PiOver2))));
}
else
{
// Use cone for perspective projections:
// The cone tip is at the camera position and the cone base is at the
// camera far plane.
// Compute the radius at the far plane that projects to 10 pixels in screen space.
float radius = viewport.Unproject(
new Vector3(viewport.Width / 2.0f + pickingRadius, viewport.Height / 2.0f, 1),
(Matrix)_cameraObject.CameraNode.Camera.Projection.ToMatrix44F(),
Matrix.Identity,
Matrix.Identity).X;
// A transformed shape is used to rotate and translate the cone.
pickingShape = new TransformedShape(
new GeometricObject(
new ConeShape(radius, projection.Far),
new Pose(new Vector3F(0, 0, -projection.Far), Matrix33F.CreateRotationX(ConstantsF.PiOver2))));
}
// Create collision object with the picking shape.
_pickingObject = new CollisionObject(new GeometricObject(pickingShape, _cameraObject.CameraNode.PoseWorld));
}
//--------------------------------------------------------------
#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);
}
}
/// <summary>
/// Creates a <see cref="Ragdoll"/> for an Xbox LIVE Avatar. (Only available on Xbox 360.)
/// </summary>
/// <param name="skeleton">The skeleton of the Xbox LIVE Avatar.</param>
/// <param name="simulation">The simulation.</param>
/// <returns>The avatar ragdoll.</returns>
/// <exception cref="ArgumentNullException">
/// <paramref name="skeleton"/> or <paramref name="simulation"/> is
/// <see langword="null"/>.
/// </exception>
/// <remarks>
/// This method is available only in the Xbox 360 build of the
/// DigitalRune.Physics.Specialized.dll.
/// </remarks>
public static Ragdoll CreateAvatarRagdoll(Skeleton skeleton, Simulation simulation)
{
if (skeleton == null)
{
throw new ArgumentNullException("skeleton");
}
if (simulation == null)
{
throw new ArgumentNullException("simulation");
}
var ragdoll = new Ragdoll();
// The lists ragdoll.Bodies, ragdoll.BodyOffsets and _motors contain one entry per bone - even if there
// is no RigidBody for this bone. - This wastes memory but simplifies the code.
for (int i = 0; i < AvatarRenderer.BoneCount; i++)
{
ragdoll.Bodies.Add(null);
ragdoll.BodyOffsets.Add(Pose.Identity);
ragdoll.Joints.Add(null);
ragdoll.Limits.Add(null);
ragdoll.Motors.Add(null);
}
// ----- Create bodies.
// We use the same mass for all bodies. This is not physically correct but it makes the
// simulation more stable, for several reasons:
// - It is better to avoid large mass differences. Therefore, all limbs have the same mass.
// - Capsule shapes have a low inertia value about their height axis. This causes instability
// and it is better to use larger inertia values.
var massFrame = MassFrame.FromShapeAndMass(new SphereShape(0.2f), Vector3F.One, 4, 0.1f, 1);
// Use standard material.
var material = new UniformMaterial();
// Create rigid bodies for the important bones. The shapes have been manually adapted to
// produce useful results for thin and overweight avatars.
// Without offset, the bodies are centered at the joint. ragdoll.BodyOffsets stores an offset pose
// for each body. Instead, we could use TransformedShape but we can easily handle that
// ourselves.
// The collar bones are special, they use dummy shapes and are only used to connect the
// shoulder bones.
ragdoll.Bodies[(int)AvatarBone.Root] = new RigidBody(new BoxShape(0.22f, 0.16f, 0.16f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.Root] = new Pose(new Vector3F(0, -0.08f, -0.01f), QuaternionF.CreateRotationX(-0.0f));
ragdoll.Bodies[(int)AvatarBone.BackLower] = new RigidBody(new BoxShape(0.22f, 0.16f, 0.16f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.BackLower] = new Pose(new Vector3F(0, 0.08f, -0.01f), QuaternionF.CreateRotationX(-0.0f));
ragdoll.Bodies[(int)AvatarBone.BackUpper] = new RigidBody(new BoxShape(0.22f, 0.16f, 0.16f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.BackUpper] = new Pose(new Vector3F(0, 0.08f, -0.01f), QuaternionF.CreateRotationX(-0.1f));
ragdoll.Bodies[(int)AvatarBone.Neck] = new RigidBody(new CapsuleShape(0.04f, 0.09f), massFrame, material);
ragdoll.Bodies[(int)AvatarBone.Head] = new RigidBody(new SphereShape(0.15f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.Head] = new Pose(new Vector3F(0, 0.1f, 0));
ragdoll.Bodies[(int)AvatarBone.CollarLeft] = new RigidBody(Shape.Empty, massFrame, material);
ragdoll.Bodies[(int)AvatarBone.CollarRight] = new RigidBody(Shape.Empty, massFrame, material);
ragdoll.Bodies[(int)AvatarBone.ShoulderLeft] = new RigidBody(new CapsuleShape(0.04f, 0.25f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ShoulderLeft] = new Pose(new Vector3F(0.08f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.ShoulderRight] = new RigidBody(new CapsuleShape(0.04f, 0.25f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ShoulderRight] = new Pose(new Vector3F(-0.08f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.ElbowLeft] = new RigidBody(new CapsuleShape(0.04f, 0.21f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ElbowLeft] = new Pose(new Vector3F(0.06f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.ElbowRight] = new RigidBody(new CapsuleShape(0.04f, 0.21f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ElbowRight] = new Pose(new Vector3F(-0.06f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.WristLeft] = new RigidBody(new BoxShape(0.1f, 0.04f, 0.1f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.WristLeft] = new Pose(new Vector3F(0.06f, -0.02f, -0.01f), QuaternionF.CreateRotationZ(0.0f));
ragdoll.Bodies[(int)AvatarBone.WristRight] = new RigidBody(new BoxShape(0.1f, 0.04f, 0.1f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.WristRight] = new Pose(new Vector3F(-0.06f, -0.02f, -0.01f), QuaternionF.CreateRotationZ(0.0f));
ragdoll.Bodies[(int)AvatarBone.HipLeft] = new RigidBody(new CapsuleShape(0.06f, 0.34f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.HipLeft] = new Pose(new Vector3F(0, -0.14f, -0.02f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.HipRight] = new RigidBody(new CapsuleShape(0.06f, 0.34f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.HipRight] = new Pose(new Vector3F(0, -0.14f, -0.02f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.KneeLeft] = new RigidBody(new CapsuleShape(0.06f, 0.36f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.KneeLeft] = new Pose(new Vector3F(0, -0.18f, -0.04f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.KneeRight] = new RigidBody(new CapsuleShape(0.06f, 0.36f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.KneeRight] = new Pose(new Vector3F(0, -0.18f, -0.04f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.AnkleLeft] = new RigidBody(new BoxShape(0.1f, 0.06f, 0.22f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.AnkleLeft] = new Pose(new Vector3F(0, -0.07f, 0.05f), QuaternionF.CreateRotationZ(0));
