/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public MoreConstraintsTestDemo(DemosGame game)
: base(game)
{
Box boxA = new Box(new Vector3(0, 5, 0), 1, 2, 1, 10);
Box boxB = new Box(new Vector3(0, 8, 0), 1, 2, 1, 10);
boxA.Orientation = Quaternion.CreateFromYawPitchRoll(0, MathHelper.PiOver4, 0);
boxB.Orientation = Quaternion.CreateFromYawPitchRoll(MathHelper.PiOver4, 0, 0);
WeldJoint weld = new WeldJoint(boxA, boxB);
Space.Add(boxA);
Space.Add(boxB);
Space.Add(weld);
boxA = new Box(new Vector3(3, 5, 0), 1, 2, 1, 10);
boxB = new Box(new Vector3(3, 8, 0), 1, 2, 1, 10);
boxA.Orientation = Quaternion.CreateFromYawPitchRoll(0, MathHelper.PiOver4, 0);
boxB.Orientation = Quaternion.CreateFromYawPitchRoll(MathHelper.PiOver4, 0, 0);
BallSocketJoint ballSocket = new BallSocketJoint(boxA, boxB, (boxA.Position + boxB.Position) / 2);
AngularMotor angularMotor = new AngularMotor(boxA, boxB);
angularMotor.Settings.Mode = MotorMode.Servomechanism;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocket);
Space.Add(angularMotor);
Box ground = new Box(new Vector3(0, 0, 0), 10, 1, 10);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public ActionFigureDemo(DemosGame game)
: base(game)
{
//Make a simple, poseable action figure. This isn't a full featured 'ragdoll' really;
//ragdolls usually have specific joint limits and appropriate kinds of joints rather than all
//ball socket joints. This demo could be modified into a 'proper' ragdoll.
Entity body = new Box(new Vector3(0, 5, 0), 1.5f, 2, 1, 10);
Space.Add(body);
Entity head = new Sphere(body.Position + new Vector3(0, 2, 0), .5f, 5);
Space.Add(head);
//Connect the head to the body.
Space.Add(new BallSocketJoint(body, head, head.Position + new Vector3(0, -.9f, 0)));
//Angular motors can be used to simulate friction when their goal velocity is 0.
var angularMotor = new AngularMotor(body, head);
angularMotor.Settings.MaximumForce = 150; //The maximum force of 'friction' in this joint.
Space.Add(angularMotor);
//Make the first arm.
var upperLimb = new Box(body.Position + new Vector3(-1.6f, .8f, 0), 1, .5f, .5f, 5);
Space.Add(upperLimb);
var lowerLimb = new Box(upperLimb.Position + new Vector3(-1.4f, 0, 0), 1, .5f, .5f, 5);
Space.Add(lowerLimb);
//Connect the body to the upper arm.
Space.Add(new BallSocketJoint(body, upperLimb, upperLimb.Position + new Vector3(.7f, 0, 0)));
angularMotor = new AngularMotor(body, upperLimb);
angularMotor.Settings.MaximumForce = 250;
Space.Add(angularMotor);
//Connect the upper arm to the lower arm.
Space.Add(new BallSocketJoint(upperLimb, lowerLimb, upperLimb.Position + new Vector3(-.7f, 0, 0)));
angularMotor = new AngularMotor(upperLimb, lowerLimb);
angularMotor.Settings.MaximumForce = 150;
Space.Add(angularMotor);
//Make the second arm.
upperLimb = new Box(body.Position + new Vector3(1.6f, .8f, 0), 1, .5f, .5f, 5);
Space.Add(upperLimb);
lowerLimb = new Box(upperLimb.Position + new Vector3(1.4f, 0, 0), 1, .5f, .5f, 5);
Space.Add(lowerLimb);
//Connect the body to the upper arm.
Space.Add(new BallSocketJoint(body, upperLimb, upperLimb.Position + new Vector3(-.7f, 0, 0)));
//Angular motors can be used to simulate friction when their goal velocity is 0.
angularMotor = new AngularMotor(body, upperLimb);
angularMotor.Settings.MaximumForce = 250; //The maximum force of 'friction' in this joint.
Space.Add(angularMotor);
//Connect the upper arm to the lower arm.
Space.Add(new BallSocketJoint(upperLimb, lowerLimb, upperLimb.Position + new Vector3(.7f, 0, 0)));
angularMotor = new AngularMotor(upperLimb, lowerLimb);
angularMotor.Settings.MaximumForce = 150;
Space.Add(angularMotor);
//Make the first leg.
upperLimb = new Box(body.Position + new Vector3(-.6f, -2.1f, 0), .5f, 1.3f, .5f, 8);
Space.Add(upperLimb);
lowerLimb = new Box(upperLimb.Position + new Vector3(0, -1.7f, 0), .5f, 1.3f, .5f, 8);
Space.Add(lowerLimb);
//Connect the body to the upper leg.
Space.Add(new BallSocketJoint(body, upperLimb, upperLimb.Position + new Vector3(0, .9f, 0)));
//Angular motors can be used to simulate friction when their goal velocity is 0.
angularMotor = new AngularMotor(body, upperLimb);
angularMotor.Settings.MaximumForce = 350; //The maximum force of 'friction' in this joint.
Space.Add(angularMotor);
//Connect the upper leg to the lower leg.
Space.Add(new BallSocketJoint(upperLimb, lowerLimb, upperLimb.Position + new Vector3(0, -.9f, 0)));
angularMotor = new AngularMotor(upperLimb, lowerLimb);
angularMotor.Settings.MaximumForce = 250;
Space.Add(angularMotor);
//Make the second leg.
upperLimb = new Box(body.Position + new Vector3(.6f, -2.1f, 0), .5f, 1.3f, .5f, 8);
Space.Add(upperLimb);
lowerLimb = new Box(upperLimb.Position + new Vector3(0, -1.7f, 0), .5f, 1.3f, .5f, 8);
Space.Add(lowerLimb);
//Connect the body to the upper leg.
Space.Add(new BallSocketJoint(body, upperLimb, upperLimb.Position + new Vector3(0, .9f, 0)));
//Angular motors can be used to simulate friction when their goal velocity is 0.
angularMotor = new AngularMotor(body, upperLimb);
angularMotor.Settings.MaximumForce = 350; //The maximum force of 'friction' in this joint.
Space.Add(angularMotor);
//Connect the upper leg to the lower leg.
Space.Add(new BallSocketJoint(upperLimb, lowerLimb, upperLimb.Position + new Vector3(0, -.9f, 0)));
angularMotor = new AngularMotor(upperLimb, lowerLimb);
angularMotor.Settings.MaximumForce = 250;
Space.Add(angularMotor);
//Add some ground.