ragdoll.Bodies[(int)AvatarBone.AnkleRight] = new RigidBody(new BoxShape(0.1f, 0.06f, 0.22f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.AnkleRight] = new Pose(new Vector3F(0, -0.07f, 0.05f), QuaternionF.CreateRotationZ(0));
// ----- Add joint constraints.
const float jointErrorReduction = 0.2f;
const float jointSoftness = 0.0001f;
AddJoint(ragdoll, skeleton, AvatarBone.Root, AvatarBone.BackLower, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.BackLower, AvatarBone.BackUpper, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.Neck, 0.6f, 0.000001f);
AddJoint(ragdoll, skeleton, AvatarBone.Neck, AvatarBone.Head, 0.6f, 0.000001f);
AddJoint(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.CollarLeft, AvatarBone.ShoulderLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.CollarRight, AvatarBone.ShoulderRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ShoulderLeft, AvatarBone.ElbowLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ShoulderRight, AvatarBone.ElbowRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ElbowLeft, AvatarBone.WristLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ElbowRight, AvatarBone.WristRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.HipLeft, AvatarBone.KneeLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.HipRight, AvatarBone.KneeRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.KneeLeft, AvatarBone.AnkleLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.KneeRight, AvatarBone.AnkleRight, jointErrorReduction, jointSoftness);
// ----- Add constraint limits.
// We use TwistSwingLimits to define an allowed twist and swing cone for the joints.
// Exceptions are the back and knees, where we use AngularLimits to create hinges.
// (We could also create a hinge with a TwistSwingLimit where the twist axis is the hinge
// axis and no swing is allowed - but AngularLimits create more stable hinges.)
// Another exception are the collar bones joint. We use AngularLimits to disallow any
// rotations.
AddAngularLimit(ragdoll, skeleton, AvatarBone.Root, AvatarBone.BackLower,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackLower).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackLower).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(-0.3f, 0, 0), new Vector3F(0.3f, 0, 0));
AddAngularLimit(ragdoll, skeleton, AvatarBone.BackLower, AvatarBone.BackUpper,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackUpper).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackUpper).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(-0.3f, 0, 0), new Vector3F(0.4f, 0, 0));
var rotationZ90Degrees = Matrix33F.CreateRotationZ(ConstantsF.PiOver2);
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.Neck, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.3f, -0.3f), new Vector3F(+0.1f, +0.3f, +0.3f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.Neck, AvatarBone.Head, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.6f, -0.6f), new Vector3F(+0.1f, +0.6f, +0.6f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarLeft,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarLeft).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarLeft).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0), new Vector3F(0));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarRight,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarRight).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarRight).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0), new Vector3F(0));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.CollarLeft, AvatarBone.ShoulderLeft, Matrix33F.Identity, Matrix33F.CreateRotationY(0.7f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.CollarRight, AvatarBone.ShoulderRight, Matrix33F.Identity, Matrix33F.CreateRotationY(-0.7f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ShoulderLeft, AvatarBone.ElbowLeft, Matrix33F.Identity, Matrix33F.CreateRotationY(1.2f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ShoulderRight, AvatarBone.ElbowRight, Matrix33F.Identity, Matrix33F.CreateRotationY(-1.2f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ElbowLeft, AvatarBone.WristLeft, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.7f, -0.7f, -0.7f), new Vector3F(+0.7f, +0.7f, +0.7f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ElbowRight, AvatarBone.WristRight, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.7f, -0.7f, -0.7f), new Vector3F(+0.7f, +0.7f, +0.7f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipLeft, rotationZ90Degrees, Matrix33F.CreateRotationX(-1.2f) * Matrix33F.CreateRotationZ(ConstantsF.PiOver2 + 0.2f), new Vector3F(-0.1f, -1.5f, -0.7f), new Vector3F(+0.1f, +1.5f, +0.7f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipRight, rotationZ90Degrees, Matrix33F.CreateRotationX(-1.2f) * Matrix33F.CreateRotationZ(ConstantsF.PiOver2 - 0.2f), new Vector3F(-0.1f, -1.5f, -0.7f), new Vector3F(+0.1f, +1.5f, +0.7f));
AddAngularLimit(ragdoll, skeleton, AvatarBone.HipLeft, AvatarBone.KneeLeft,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeLeft).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeLeft).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0, 0, 0), new Vector3F(2.2f, 0, 0));
AddAngularLimit(ragdoll, skeleton, AvatarBone.HipRight, AvatarBone.KneeRight,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeRight).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeRight).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0, 0, 0), new Vector3F(2.2f, 0, 0));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.KneeLeft, AvatarBone.AnkleLeft, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.7f, -0.3f), new Vector3F(+0.1f, +0.7f, +0.3f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.KneeRight, AvatarBone.AnkleRight, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.7f, -0.3f), new Vector3F(+0.1f, +0.7f, +0.3f));
// ----- Add motors
// We use QuaternionMotors to create forces that rotate the bones into desired poses.
// This can be used for damping, spring or animating the ragdoll.
AddMotor(ragdoll, (AvatarBone)(-1), AvatarBone.Root);
AddMotor(ragdoll, AvatarBone.Root, AvatarBone.BackLower);
AddMotor(ragdoll, AvatarBone.BackLower, AvatarBone.BackUpper);
AddMotor(ragdoll, AvatarBone.BackUpper, AvatarBone.Neck);
AddMotor(ragdoll, AvatarBone.Neck, AvatarBone.Head);
AddMotor(ragdoll, AvatarBone.BackUpper, AvatarBone.CollarLeft);
AddMotor(ragdoll, AvatarBone.BackUpper, AvatarBone.CollarRight);
AddMotor(ragdoll, AvatarBone.CollarLeft, AvatarBone.ShoulderLeft);
AddMotor(ragdoll, AvatarBone.CollarRight, AvatarBone.ShoulderRight);
AddMotor(ragdoll, AvatarBone.ShoulderLeft, AvatarBone.ElbowLeft);
AddMotor(ragdoll, AvatarBone.ShoulderRight, AvatarBone.ElbowRight);
AddMotor(ragdoll, AvatarBone.ElbowLeft, AvatarBone.WristLeft);
AddMotor(ragdoll, AvatarBone.ElbowRight, AvatarBone.WristRight);
AddMotor(ragdoll, AvatarBone.Root, AvatarBone.HipLeft);
AddMotor(ragdoll, AvatarBone.Root, AvatarBone.HipRight);
AddMotor(ragdoll, AvatarBone.HipLeft, AvatarBone.KneeLeft);
AddMotor(ragdoll, AvatarBone.HipRight, AvatarBone.KneeRight);
AddMotor(ragdoll, AvatarBone.KneeLeft, AvatarBone.AnkleLeft);
AddMotor(ragdoll, AvatarBone.KneeRight, AvatarBone.AnkleRight);
// ----- Set collision filters.
// Collisions between connected bones have been disabled with Constraint.CollisionEnabled
// = false in the joints. We need to disable a few other collisions.
// Following bodies do not collide with anything. They are only used to connect other
// bones.
ragdoll.Bodies[(int)AvatarBone.Neck].CollisionObject.Enabled = false;
ragdoll.Bodies[(int)AvatarBone.CollarLeft].CollisionObject.Enabled = false;
ragdoll.Bodies[(int)AvatarBone.CollarRight].CollisionObject.Enabled = false;
// We disable filters for following body pairs because they are usually penetrating each
// other, which needs to be ignored.
var filter = simulation.CollisionDomain.CollisionDetection.CollisionFilter as CollisionFilter;
if (filter != null)
{
filter.Set(ragdoll.Bodies[(int)AvatarBone.BackUpper].CollisionObject, ragdoll.Bodies[(int)AvatarBone.ShoulderLeft].CollisionObject, false);
filter.Set(ragdoll.Bodies[(int)AvatarBone.BackUpper].CollisionObject, ragdoll.Bodies[(int)AvatarBone.ShoulderRight].CollisionObject, false);
}
return(ragdoll);
}
public void AddRagdoll(float scale, Vector3F ragdollPosition)
{
// Ragdolls are usually used in games to create realistic death animations of
// characters. The character is usually rendered using a skinned triangle mesh.
// But in the physics simulation the body parts of the character are represented
// using simple shapes, such as spheres, capsules, boxes, or convex polyhedra,
// which are connected with joints.
// The physics simulations computes how these parts collide and fall. The positions
// and orientations are then read back each frame to update the animation of the
// triangle mesh.
// In this example the ragdoll is built from spheres, capsules and boxes. The
// rigid bodies are created in code. In practice, ragdolls should be built using
// external tools, such as a 3D modeller or a game editor.