Space.Add(new Box(new Vector3(0, -3.5f, 0), 40f, 1, 40f));
game.Camera.Position = new Vector3(0, 5, 25);
}
void BuildRoboArmThing(Vector3 position)
{
//Make the IK representation
Bone baseBone = new Bone(position, Quaternion.Identity, 1, 3);
Bone upperArm = new Bone(baseBone.Position + new Vector3(0, 1.5f + 2, 0), Quaternion.Identity, .4f, 4);
Bone lowerArm = new Bone(upperArm.Position + new Vector3(0, 2 + 1, 0), Quaternion.Identity, .7f, 2);
Bone bonkDevice = new Bone(lowerArm.Position + new Vector3(0, 5, 0), Quaternion.Identity, .6f, 1.2f);
joints.Add(new IKBallSocketJoint(baseBone, upperArm, baseBone.Position + new Vector3(0, 1.5f, 0)));
joints.Add(new IKSwingLimit(baseBone, upperArm, Vector3.Up, Vector3.Up, MathHelper.PiOver4));
joints.Add(new IKBallSocketJoint(upperArm, lowerArm, upperArm.Position + new Vector3(0, 2f, 0)));
joints.Add(new IKRevoluteJoint(upperArm, lowerArm, Vector3.Forward));
joints.Add(new IKSwingLimit(upperArm, lowerArm, Vector3.Up, Vector3.Up, MathHelper.PiOver4));
joints.Add(new IKPointOnLineJoint(lowerArm, bonkDevice, lowerArm.Position, Vector3.Up, bonkDevice.Position));
joints.Add(new IKAngularJoint(lowerArm, bonkDevice));
joints.Add(new IKLinearAxisLimit(lowerArm, bonkDevice, lowerArm.Position, Vector3.Up, bonkDevice.Position, 1.6f, 5));
//Make the dynamics representation
Entity baseEntity = new Cylinder(baseBone.Position, baseBone.Height, baseBone.Radius, 10);
Entity upperArmEntity = new Cylinder(upperArm.Position, upperArm.Height, upperArm.Radius, 7);
Entity lowerArmEntity = new Cylinder(lowerArm.Position, lowerArm.Height, lowerArm.Radius, 5);
Entity bonkDeviceEntity = new Cylinder(bonkDevice.Position, bonkDevice.Height, bonkDevice.Radius, 3);
bonkDeviceEntity.Orientation = bonkDevice.Orientation;
Space.Add(baseEntity);
Space.Add(upperArmEntity);
Space.Add(lowerArmEntity);
Space.Add(bonkDeviceEntity);
Space.Add(new BallSocketJoint(baseEntity, upperArmEntity, baseBone.Position + new Vector3(0, 1.5f, 0)));
Space.Add(new SwingLimit(baseEntity, upperArmEntity, Vector3.Up, Vector3.Up, MathHelper.PiOver4));
Space.Add(new BallSocketJoint(upperArmEntity, lowerArmEntity, upperArm.Position + new Vector3(0, 2f, 0)));
Space.Add(new RevoluteAngularJoint(upperArmEntity, lowerArmEntity, Vector3.Forward));
Space.Add(new SwingLimit(upperArmEntity, lowerArmEntity, Vector3.Up, Vector3.Up, MathHelper.PiOver4));
Space.Add(new PointOnLineJoint(lowerArmEntity, bonkDeviceEntity, lowerArm.Position, Vector3.Up, bonkDevice.Position));
var motor = new AngularMotor(lowerArmEntity, bonkDeviceEntity);
motor.Settings.Mode = MotorMode.Servomechanism;
Space.Add(motor);
Space.Add(new LinearAxisLimit(lowerArmEntity, bonkDeviceEntity, lowerArm.Position, bonkDevice.Position, Vector3.Up, 1.6f, 5));
CollisionRules.AddRule(baseEntity, upperArmEntity, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(upperArmEntity, lowerArmEntity, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(lowerArmEntity, bonkDeviceEntity, CollisionRule.NoBroadPhase);
//Relate the two!
bones.Add(new BoneRelationship(baseBone, baseEntity));
bones.Add(new BoneRelationship(upperArm, upperArmEntity));
bones.Add(new BoneRelationship(lowerArm, lowerArmEntity));
bones.Add(new BoneRelationship(bonkDevice, bonkDeviceEntity));
}
void BuildChain(Vector3 position)
{
//Set up a bone chain.
int linkCount = 100;
var previousBoneEntity = new Cylinder(position, 1, .2f, 10);
var previousBone = new Bone(previousBoneEntity.Position, previousBoneEntity.Orientation, previousBoneEntity.Radius, previousBoneEntity.Height);
bones.Add(new BoneRelationship(previousBone, previousBoneEntity));
Space.Add(previousBoneEntity);
for (int i = 1; i < linkCount; i++)
{
var boneEntity = new Cylinder(previousBone.Position + new Vector3(0, 1, 0), 1, .2f, 10);
var bone = new Bone(boneEntity.Position, boneEntity.Orientation, boneEntity.Radius, boneEntity.Height);
bones.Add(new BoneRelationship(bone, boneEntity));
Space.Add(boneEntity);
//Make a relationship between the two bones and entities.
CollisionRules.AddRule(previousBoneEntity, boneEntity, CollisionRule.NoBroadPhase);
Vector3 anchor = (previousBoneEntity.Position + boneEntity.Position) / 2;
var dynamicsBallSocketJoint = new BallSocketJoint(previousBoneEntity, boneEntity, anchor);
var dynamicsAngularFriction = new AngularMotor(previousBoneEntity, boneEntity);
dynamicsAngularFriction.Settings.Mode = MotorMode.VelocityMotor;
dynamicsAngularFriction.Settings.MaximumForce = 200;
Space.Add(dynamicsBallSocketJoint);
Space.Add(dynamicsAngularFriction);
var ikBallSocketJoint = new IKBallSocketJoint(previousBone, bone, anchor); //(the joint is auto-added to the bones; no solver-add is needed)
joints.Add(ikBallSocketJoint);
previousBone = bone;
previousBoneEntity = boneEntity;
}
}
void BuildActionFigure(Vector3 position)
{
//Make a simple, poseable action figure, like the ActionFigureDemo.
Entity body = new Box(position, 1.5f, 2, 1, 10);
Space.Add(body);
Entity head = new Sphere(body.Position + new Vector3(0, 2, 0), .5f, 5);
Space.Add(head);
//Connect the head to the body.
var headBodyBallSocketAnchor = head.Position + new Vector3(0, -.75f, 0);
Space.Add(new BallSocketJoint(body, head, headBodyBallSocketAnchor));
//Angular motors can be used to simulate friction when their goal velocity is 0.
var angularMotor = new AngularMotor(body, head);
angularMotor.Settings.MaximumForce = 150; //The maximum force of 'friction' in this joint.