#region ----- Create rigid bodies for the most relevant body parts -----
BoxShape pelvisShape = new BoxShape(0.3f * scale, 0.22f * scale, 0.20f * scale);
MassFrame pelvisMass = MassFrame.FromShapeAndDensity(pelvisShape, Vector3F.One, Density, 0.01f, 3);
RigidBody pelvis = new RigidBody(pelvisShape, pelvisMass, null)
{
Pose = new Pose(new Vector3F(0f, 0.01f * scale, -0.03f * scale) + ragdollPosition),
};
Simulation.RigidBodies.Add(pelvis);
BoxShape torsoShape = new BoxShape(0.35f * scale, 0.22f * scale, 0.44f * scale);
MassFrame torsoMass = MassFrame.FromShapeAndDensity(torsoShape, Vector3F.One, Density, 0.01f, 3);
RigidBody torso = new RigidBody(torsoShape, torsoMass, null)
{
Pose = new Pose(new Vector3F(0f, 0.01f * scale, -0.4f * scale) + ragdollPosition),
};
Simulation.RigidBodies.Add(torso);
SphereShape headShape = new SphereShape(0.13f * scale);
MassFrame headMass = MassFrame.FromShapeAndDensity(headShape, Vector3F.One, Density, 0.01f, 3);
RigidBody head = new RigidBody(headShape, headMass, null)
{
Pose = new Pose(new Vector3F(0f * scale, 0f, -0.776f * scale) + ragdollPosition),
};
Simulation.RigidBodies.Add(head);
CapsuleShape upperArmShape = new CapsuleShape(0.08f * scale, 0.3f * scale);
MassFrame upperArmMass = MassFrame.FromShapeAndDensity(upperArmShape, Vector3F.One, Density, 0.01f, 3);
RigidBody leftUpperArm = new RigidBody(upperArmShape, upperArmMass, null)
{
Pose = new Pose(new Vector3F(-0.32f * scale, 0.06f * scale, -0.53f * scale) + ragdollPosition, Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(leftUpperArm);
RigidBody rightUpperArm = new RigidBody(upperArmShape, upperArmMass, null)
{
Pose = new Pose(new Vector3F(0.32f * scale, 0.06f * scale, -0.53f * scale) + ragdollPosition, Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(rightUpperArm);
CapsuleShape lowerArmShape = new CapsuleShape(0.08f * scale, 0.4f * scale);
MassFrame lowerArmMass = MassFrame.FromShapeAndDensity(lowerArmShape, Vector3F.One, Density, 0.01f, 3);
RigidBody leftLowerArm = new RigidBody(lowerArmShape, lowerArmMass, null)
{
Pose = new Pose(new Vector3F(-0.62f * scale, 0.06f * scale, -0.53f * scale) + ragdollPosition, Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(leftLowerArm);
RigidBody rightLowerArm = new RigidBody(lowerArmShape, lowerArmMass, null)
{
Pose = new Pose(new Vector3F(0.62f * scale, 0.06f * scale, -0.53f * scale) + ragdollPosition, Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(rightLowerArm);
CapsuleShape upperLegShape = new CapsuleShape(0.09f * scale, 0.5f * scale);
MassFrame upperLegMass = MassFrame.FromShapeAndDensity(upperLegShape, Vector3F.One, Density, 0.01f, 3);
RigidBody leftUpperLeg = new RigidBody(upperLegShape, upperLegMass, null)
{
Pose = new Pose(new Vector3F(-0.10f * scale, 0.01f * scale, 0.233f * scale) + ragdollPosition, Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(leftUpperLeg);
RigidBody rightUpperLeg = new RigidBody(upperLegShape, upperLegMass, null)
{
Pose = new Pose(new Vector3F(0.10f * scale, 0.01f * scale, 0.233f * scale) + ragdollPosition, Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(rightUpperLeg);
CapsuleShape lowerLegShape = new CapsuleShape(0.08f * scale, 0.4f * scale);
MassFrame lowerLegMass = MassFrame.FromShapeAndDensity(pelvisShape, Vector3F.One, Density, 0.01f, 3);
RigidBody leftLowerLeg = new RigidBody(lowerLegShape, lowerLegMass, null)
{
Pose = new Pose(new Vector3F(-0.11f * scale, 0.01f * scale, 0.7f * scale) + ragdollPosition, Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(leftLowerLeg);
RigidBody rightLowerLeg = new RigidBody(lowerLegShape, lowerLegMass, null)
{
Pose = new Pose(new Vector3F(0.11f * scale, 0.01f * scale, 0.7f * scale) + ragdollPosition, Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(rightLowerLeg);
BoxShape footShape = new BoxShape(0.12f * scale, 0.28f * scale, 0.07f * scale);
MassFrame footMass = MassFrame.FromShapeAndDensity(footShape, Vector3F.One, Density, 0.01f, 3);
RigidBody leftFoot = new RigidBody(footShape, footMass, null)
{
Pose = new Pose(new Vector3F(-0.11f * scale, -0.06f * scale, 0.94f * scale) + ragdollPosition),
};
Simulation.RigidBodies.Add(leftFoot);
RigidBody rightFoot = new RigidBody(footShape, footMass, null)
{
Pose = new Pose(new Vector3F(0.11f * scale, -0.06f * scale, 0.94f * scale) + ragdollPosition),
};
Simulation.RigidBodies.Add(rightFoot);
#endregion
#region ----- Add joints between body parts -----
Vector3F pelvisJointPosition = new Vector3F(0f, 0.026f * scale, -0.115f * scale) + ragdollPosition;
HingeJoint pelvisJoint = new HingeJoint
{
BodyA = torso,
BodyB = pelvis,
AnchorPoseALocal = new Pose(torso.Pose.ToLocalPosition(pelvisJointPosition)),
AnchorPoseBLocal = new Pose(pelvis.Pose.ToLocalPosition(pelvisJointPosition)),
Minimum = -0.5f,
Maximum = 1.1f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(pelvisJoint);
Vector3F neckJointPosition = new Vector3F(0f, 0.026f * scale, -0.690f * scale) + ragdollPosition;
HingeJoint neckJoint = new HingeJoint
{
BodyA = head,
BodyB = torso,
AnchorPoseALocal = new Pose(head.Pose.ToLocalPosition(neckJointPosition)),
AnchorPoseBLocal = new Pose(torso.Pose.ToLocalPosition(neckJointPosition)),
Minimum = -1f,
Maximum = 1f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(neckJoint);
Vector3F leftShoulderJointPosition = new Vector3F(-0.193f * scale, 0.056f * scale, -0.528f * scale) + ragdollPosition;
Vector3F leftShoulderJointAxis = new Vector3F(0, -1, -1).Normalized;
Matrix33F leftShoulderJointOrientation = new Matrix33F();
leftShoulderJointOrientation.SetColumn(0, leftShoulderJointAxis);
leftShoulderJointOrientation.SetColumn(1, leftShoulderJointAxis.Orthonormal1);
leftShoulderJointOrientation.SetColumn(2, leftShoulderJointAxis.Orthonormal2);
BallJoint leftShoulderJoint = new BallJoint
{
BodyA = leftUpperArm,
BodyB = torso,
AnchorPositionALocal = leftUpperArm.Pose.ToLocalPosition(leftShoulderJointPosition),
AnchorPositionBLocal = torso.Pose.ToLocalPosition(leftShoulderJointPosition),
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(leftShoulderJoint);
Vector3F rightShoulderJointPosition = new Vector3F(0.193f * scale, 0.056f * scale, -0.528f * scale) + ragdollPosition;
Vector3F rightShoulderJointAxis = new Vector3F(0, 1, 1).Normalized;
Matrix33F rightShoulderJointOrientation = new Matrix33F();
rightShoulderJointOrientation.SetColumn(0, rightShoulderJointAxis);
rightShoulderJointOrientation.SetColumn(1, rightShoulderJointAxis.Orthonormal1);
rightShoulderJointOrientation.SetColumn(2, rightShoulderJointAxis.Orthonormal2);
BallJoint rightShoulderJoint = new BallJoint
{
BodyA = rightUpperArm,
BodyB = torso,
AnchorPositionALocal = rightUpperArm.Pose.ToLocalPosition(rightShoulderJointPosition),
AnchorPositionBLocal = torso.Pose.ToLocalPosition(rightShoulderJointPosition),
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(rightShoulderJoint);
Vector3F leftElbowJointPosition = new Vector3F(-0.451f * scale, 0.071f * scale, -0.538f * scale) + ragdollPosition;
Matrix33F elbowAxisOrientation = new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0);
HingeJoint leftElbowJoint = new HingeJoint
{
BodyA = leftLowerArm,
BodyB = leftUpperArm,
AnchorPoseALocal = new Pose(leftLowerArm.Pose.ToLocalPosition(leftElbowJointPosition), leftLowerArm.Pose.Orientation.Inverse * elbowAxisOrientation),
AnchorPoseBLocal = new Pose(leftUpperArm.Pose.ToLocalPosition(leftElbowJointPosition), leftUpperArm.Pose.Orientation.Inverse * elbowAxisOrientation),
Minimum = -2,
Maximum = 0,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(leftElbowJoint);
Vector3F rightElbowJointPosition = new Vector3F(0.451f * scale, 0.071f * scale, -0.538f * scale) + ragdollPosition;
HingeJoint rightElbowJoint = new HingeJoint
{
BodyA = rightLowerArm,
BodyB = rightUpperArm,
AnchorPoseALocal = new Pose(rightLowerArm.Pose.ToLocalPosition(rightElbowJointPosition), rightLowerArm.Pose.Orientation.Inverse * elbowAxisOrientation),
AnchorPoseBLocal = new Pose(rightUpperArm.Pose.ToLocalPosition(rightElbowJointPosition), rightUpperArm.Pose.Orientation.Inverse * elbowAxisOrientation),
Minimum = 0,
Maximum = 2,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(rightElbowJoint);
Vector3F leftHipJointPosition = new Vector3F(-0.107f * scale, 0.049f * scale, 0.026f * scale) + ragdollPosition;
HingeJoint leftHipJoint = new HingeJoint
{
BodyA = pelvis,
BodyB = leftUpperLeg,
AnchorPoseALocal = new Pose(pelvis.Pose.ToLocalPosition(leftHipJointPosition)),