Space.Add(angularMotor);
//Make the first arm.
var upperLeftArm = new Box(body.Position + new Vector3(-1.6f, .8f, 0), 1, .5f, .5f, 5);
Space.Add(upperLeftArm);
var lowerLeftArm = new Box(upperLeftArm.Position + new Vector3(-1.4f, 0, 0), 1, .5f, .5f, 5);
Space.Add(lowerLeftArm);
var leftHand = new Box(lowerLeftArm.Position + new Vector3(-.8f, 0, 0), 0.5f, 0.3f, 0.5f, 4);
Space.Add(leftHand);
//Connect the body to the upper arm.
var bodyUpperLeftArmBallSocketAnchor = upperLeftArm.Position + new Vector3(.7f, 0, 0);
Space.Add(new BallSocketJoint(body, upperLeftArm, bodyUpperLeftArmBallSocketAnchor));
angularMotor = new AngularMotor(body, upperLeftArm);
angularMotor.Settings.MaximumForce = 250;
Space.Add(angularMotor);
//Connect the upper arm to the lower arm.
var upperLeftArmLowerLeftArmBallSocketAnchor = upperLeftArm.Position + new Vector3(-.7f, 0, 0);
Space.Add(new BallSocketJoint(upperLeftArm, lowerLeftArm, upperLeftArmLowerLeftArmBallSocketAnchor));
angularMotor = new AngularMotor(upperLeftArm, lowerLeftArm);
angularMotor.Settings.MaximumForce = 150;
Space.Add(angularMotor);
//Connect the lower arm to the hand.
var lowerLeftArmLeftHandBallSocketAnchor = lowerLeftArm.Position + new Vector3(-.5f, 0, 0);
Space.Add(new BallSocketJoint(lowerLeftArm, leftHand, lowerLeftArmLeftHandBallSocketAnchor));
angularMotor = new AngularMotor(lowerLeftArm, leftHand);
angularMotor.Settings.MaximumForce = 150;
Space.Add(angularMotor);
//Make the second arm.
var upperRightArm = new Box(body.Position + new Vector3(1.6f, .8f, 0), 1, .5f, .5f, 5);
Space.Add(upperRightArm);
var lowerRightArm = new Box(upperRightArm.Position + new Vector3(1.4f, 0, 0), 1, .5f, .5f, 5);
Space.Add(lowerRightArm);
var rightHand = new Box(lowerRightArm.Position + new Vector3(.8f, 0, 0), 0.5f, 0.3f, 0.5f, 4);
Space.Add(rightHand);
//Connect the body to the upper arm.
var bodyUpperRightArmBallSocketAnchor = upperRightArm.Position + new Vector3(-.7f, 0, 0);
Space.Add(new BallSocketJoint(body, upperRightArm, bodyUpperRightArmBallSocketAnchor));
//Angular motors can be used to simulate friction when their goal velocity is 0.
angularMotor = new AngularMotor(body, upperRightArm);
angularMotor.Settings.MaximumForce = 250; //The maximum force of 'friction' in this joint.
Space.Add(angularMotor);
//Connect the upper arm to the lower arm.
var upperRightArmLowerRightArmBallSocketAnchor = upperRightArm.Position + new Vector3(.7f, 0, 0);
Space.Add(new BallSocketJoint(upperRightArm, lowerRightArm, upperRightArmLowerRightArmBallSocketAnchor));
angularMotor = new AngularMotor(upperRightArm, lowerRightArm);
angularMotor.Settings.MaximumForce = 150;
Space.Add(angularMotor);
//Connect the lower arm to the hand.
var lowerRightArmRightHandBallSocketAnchor = lowerRightArm.Position + new Vector3(.5f, 0, 0);
Space.Add(new BallSocketJoint(lowerRightArm, rightHand, lowerRightArmRightHandBallSocketAnchor));
angularMotor = new AngularMotor(lowerRightArm, rightHand);
angularMotor.Settings.MaximumForce = 150;
Space.Add(angularMotor);
//Make the first leg.
var upperLeftLeg = new Box(body.Position + new Vector3(-.6f, -2.1f, 0), .5f, 1.3f, .5f, 8);
Space.Add(upperLeftLeg);
var lowerLeftLeg = new Box(upperLeftLeg.Position + new Vector3(0, -1.7f, 0), .5f, 1.3f, .5f, 8);
Space.Add(lowerLeftLeg);
var leftFoot = new Box(lowerLeftLeg.Position + new Vector3(0, -.25f - 0.65f, 0.25f), .5f, .4f, 1, 8);
Space.Add(leftFoot);
//Connect the body to the upper leg.
var bodyUpperLeftLegBallSocketAnchor = upperLeftLeg.Position + new Vector3(0, .9f, 0);
Space.Add(new BallSocketJoint(body, upperLeftLeg, bodyUpperLeftLegBallSocketAnchor));
//Angular motors can be used to simulate friction when their goal velocity is 0.
angularMotor = new AngularMotor(body, upperLeftLeg);
angularMotor.Settings.MaximumForce = 350; //The maximum force of 'friction' in this joint.
Space.Add(angularMotor);
//Connect the upper leg to the lower leg.
var upperLeftLegLowerLeftLegBallSocketAnchor = upperLeftLeg.Position + new Vector3(0, -.9f, 0);
Space.Add(new BallSocketJoint(upperLeftLeg, lowerLeftLeg, upperLeftLegLowerLeftLegBallSocketAnchor));
angularMotor = new AngularMotor(upperLeftLeg, lowerLeftLeg);
angularMotor.Settings.MaximumForce = 250;
Space.Add(angularMotor);
//Connect the lower leg to the foot.
var lowerLeftLegLeftFootBallSocketAnchor = lowerLeftLeg.Position + new Vector3(0, -.65f, 0);
Space.Add(new BallSocketJoint(lowerLeftLeg, leftFoot, lowerLeftLegLeftFootBallSocketAnchor));
angularMotor = new AngularMotor(lowerLeftLeg, leftFoot);
angularMotor.Settings.MaximumForce = 250;
Space.Add(angularMotor);
//Make the second leg.
var upperRightLeg = new Box(body.Position + new Vector3(.6f, -2.1f, 0), .5f, 1.3f, .5f, 8);
Space.Add(upperRightLeg);
var lowerRightLeg = new Box(upperRightLeg.Position + new Vector3(0, -1.7f, 0), .5f, 1.3f, .5f, 8);
Space.Add(lowerRightLeg);
var rightFoot = new Box(lowerRightLeg.Position + new Vector3(0, -.25f - 0.65f, 0.25f), .5f, .4f, 1, 8);
Space.Add(rightFoot);
//Connect the body to the upper leg.
var bodyUpperRightLegBallSocketAnchor = upperRightLeg.Position + new Vector3(0, .9f, 0);
Space.Add(new BallSocketJoint(body, upperRightLeg, bodyUpperRightLegBallSocketAnchor));
//Angular motors can be used to simulate friction when their goal velocity is 0.
angularMotor = new AngularMotor(body, upperRightLeg);
angularMotor.Settings.MaximumForce = 350; //The maximum force of 'friction' in this joint.