AnchorPoseBLocal = new Pose(leftUpperLeg.Pose.ToLocalPosition(leftHipJointPosition), leftUpperLeg.Pose.Orientation.Inverse),
Minimum = -0.1f,
Maximum = 1.2f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(leftHipJoint);
Vector3F rightHipJointPosition = new Vector3F(0.107f * scale, 0.049f * scale, 0.026f * scale) + ragdollPosition;
HingeJoint rightHipJoint = new HingeJoint
{
BodyA = pelvis,
BodyB = rightUpperLeg,
AnchorPoseALocal = new Pose(pelvis.Pose.ToLocalPosition(rightHipJointPosition)),
AnchorPoseBLocal = new Pose(rightUpperLeg.Pose.ToLocalPosition(rightHipJointPosition), rightUpperLeg.Pose.Orientation.Inverse),
Minimum = -0.1f,
Maximum = 1.2f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(rightHipJoint);
Vector3F leftKneeJointPosition = new Vector3F(-0.118f * scale, -0.012f * scale, 0.439f * scale) + ragdollPosition;
HingeJoint leftKneeJoint = new HingeJoint
{
BodyA = leftLowerLeg,
BodyB = leftUpperLeg,
AnchorPoseALocal = new Pose(leftLowerLeg.Pose.ToLocalPosition(leftKneeJointPosition)),
AnchorPoseBLocal = new Pose(leftUpperLeg.Pose.ToLocalPosition(leftKneeJointPosition)),
Minimum = 0,
Maximum = 1.7f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(leftKneeJoint);
Vector3F rightKneeJointPosition = new Vector3F(0.118f * scale, -0.012f * scale, 0.439f * scale) + ragdollPosition;
HingeJoint rightKneeJoint = new HingeJoint
{
BodyA = rightLowerLeg,
BodyB = rightUpperLeg,
AnchorPoseALocal = new Pose(rightLowerLeg.Pose.ToLocalPosition(rightKneeJointPosition)),
AnchorPoseBLocal = new Pose(rightUpperLeg.Pose.ToLocalPosition(rightKneeJointPosition)),
Minimum = 0,
Maximum = 1.7f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(rightKneeJoint);
Vector3F leftAnkleJointPosition = new Vector3F(-0.118f * scale, -0.016f * scale, 0.861f * scale) + ragdollPosition;
HingeJoint leftAnkleJoint = new HingeJoint
{
BodyA = leftFoot,
BodyB = leftLowerLeg,
AnchorPoseALocal = new Pose(leftFoot.Pose.ToLocalPosition(leftAnkleJointPosition)),
AnchorPoseBLocal = new Pose(leftLowerLeg.Pose.ToLocalPosition(leftAnkleJointPosition), leftLowerLeg.Pose.Orientation.Inverse),
Minimum = -0.4f,
Maximum = 0.9f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(leftAnkleJoint);
Vector3F rightAnkleJointPosition = new Vector3F(0.118f * scale, -0.016f * scale, 0.861f * scale) + ragdollPosition;
HingeJoint rightAnkleJoint = new HingeJoint
{
BodyA = rightFoot,
BodyB = rightLowerLeg,
AnchorPoseALocal = new Pose(rightFoot.Pose.ToLocalPosition(rightAnkleJointPosition)),
AnchorPoseBLocal = new Pose(rightLowerLeg.Pose.ToLocalPosition(rightAnkleJointPosition), rightLowerLeg.Pose.Orientation.Inverse),
Minimum = -0.4f,
Maximum = 0.9f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(rightAnkleJoint);
#endregion
#region ----- Add damping to improve stability -----
if (DampingEnabled)
{
// Damping removes jiggling and improves stability.
AddDamping(pelvis, torso);
AddDamping(torso, head);
AddDamping(torso, leftUpperArm);
AddDamping(leftUpperArm, leftLowerArm);
AddDamping(torso, rightUpperArm);
AddDamping(rightUpperArm, rightLowerArm);
AddDamping(pelvis, leftUpperLeg);
AddDamping(pelvis, rightUpperLeg);
AddDamping(leftUpperLeg, leftLowerLeg);
AddDamping(rightUpperLeg, rightLowerLeg);
AddDamping(leftLowerLeg, leftFoot);
AddDamping(rightLowerLeg, rightFoot);
}
#endregion
}
/// <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
}
// Add a 3D coordinate cross.
private void CreateGizmo(SpriteFont spriteFont)
{
var gizmoNode = new SceneNode
{
Name = "Gizmo",
Children = new SceneNodeCollection(),
PoseLocal = new Pose(new Vector3F(3, 2, 0)),
ScaleLocal = new Vector3F(0.5f)
};
// Red arrow
var arrow = new PathFigure2F();
arrow.Segments.Add(new LineSegment2F {
Point1 = new Vector2F(0, 0), Point2 = new Vector2F(1, 0)
});
arrow.Segments.Add(new LineSegment2F {
Point1 = new Vector2F(1, 0), Point2 = new Vector2F(0.9f, 0.02f)
});
arrow.Segments.Add(new LineSegment2F {
Point1 = new Vector2F(1, 0), Point2 = new Vector2F(0.9f, -0.02f)
});
var figureNode = new FigureNode(arrow)
{
Name = "Gizmo X",
StrokeThickness = 2,
StrokeColor = new Vector3F(1, 0, 0),
PoseLocal = new Pose(new Vector3F(0, 0, 0))
};
gizmoNode.Children.Add(figureNode);
// Green arrow
var transformedArrow = new TransformedFigure(arrow)
{
Pose = new Pose(Matrix33F.CreateRotationZ(MathHelper.ToRadians(90)))
};
figureNode = new FigureNode(transformedArrow)
{
Name = "Gizmo Y",
StrokeThickness = 2,
StrokeColor = new Vector3F(0, 1, 0),
PoseLocal = new Pose(new Vector3F(0, 0, 0))
};
gizmoNode.Children.Add(figureNode);
// Blue arrow
transformedArrow = new TransformedFigure(arrow)
{
Pose = new Pose(Matrix33F.CreateRotationY(MathHelper.ToRadians(-90)))
};
figureNode = new FigureNode(transformedArrow)
{
Name = "Gizmo Z",
StrokeThickness = 2,
StrokeColor = new Vector3F(0, 0, 1),
PoseLocal = new Pose(new Vector3F(0, 0, 0))
};
gizmoNode.Children.Add(figureNode);
// Red arc
var arc = new PathFigure2F();
arc.Segments.Add(
new StrokedSegment2F(
new LineSegment2F {
Point1 = new Vector2F(0, 0), Point2 = new Vector2F(1, 0),
},
false));
arc.Segments.Add(
new ArcSegment2F
{
Point1 = new Vector2F(1, 0),
Point2 = new Vector2F(0, 1),
Radius = new Vector2F(1, 1)
});
arc.Segments.Add(
new StrokedSegment2F(
new LineSegment2F {
Point1 = new Vector2F(0, 1), Point2 = new Vector2F(0, 0),
},
false));
var transformedArc = new TransformedFigure(arc)
{
Scale = new Vector3F(0.333f),
Pose = new Pose(Matrix33F.CreateRotationY(MathHelper.ToRadians(-90)))
};
figureNode = new FigureNode(transformedArc)
{
Name = "Gizmo YZ",
StrokeThickness = 2,
StrokeColor = new Vector3F(1, 0, 0),
FillColor = new Vector3F(1, 0, 0),
FillAlpha = 0.5f,
PoseLocal = new Pose(new Vector3F(0, 0, 0))
};
gizmoNode.Children.Add(figureNode);
// Green arc
transformedArc = new TransformedFigure(arc)
{
Scale = new Vector3F(0.333f),
Pose = new Pose(Matrix33F.CreateRotationX(MathHelper.ToRadians(90)))
};
figureNode = new FigureNode(transformedArc)
{
Name = "Gizmo XZ",
StrokeThickness = 2,
StrokeColor = new Vector3F(0, 1, 0),
FillColor = new Vector3F(0, 1, 0),
FillAlpha = 0.5f,
PoseLocal = new Pose(new Vector3F(0, 0, 0))
};
gizmoNode.Children.Add(figureNode);
// Blue arc
transformedArc = new TransformedFigure(arc)
{
Scale = new Vector3F(0.333f),
};
figureNode = new FigureNode(transformedArc)
{
Name = "Gizmo XY",
StrokeThickness = 2,
StrokeColor = new Vector3F(0, 0, 1),
FillColor = new Vector3F(0, 0, 1),
FillAlpha = 0.5f,
PoseLocal = new Pose(new Vector3F(0, 0, 0))
};
gizmoNode.Children.Add(figureNode);
// Labels "X", "Y", "Z"
var spriteNode = new SpriteNode(new TextSprite("X", spriteFont))
{
Color = new Vector3F(1, 0, 0),
Origin = new Vector2F(0, 1),
PoseLocal = new Pose(new Vector3F(1, 0, 0))
};
gizmoNode.Children.Add(spriteNode);
spriteNode = new SpriteNode(new TextSprite("Y", spriteFont))
{
Color = new Vector3F(0, 1, 0),
Origin = new Vector2F(0, 1),
PoseLocal = new Pose(new Vector3F(0, 1, 0))
};
gizmoNode.Children.Add(spriteNode);
spriteNode = new SpriteNode(new TextSprite("Z", spriteFont))
{
Color = new Vector3F(0, 0, 1),
Origin = new Vector2F(0, 1),
PoseLocal = new Pose(new Vector3F(0, 0, 1))
};
gizmoNode.Children.Add(spriteNode);
_scene.Children.Add(gizmoNode);
}
/// <summary>
/// Initializes the physics simulation.
/// </summary>
private void InitializePhysics()
{
// Add a gravity force.
_gravity = new Gravity {
Acceleration = new Vector3F(0, -GravityAcceleration, 0)
};
Simulation.ForceEffects.Add(_gravity);
// Add a damping force.
Simulation.ForceEffects.Add(new Damping());
// Add a few spheres.
Simulation.RigidBodies.Add(new RigidBody(new SphereShape(0.3f))
{
Pose = new Pose(new Vector3F(0, 1, 0)),
});
Simulation.RigidBodies.Add(new RigidBody(new SphereShape(0.2f))
{
Pose = new Pose(new Vector3F(1, 1, 0)),
});
Simulation.RigidBodies.Add(new RigidBody(new SphereShape(0.4f))
{
Pose = new Pose(new Vector3F(0, 1, 2)),
});
// Add ragdoll.
AddRagdoll(1, new Vector3F(0, 2, 0));
// The Simulation performs 2 sub-time-steps per frame because we have set
// the FixedTimeStep of the simulation to 1/60 s and the TargetElapsedTime of the game
// is 1/30 s (30 Hz). In the event SubTimeStepFinished, we call our method
// HandleBreakableJoints() to check the forces in the joints and disable constraints where
// the force is too large.
// Instead, we could also call HandleBreakableJoints() in the Update() method of the game
// but then it is only called with the 30 Hz of the game. It is more accurate to call the
// method at the end of each simulation sub-time-step (60 Hz).