Space.Add(angularMotor);
//Connect the upper leg to the lower leg.
var upperRightLegLowerRightLegBallSocketAnchor = upperRightLeg.Position + new Vector3(0, -.9f, 0);
Space.Add(new BallSocketJoint(upperRightLeg, lowerRightLeg, upperRightLegLowerRightLegBallSocketAnchor));
angularMotor = new AngularMotor(upperRightLeg, lowerRightLeg);
angularMotor.Settings.MaximumForce = 250;
Space.Add(angularMotor);
//Connect the lower leg to the foot.
var lowerRightLegRightFootBallSocketAnchor = lowerRightLeg.Position + new Vector3(0, -.65f, 0);
Space.Add(new BallSocketJoint(lowerRightLeg, rightFoot, lowerRightLegRightFootBallSocketAnchor));
angularMotor = new AngularMotor(lowerRightLeg, rightFoot);
angularMotor.Settings.MaximumForce = 250;
Space.Add(angularMotor);
//Set up collision rules.
CollisionRules.AddRule(head, body, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(body, upperLeftArm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(upperLeftArm, lowerLeftArm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(lowerLeftArm, leftHand, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(body, upperRightArm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(upperRightArm, lowerRightArm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(lowerRightArm, rightHand, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(body, upperLeftLeg, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(upperLeftLeg, lowerLeftLeg, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(lowerLeftLeg, leftFoot, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(body, upperRightLeg, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(upperRightLeg, lowerRightLeg, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(lowerRightLeg, rightFoot, CollisionRule.NoBroadPhase);
//IK version!
Bone bodyBone = new Bone(body.Position, Quaternion.Identity, .75f, 2);
Bone headBone = new Bone(head.Position, Quaternion.Identity, .4f, .8f);
Bone upperLeftArmBone = new Bone(upperLeftArm.Position, Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), MathHelper.PiOver2), .25f, 1);
Bone lowerLeftArmBone = new Bone(lowerLeftArm.Position, Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), MathHelper.PiOver2), .25f, 1);
Bone upperRightArmBone = new Bone(upperRightArm.Position, Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), MathHelper.PiOver2), .25f, 1);
Bone lowerRightArmBone = new Bone(lowerRightArm.Position, Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), MathHelper.PiOver2), .25f, 1);
Bone leftHandBone = new Bone(leftHand.Position, Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), MathHelper.PiOver2), .2f, .5f);
Bone rightHandBone = new Bone(rightHand.Position, Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), MathHelper.PiOver2), .2f, .5f);
Bone upperLeftLegBone = new Bone(upperLeftLeg.Position, Quaternion.Identity, .25f, 1.3f);
Bone lowerLeftLegBone = new Bone(lowerLeftLeg.Position, Quaternion.Identity, .25f, 1.3f);
Bone leftFootBone = new Bone(leftFoot.Position, Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2), .25f, 1);
Bone upperRightLegBone = new Bone(upperRightLeg.Position, Quaternion.Identity, .25f, 1.3f);
Bone lowerRightLegBone = new Bone(lowerRightLeg.Position, Quaternion.Identity, .25f, 1.3f);
Bone rightFootBone = new Bone(rightFoot.Position, Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2), .25f, 1);
bones.Add(new BoneRelationship(bodyBone, body));
bones.Add(new BoneRelationship(headBone, head));
bones.Add(new BoneRelationship(upperLeftArmBone, upperLeftArm));
bones.Add(new BoneRelationship(lowerLeftArmBone, lowerLeftArm));
bones.Add(new BoneRelationship(upperRightArmBone, upperRightArm));
bones.Add(new BoneRelationship(lowerRightArmBone, lowerRightArm));
bones.Add(new BoneRelationship(leftHandBone, leftHand));
bones.Add(new BoneRelationship(rightHandBone, rightHand));
bones.Add(new BoneRelationship(upperLeftLegBone, upperLeftLeg));
bones.Add(new BoneRelationship(lowerLeftLegBone, lowerLeftLeg));
bones.Add(new BoneRelationship(leftFootBone, leftFoot));
bones.Add(new BoneRelationship(upperRightLegBone, upperRightLeg));
bones.Add(new BoneRelationship(lowerRightLegBone, lowerRightLeg));
bones.Add(new BoneRelationship(rightFootBone, rightFoot));
//[We don't care about the return values here. A bit weird, but the constructor puts the reference where it needs to go.]
joints.Add(new IKBallSocketJoint(bodyBone, headBone, headBodyBallSocketAnchor));
joints.Add(new IKSwingLimit(bodyBone, headBone, Vector3.Up, Vector3.Up, MathHelper.PiOver2));
joints.Add(new IKTwistLimit(bodyBone, headBone, Vector3.Up, Vector3.Up, MathHelper.PiOver2));
//Left arm
joints.Add(new IKBallSocketJoint(bodyBone, upperLeftArmBone, bodyUpperLeftArmBallSocketAnchor));
joints.Add(new IKSwingLimit(bodyBone, upperLeftArmBone, Vector3.Normalize(new Vector3(-1, 0, .3f)), Vector3.Left, MathHelper.Pi * .65f));
joints.Add(new IKTwistLimit(bodyBone, upperLeftArmBone, Vector3.Left, Vector3.Left, MathHelper.PiOver2) { Rigidity = 0.08f });
joints.Add(new IKBallSocketJoint(upperLeftArmBone, lowerLeftArmBone, upperLeftArmLowerLeftArmBallSocketAnchor));
joints.Add(new IKSwivelHingeJoint(upperLeftArmBone, lowerLeftArmBone, Vector3.Up, Vector3.Left));
joints.Add(new IKSwingLimit(upperLeftArmBone, lowerLeftArmBone, Vector3.Normalize(new Vector3(-0.23f, 0, .97f)), Vector3.Left, MathHelper.Pi * 0.435f));
joints.Add(new IKTwistLimit(upperLeftArmBone, lowerLeftArmBone, Vector3.Left, Vector3.Left, MathHelper.PiOver4) { Rigidity = 0.08f });
joints.Add(new IKBallSocketJoint(lowerLeftArmBone, leftHandBone, lowerLeftArmLeftHandBallSocketAnchor));
joints.Add(new IKSwingLimit(lowerLeftArmBone, leftHandBone, Vector3.Left, Vector3.Left, MathHelper.PiOver2));
joints.Add(new IKTwistLimit(lowerLeftArmBone, leftHandBone, Vector3.Left, Vector3.Left, MathHelper.PiOver4) { Rigidity = 0.08f });
//Right arm
joints.Add(new IKBallSocketJoint(bodyBone, upperRightArmBone, bodyUpperRightArmBallSocketAnchor));
joints.Add(new IKSwingLimit(bodyBone, upperRightArmBone, Vector3.Normalize(new Vector3(1, 0, .3f)), Vector3.Right, MathHelper.Pi * .65f));
joints.Add(new IKTwistLimit(bodyBone, upperRightArmBone, Vector3.Right, Vector3.Right, MathHelper.PiOver2) { Rigidity = 0.08f });
joints.Add(new IKBallSocketJoint(upperRightArmBone, lowerRightArmBone, upperRightArmLowerRightArmBallSocketAnchor));
joints.Add(new IKSwivelHingeJoint(upperRightArmBone, lowerRightArmBone, Vector3.Up, Vector3.Right));
joints.Add(new IKSwingLimit(upperRightArmBone, lowerRightArmBone, Vector3.Normalize(new Vector3(0.23f, 0, .97f)), Vector3.Right, MathHelper.Pi * 0.435f));
joints.Add(new IKTwistLimit(upperRightArmBone, lowerRightArmBone, Vector3.Right, Vector3.Right, MathHelper.PiOver4) { Rigidity = 0.08f });
joints.Add(new IKBallSocketJoint(lowerRightArmBone, rightHandBone, lowerRightArmRightHandBallSocketAnchor));
joints.Add(new IKSwingLimit(lowerRightArmBone, rightHandBone, Vector3.Right, Vector3.Right, MathHelper.PiOver2));
joints.Add(new IKTwistLimit(lowerRightArmBone, rightHandBone, Vector3.Right, Vector3.Right, MathHelper.PiOver4) { Rigidity = 0.08f });
//Left Leg
joints.Add(new IKBallSocketJoint(bodyBone, upperLeftLegBone, bodyUpperLeftLegBallSocketAnchor));
joints.Add(new IKSwingLimit(bodyBone, upperLeftLegBone, Vector3.Normalize(new Vector3(-.3f, -1, .6f)), Vector3.Down, MathHelper.Pi * 0.6f));
joints.Add(new IKTwistLimit(bodyBone, upperLeftLegBone, Vector3.Up, Vector3.Up, MathHelper.PiOver4) { MeasurementAxisA = Vector3.Normalize(new Vector3(-1, 0, 1)), Rigidity = 0.08f });
joints.Add(new IKBallSocketJoint(upperLeftLegBone, lowerLeftLegBone, upperLeftLegLowerLeftLegBallSocketAnchor));
joints.Add(new IKSwivelHingeJoint(upperLeftLegBone, lowerLeftLegBone, Vector3.Left, Vector3.Down));
joints.Add(new IKTwistLimit(upperLeftLegBone, lowerLeftLegBone, Vector3.Up, Vector3.Up, MathHelper.Pi * .1f) { Rigidity = 0.08f });
joints.Add(new IKSwingLimit(upperLeftLegBone, lowerLeftLegBone, Vector3.Normalize(new Vector3(0, -.23f, -.97f)), Vector3.Down, MathHelper.Pi * 0.435f));
joints.Add(new IKBallSocketJoint(lowerLeftLegBone, leftFootBone, lowerLeftLegLeftFootBallSocketAnchor));
joints.Add(new IKTwistJoint(lowerLeftLegBone, leftFootBone, Vector3.Down, Vector3.Down) { Rigidity = 0.08f });
joints.Add(new IKSwingLimit(lowerLeftLegBone, leftFootBone, Vector3.Normalize(new Vector3(0, -1, -.3f)), Vector3.Down, MathHelper.Pi * 0.22f));
//Right leg
joints.Add(new IKBallSocketJoint(bodyBone, upperRightLegBone, bodyUpperRightLegBallSocketAnchor));
joints.Add(new IKSwingLimit(bodyBone, upperRightLegBone, Vector3.Normalize(new Vector3(.3f, -1, .6f)), Vector3.Down, MathHelper.Pi * 0.6f));
joints.Add(new IKTwistLimit(bodyBone, upperRightLegBone, Vector3.Up, Vector3.Up, MathHelper.PiOver4) { MeasurementAxisA = Vector3.Normalize(new Vector3(1, 0, 1)), Rigidity = 0.08f });
joints.Add(new IKBallSocketJoint(upperRightLegBone, lowerRightLegBone, upperRightLegLowerRightLegBallSocketAnchor));
joints.Add(new IKSwivelHingeJoint(upperRightLegBone, lowerRightLegBone, Vector3.Right, Vector3.Down));
joints.Add(new IKTwistLimit(upperRightLegBone, lowerRightLegBone, Vector3.Up, Vector3.Up, MathHelper.Pi * .1f) { Rigidity = 0.08f });
joints.Add(new IKSwingLimit(upperRightLegBone, lowerRightLegBone, Vector3.Normalize(new Vector3(0, -.23f, -.97f)), Vector3.Down, MathHelper.Pi * 0.435f));
joints.Add(new IKBallSocketJoint(lowerRightLegBone, rightFootBone, lowerRightLegRightFootBallSocketAnchor));
joints.Add(new IKTwistJoint(lowerRightLegBone, rightFootBone, Vector3.Down, Vector3.Down) { Rigidity = 0.08f });
joints.Add(new IKSwingLimit(lowerRightLegBone, rightFootBone, Vector3.Normalize(new Vector3(0, -1, -.3f)), Vector3.Down, MathHelper.Pi * 0.22f));
}
public override void InitializeComponents()
{
Component shade;
Light shadeLight;
var toplink = new Component(Position, Quaternion.Identity, scalevec / 32.0f);
toplink.Mesh = new LPPMesh(segmentModel);
toplink.SetCollision(segmentPhys, true);
Components.Add(toplink);
Vector3 yVec = new Vector3(0.0f, scalevec.Y, 0.0f);
var lastlink = toplink;
for (int i = 0; i < numSegments; i++)
{
var link = new Component(Position - (yVec * (float)i * linklength), Quaternion.Identity, scalevec / 32.0f);
link.Mesh = new LPPMesh(segmentModel);
link.SetCollision(segmentPhys, false);
CollisionRules.AddRule(lastlink.Entity, link.Entity, CollisionRule.NoBroadPhase);
var joint = new DistanceJoint(lastlink.Entity, link.Entity, link.Position, link.Position);
joint.SpringSettings.Advanced.UseAdvancedSettings = true;
joint.SpringSettings.Advanced.ErrorReductionFactor = 0.99f;
joint.SpringSettings.Advanced.Softness = 0.1f;
Components.Add(link);
Components.Add(new DummyComponent(joint));
lastlink = link;
}
shade = new Component(Position - (yVec * ((numSegments * linklength) + 0.25f)), Quaternion.Identity, scalevec / 32.0f);
shade.Mesh = new LPPMesh(lampModel);
shadeLight = new Light();
shadeLight.LocalTransform = Matrix.CreateTranslation(yVec * -0.3f);
shadeLight.Shadow = true;
shadeLight.LightType = "BakedShadow";
shadeLight.Radius = 12.5f;
shadeLight.Intensity = 0.75f;
shadeLight.Color = lightColor;
PhysicsInfo PI = new PhysicsInfo(lampPhys);
PI.Density /= scalevec.Length() / Vector3.One.Length();
shade.SetCollision(PI, false);
shade.Lights.Add(shadeLight);
shade.Entity.Tag = new EntityTag(this, shade);
shadeLight = new Light();
shadeLight.Color = lightColor;
shadeLight.LocalTransform = Matrix.CreateTranslation(yVec);
shadeLight.Radius = 11.9f;
shadeLight.Intensity = 0.75f;
shadeLight.Shadow = false;
shade.Lights.Add(shadeLight);
shadeLight = new Light();
shadeLight.Intensity = 1.0f;
shadeLight.Radius = 0.5f;
shade.Lights.Add(shadeLight);
Components.Add(shade);
CollisionRules.AddRule(shade.Entity, lastlink.Entity, CollisionRule.NoBroadPhase);
var joint1 = new DistanceJoint(lastlink.Entity, shade.Entity, shade.Position, lastlink.Position);
joint1.SpringSettings.DampingConstant = 1000000f;
joint1.SpringSettings.StiffnessConstant = 600000f;
var angularMotor1 = new AngularMotor(lastlink.Entity, shade.Entity);
angularMotor1.Settings.MaximumForce = 50f;
Components.Add(new DummyComponent(joint1));
Components.Add(new DummyComponent(angularMotor1));
base.InitializeComponents();
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public UnfortunateGuyDemo(DemosGame game)
: base(game)
{
Entity ground = new Box(Vector3.Zero, 10, 1, 10);
Space.Add(ground);
//Rather than add basically redundant code for every limb, this demo
//focuses on a single arm, showing some extra details and limits.