Simulation.SubTimeStepFinished += (s, e) => HandleBreakableJoints();
// Add 6 planes that keep the bodies inside the visible area. The exact positions and angles
// have been determined by experimentation.
var groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
var nearPlane = new RigidBody(new PlaneShape(-Vector3F.UnitY, -8))
{
Name = "NearPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(nearPlane);
var leftPlane = new RigidBody(new PlaneShape(Matrix33F.CreateRotationZ(MathHelper.ToRadians(-22f)) * Vector3F.UnitX, -4.8f))
{
Name = "LeftPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(leftPlane);
var rightPlane = new RigidBody(new PlaneShape(Matrix33F.CreateRotationZ(MathHelper.ToRadians(22f)) * -Vector3F.UnitX, -4.8f))
{
Name = "RightPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(rightPlane);
var topPlane = new RigidBody(new PlaneShape(Matrix33F.CreateRotationX(MathHelper.ToRadians(14f)) * Vector3F.UnitZ, -3f))
{
Name = "TopPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(topPlane);
var bottomPlane = new RigidBody(new PlaneShape(Matrix33F.CreateRotationX(MathHelper.ToRadians(-14f)) * -Vector3F.UnitZ, -3f))
{
Name = "BottomPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(bottomPlane);
}
public FacialAnimationSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
_graphicsScreen = new DeferredGraphicsScreen(Services)
{
DrawReticle = false
};
GraphicsService.Screens.Insert(0, _graphicsScreen);
Services.Register(typeof(DebugRenderer), null, _graphicsScreen.DebugRenderer);
Services.Register(typeof(IScene), null, _graphicsScreen.Scene);
// Add a game object which adds some GUI controls for the deferred graphics
// screen to the Options window.
GameObjectService.Objects.Add(new DeferredGraphicsOptionsObject(Services));
// Use a fixed camera.
var projection = new PerspectiveProjection();
projection.SetFieldOfView(
ConstantsF.PiOver4,
GraphicsService.GraphicsDevice.Viewport.AspectRatio,
0.1f,
10);
var cameraNode = new CameraNode(new Camera(projection));
cameraNode.LookAt(new Vector3F(0.15f, 0.15f, 0.5f), new Vector3F(0.1f, 0.15f, 0), Vector3F.Up);
_graphicsScreen.Scene.Children.Add(cameraNode);
_graphicsScreen.ActiveCameraNode = cameraNode;
// Lighting setup:
var keyLight = new LightNode(new Spotlight {
DiffuseIntensity = 0.6f, SpecularIntensity = 0.4f
});
keyLight.LookAt(new Vector3F(-2, 2, 2), new Vector3F(), Vector3F.Up);
_graphicsScreen.Scene.Children.Add(keyLight);
var backLight = new LightNode(new Spotlight {
DiffuseIntensity = 0.3f, SpecularIntensity = 0.3f
});
backLight.LookAt(new Vector3F(1, 0.5f, -2), new Vector3F(), Vector3F.Up);
_graphicsScreen.Scene.Children.Add(backLight);
var fillLight = new LightNode(new AmbientLight {
HemisphericAttenuation = 1, Intensity = 0.1f
});
_graphicsScreen.Scene.Children.Add(fillLight);
// The scene does not have a proper background. That's why the exposure is a
// bit off. --> Reduce the max exposure.
var hdrFilter = _graphicsScreen.PostProcessors.OfType <HdrFilter>().First();
hdrFilter.MaxExposure = 6;
// Load the customized "Sintel" model (original: Durian Open Movie Project - http://www.sintel.org/).
var model = ContentManager.Load <ModelNode>("Sintel/Sintel-Head").Clone();
model.PoseWorld = new Pose(new Vector3F(0, 0, 0), Matrix33F.CreateRotationY(MathHelper.ToRadians(10)) * Matrix33F.CreateRotationX(-MathHelper.ToRadians(90)));
_graphicsScreen.Scene.Children.Add(model);
// The model consists of a root node and a mesh node.
// ModelNode "Sintel-Head"
// MeshNode "Sintel"
_sintel = (MeshNode)model.Children[0];
// The model contains two skeletal animations:
// - "MOUTH-open" is just a single frame.
// - "Test" is a short animation (250 frames).
// In the Options window, we will add a slider to move the jaw.
// Slider.Value = 0 ... mouth closed (default)
_mouthClosedPose = SkeletonPose.Create(_sintel.Mesh.Skeleton);
// Slider.Value = 1 ... mouth open (copied from the "MOUTH-open" animation)
SkeletonKeyFrameAnimation mouthOpen = _sintel.Mesh.Animations["MOUTH-open"];
_mouthOpenPose = SkeletonPose.Create(_sintel.Mesh.Skeleton);
mouthOpen.GetValue(TimeSpan.Zero, ref _mouthOpenPose, ref _mouthOpenPose, ref _mouthOpenPose);
// Turn the "Test" animation into an endless loop.
_skeletalAnimation = new AnimationClip <SkeletonPose>(_sintel.Mesh.Animations["Test"])
{
Duration = TimeSpan.MaxValue,
LoopBehavior = LoopBehavior.Cycle
};
// Mesh has several morph targets for facial animation, which are imported
// automatically via the content pipeline. Unfortunately, the XNA content
// pipeline cannot import morph target animations automatically.
// In this demo, we will create a morph target animation in code.
_morphingAnimation = CreateMorphingAnimation();
CreateGuiControls();
}