//Make the torso.
var bodies = new List<CompoundShapeEntry>()
{
new CompoundShapeEntry(new BoxShape(2, 1.5f, 1), new Vector3(-1, 3, 0), 50),
new CompoundShapeEntry(new SphereShape(.45f), new Vector3(.4f, 3, 0), 1),
new CompoundShapeEntry(new SphereShape(.25f), new Vector3(-1.9f, 3.5f, 0), 1),
new CompoundShapeEntry(new SphereShape(.25f), new Vector3(-1.9f, 2.5f, 0), 1),
new CompoundShapeEntry(new SphereShape(.25f), new Vector3(-.3f, 2.3f, 0), 1)
};
var torso = new CompoundBody(bodies, 54);
Space.Add(torso);
//Make the upper arm.
Entity upperArm = new Box(torso.Position + new Vector3(1, 1.4f, 0), .4f, 1.2f, .4f, 8);
Space.Add(upperArm);
//A ball socket joint will handle the linear degrees of freedom between the two entities.
var ballSocketJoint = new BallSocketJoint(torso, upperArm, torso.Position + new Vector3(1, .7f, 0));
Space.Add(ballSocketJoint);
//Shoulders don't have a simple limit. The EllipseSwingLimit allows angles within an ellipse, which is closer to how some joints function
//than just flat planes (like two RevoluteLimits) or a single angle (like SwingLimits).
var swingLimit = new EllipseSwingLimit(torso, upperArm, Vector3.Up, MathHelper.PiOver2, MathHelper.PiOver4 * 3);
Space.Add(swingLimit);
//Upper arms can't spin around forever.
var twistLimit = new TwistLimit(torso, upperArm, Vector3.Up, Vector3.Up, -MathHelper.PiOver4 / 2, MathHelper.PiOver4);
twistLimit.SpringSettings.StiffnessConstant = 100;
twistLimit.SpringSettings.DampingConstant = 100;
Space.Add(twistLimit);
//Make the lower arm.
Entity lowerArm = new Box(upperArm.Position + new Vector3(0, 1.4f, 0), .35f, 1.3f, .35f, 8);
Space.Add(lowerArm);
var elbow = new SwivelHingeJoint(upperArm, lowerArm, upperArm.Position + new Vector3(0, .6f, 0), Vector3.Forward);
//Forearm can twist a little.
elbow.TwistLimit.IsActive = true;
elbow.TwistLimit.MinimumAngle = -MathHelper.PiOver4 / 2;
elbow.TwistLimit.MaximumAngle = MathHelper.PiOver4 / 2;
elbow.TwistLimit.SpringSettings.DampingConstant = 100;
elbow.TwistLimit.SpringSettings.StiffnessConstant = 100;
//The elbow is like a hinge, but it can't hyperflex.
elbow.HingeLimit.IsActive = true;
elbow.HingeLimit.MinimumAngle = 0;
elbow.HingeLimit.MaximumAngle = MathHelper.Pi * .7f;
Space.Add(elbow);
Entity hand = new Box(lowerArm.Position + new Vector3(0, .9f, 0), .4f, .55f, .25f, 3);
Space.Add(hand);
ballSocketJoint = new BallSocketJoint(lowerArm, hand, lowerArm.Position + new Vector3(0, .7f, 0));
Space.Add(ballSocketJoint);
//Wrists can use an ellipse limit too.
swingLimit = new EllipseSwingLimit(lowerArm, hand, Vector3.Up, MathHelper.PiOver4, MathHelper.PiOver2);
Space.Add(swingLimit);
//Allow a little extra twist beyond the forearm.
twistLimit = new TwistLimit(lowerArm, hand, Vector3.Up, Vector3.Up, -MathHelper.PiOver4 / 2, MathHelper.PiOver4 / 2);
twistLimit.SpringSettings.StiffnessConstant = 100;
twistLimit.SpringSettings.DampingConstant = 100;
Space.Add(twistLimit);
//The hand is pretty floppy without some damping.
var angularMotor = new AngularMotor(lowerArm, hand);
angularMotor.Settings.VelocityMotor.Softness = .5f;
Space.Add(angularMotor);
//Make sure the parts of the arm don't collide.
CollisionRules.AddRule(torso, upperArm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(lowerArm, upperArm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(lowerArm, hand, CollisionRule.NoBroadPhase);
game.Camera.Position = new Vector3(0, 4, 20);
}
public Ragdoll()
{
#region Ragdoll Entities
//Create the ragdoll's bones.
var pelvis = new Box(Vector3.Zero, .5f, .28f, .33f, 20);
var torsoBottom = new Box(pelvis.Position + new Vector3(0, .3f, 0), .42f, .48f, .3f, 15);
var torsoTop = new Box(torsoBottom.Position + new Vector3(0, .3f, 0), .5f, .38f, .32f, 20);
var neck = new Box(torsoTop.Position + new Vector3(0, .2f, .04f), .19f, .24f, .2f, 5);
var head = new Sphere(neck.Position + new Vector3(0, .22f, -.04f), .19f, 7);
var leftUpperArm = new Box(torsoTop.Position + new Vector3(-.46f, .1f, 0), .52f, .19f, .19f, 6);
var leftForearm = new Box(leftUpperArm.Position + new Vector3(-.5f, 0, 0), .52f, .18f, .18f, 5);
var leftHand = new Box(leftForearm.Position + new Vector3(-.35f, 0, 0), .28f, .13f, .22f, 4);
var rightUpperArm = new Box(torsoTop.Position + new Vector3(.46f, .1f, 0), .52f, .19f, .19f, 6);
var rightForearm = new Box(rightUpperArm.Position + new Vector3(.5f, 0, 0), .52f, .18f, .18f, 5);
var rightHand = new Box(rightForearm.Position + new Vector3(.35f, 0, 0), .28f, .13f, .22f, 4);
var leftThigh = new Box(pelvis.Position + new Vector3(-.15f, -.4f, 0), .23f, .63f, .23f, 10);
var leftShin = new Box(leftThigh.Position + new Vector3(0, -.6f, 0), .21f, .63f, .21f, 7);
var leftFoot = new Box(leftShin.Position + new Vector3(0, -.35f, -.1f), .23f, .15f, .43f, 5);
var rightThigh = new Box(pelvis.Position + new Vector3(.15f, -.4f, 0), .23f, .63f, .23f, 10);
var rightShin = new Box(rightThigh.Position + new Vector3(0, -.6f, 0), .21f, .63f, .21f, 7);
var rightFoot = new Box(rightShin.Position + new Vector3(0, -.35f, -.1f), .23f, .15f, .43f, 5);
#endregion
#region Bone List
//Make a convenient list of all of the bones.
bones.Add(pelvis);
bones.Add(torsoBottom);
bones.Add(torsoTop);
bones.Add(neck);
bones.Add(head);
bones.Add(leftUpperArm);
bones.Add(leftForearm);
bones.Add(leftHand);
bones.Add(rightUpperArm);
bones.Add(rightForearm);
bones.Add(rightHand);
bones.Add(leftThigh);
bones.Add(leftShin);
bones.Add(leftFoot);
bones.Add(rightThigh);
bones.Add(rightShin);
bones.Add(rightFoot);
#endregion
#region Collision Rules
//Prevent adjacent limbs from colliding.
CollisionRules.AddRule(pelvis, torsoBottom, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(torsoBottom, torsoTop, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(torsoTop, neck, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(neck, head, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(head, torsoTop, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(torsoTop, leftUpperArm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftUpperArm, leftForearm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftForearm, leftHand, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(torsoTop, rightUpperArm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightUpperArm, rightForearm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightForearm, rightHand, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(pelvis, leftThigh, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftThigh, leftShin, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftThigh, torsoBottom, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftShin, leftFoot, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(pelvis, rightThigh, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightThigh, rightShin, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightThigh, torsoBottom, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightShin, rightFoot, CollisionRule.NoBroadPhase);
#endregion
//Create the constraints between the bones.
#region Pelvis up to Head Constraints
var pelvisToTorsoBottomBallSocketJoint = new BallSocketJoint(pelvis, torsoBottom, pelvis.Position + new Vector3(0, .1f, 0));
var pelvisToTorsoBottomTwistLimit = new TwistLimit(pelvis, torsoBottom, Vector3.Up, Vector3.Up, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var pelvisToTorsoBottomSwingLimit = new SwingLimit(pelvis, torsoBottom, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
var pelvisToTorsoBottomMotor = new AngularMotor(pelvis, torsoBottom);
pelvisToTorsoBottomMotor.Settings.VelocityMotor.Softness = .05f;
var torsoBottomToTorsoTopBallSocketJoint = new BallSocketJoint(torsoBottom, torsoTop, torsoBottom.Position + new Vector3(0, .25f, 0));
var torsoBottomToTorsoTopSwingLimit = new SwingLimit(torsoBottom, torsoTop, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
var torsoBottomToTorsoTopTwistLimit = new TwistLimit(torsoBottom, torsoTop, Vector3.Up, Vector3.Up, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var torsoBottomToTorsoTopMotor = new AngularMotor(torsoBottom, torsoTop);
torsoBottomToTorsoTopMotor.Settings.VelocityMotor.Softness = .05f;
var torsoTopToNeckBallSocketJoint = new BallSocketJoint(torsoTop, neck, torsoTop.Position + new Vector3(0, .15f, .05f));
var torsoTopToNeckSwingLimit = new SwingLimit(torsoTop, neck, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
var torsoTopToNeckTwistLimit = new TwistLimit(torsoTop, neck, Vector3.Up, Vector3.Up, -MathHelper.Pi / 8, MathHelper.Pi / 8);
var torsoTopToNeckMotor = new AngularMotor(torsoTop, neck);
torsoTopToNeckMotor.Settings.VelocityMotor.Softness = .1f;
var neckToHeadBallSocketJoint = new BallSocketJoint(neck, head, neck.Position + new Vector3(0, .1f, .05f));
var neckToHeadTwistLimit = new TwistLimit(neck, head, Vector3.Up, Vector3.Up, -MathHelper.Pi / 8, MathHelper.Pi / 8);
var neckToHeadSwingLimit = new SwingLimit(neck, head, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
var neckToHeadMotor = new AngularMotor(neck, head);
neckToHeadMotor.Settings.VelocityMotor.Softness = .1f;
#endregion
#region Left Arm
var torsoTopToLeftArmBallSocketJoint = new BallSocketJoint(torsoTop, leftUpperArm, torsoTop.Position + new Vector3(-.3f, .1f, 0));
var torsoTopToLeftArmEllipseLimit = new EllipseSwingLimit(torsoTop, leftUpperArm, Vector3.Left, MathHelper.Pi * .75f, MathHelper.PiOver2);
var torsoTopToLeftArmTwistLimit = new TwistLimit(torsoTop, leftUpperArm, Vector3.Left, Vector3.Left, -MathHelper.PiOver2, MathHelper.PiOver2);
var torsoTopToLeftArmMotor = new AngularMotor(torsoTop, leftUpperArm);
torsoTopToLeftArmMotor.Settings.VelocityMotor.Softness = .2f;
var leftUpperArmToLeftForearmSwivelHingeJoint = new SwivelHingeJoint(leftUpperArm, leftForearm, leftUpperArm.Position + new Vector3(-.28f, 0, 0), Vector3.Up);
leftUpperArmToLeftForearmSwivelHingeJoint.HingeLimit.IsActive = true;
leftUpperArmToLeftForearmSwivelHingeJoint.TwistLimit.IsActive = true;
leftUpperArmToLeftForearmSwivelHingeJoint.TwistLimit.MinimumAngle = -MathHelper.Pi / 8;
leftUpperArmToLeftForearmSwivelHingeJoint.TwistLimit.MaximumAngle = MathHelper.Pi / 8;
leftUpperArmToLeftForearmSwivelHingeJoint.HingeLimit.MinimumAngle = -MathHelper.Pi * .8f;
leftUpperArmToLeftForearmSwivelHingeJoint.HingeLimit.MaximumAngle = 0;
//The SwivelHingeJoint has motors, but they are separately defined for twist/bending.
//The AngularMotor covers all degrees of freedom.
var leftUpperArmToLeftForearmMotor = new AngularMotor(leftUpperArm, leftForearm);
leftUpperArmToLeftForearmMotor.Settings.VelocityMotor.Softness = .3f;
var leftForearmToLeftHandBallSocketJoint = new BallSocketJoint(leftForearm, leftHand, leftForearm.Position + new Vector3(-.2f, 0, 0));
var leftForearmToLeftHandEllipseSwingLimit = new EllipseSwingLimit(leftForearm, leftHand, Vector3.Left, MathHelper.PiOver2, MathHelper.Pi / 6);
var leftForearmToLeftHandTwistLimit = new TwistLimit(leftForearm, leftHand, Vector3.Left, Vector3.Left, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var leftForearmToLeftHandMotor = new AngularMotor(leftForearm, leftHand);
leftForearmToLeftHandMotor.Settings.VelocityMotor.Softness = .4f;
#endregion
#region Right Arm
var torsoTopToRightArmBallSocketJoint = new BallSocketJoint(torsoTop, rightUpperArm, torsoTop.Position + new Vector3(.3f, .1f, 0));
var torsoTopToRightArmEllipseLimit = new EllipseSwingLimit(torsoTop, rightUpperArm, Vector3.Right, MathHelper.Pi * .75f, MathHelper.PiOver2);
var torsoTopToRightArmTwistLimit = new TwistLimit(torsoTop, rightUpperArm, Vector3.Right, Vector3.Right, -MathHelper.PiOver2, MathHelper.PiOver2);
var torsoTopToRightArmMotor = new AngularMotor(torsoTop, rightUpperArm);
torsoTopToRightArmMotor.Settings.VelocityMotor.Softness = .2f;
var rightUpperArmToRightForearmSwivelHingeJoint = new SwivelHingeJoint(rightUpperArm, rightForearm, rightUpperArm.Position + new Vector3(.28f, 0, 0), Vector3.Up);
rightUpperArmToRightForearmSwivelHingeJoint.HingeLimit.IsActive = true;
rightUpperArmToRightForearmSwivelHingeJoint.TwistLimit.IsActive = true;
rightUpperArmToRightForearmSwivelHingeJoint.TwistLimit.MinimumAngle = -MathHelper.Pi / 8;
rightUpperArmToRightForearmSwivelHingeJoint.TwistLimit.MaximumAngle = MathHelper.Pi / 8;
rightUpperArmToRightForearmSwivelHingeJoint.HingeLimit.MinimumAngle = 0;
rightUpperArmToRightForearmSwivelHingeJoint.HingeLimit.MaximumAngle = MathHelper.Pi * .8f;
//The SwivelHingeJoint has motors, but they are separately defined for twist/bending.
//The AngularMotor covers all degrees of freedom.
var rightUpperArmToRightForearmMotor = new AngularMotor(rightUpperArm, rightForearm);
rightUpperArmToRightForearmMotor.Settings.VelocityMotor.Softness = .3f;
var rightForearmToRightHandBallSocketJoint = new BallSocketJoint(rightForearm, rightHand, rightForearm.Position + new Vector3(.2f, 0, 0));
var rightForearmToRightHandEllipseSwingLimit = new EllipseSwingLimit(rightForearm, rightHand, Vector3.Right, MathHelper.PiOver2, MathHelper.Pi / 6);
var rightForearmToRightHandTwistLimit = new TwistLimit(rightForearm, rightHand, Vector3.Right, Vector3.Right, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var rightForearmToRightHandMotor = new AngularMotor(rightForearm, rightHand);
rightForearmToRightHandMotor.Settings.VelocityMotor.Softness = .4f;
#endregion
#region Left Leg
var pelvisToLeftThighBallSocketJoint = new BallSocketJoint(pelvis, leftThigh, pelvis.Position + new Vector3(-.15f, -.1f, 0));
var pelvisToLeftThighEllipseSwingLimit = new EllipseSwingLimit(pelvis, leftThigh, Vector3.Normalize(new Vector3(-.2f, -1, -.6f)), MathHelper.Pi * .7f, MathHelper.PiOver4);
pelvisToLeftThighEllipseSwingLimit.LocalTwistAxisB = Vector3.Down;
var pelvisToLeftThighTwistLimit = new TwistLimit(pelvis, leftThigh, Vector3.Down, Vector3.Down, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var pelvisToLeftThighMotor = new AngularMotor(pelvis, leftThigh);
pelvisToLeftThighMotor.Settings.VelocityMotor.Softness = .1f;
var leftThighToLeftShinRevoluteJoint = new RevoluteJoint(leftThigh, leftShin, leftThigh.Position + new Vector3(0, -.3f, 0), Vector3.Right);
leftThighToLeftShinRevoluteJoint.Limit.IsActive = true;
leftThighToLeftShinRevoluteJoint.Limit.MinimumAngle = -MathHelper.Pi * .8f;
leftThighToLeftShinRevoluteJoint.Limit.MaximumAngle = 0;
leftThighToLeftShinRevoluteJoint.Motor.IsActive = true;
leftThighToLeftShinRevoluteJoint.Motor.Settings.VelocityMotor.Softness = .2f;
var leftShinToLeftFootBallSocketJoint = new BallSocketJoint(leftShin, leftFoot, leftShin.Position + new Vector3(0, -.3f, 0));
var leftShinToLeftFootSwingLimit = new SwingLimit(leftShin, leftFoot, Vector3.Forward, Vector3.Forward, MathHelper.Pi / 8);
var leftShinToLeftFootTwistLimit = new TwistLimit(leftShin, leftFoot, Vector3.Down, Vector3.Forward, -MathHelper.Pi / 8, MathHelper.Pi / 8);
var leftShinToLeftFootMotor = new AngularMotor(leftShin, leftFoot);
leftShinToLeftFootMotor.Settings.VelocityMotor.Softness = .2f;
#endregion
#region Right Leg
var pelvisToRightThighBallSocketJoint = new BallSocketJoint(pelvis, rightThigh, pelvis.Position + new Vector3(.15f, -.1f, 0));
var pelvisToRightThighEllipseSwingLimit = new EllipseSwingLimit(pelvis, rightThigh, Vector3.Normalize(new Vector3(.2f, -1, -.6f)), MathHelper.Pi * .7f, MathHelper.PiOver4);
pelvisToRightThighEllipseSwingLimit.LocalTwistAxisB = Vector3.Down;
var pelvisToRightThighTwistLimit = new TwistLimit(pelvis, rightThigh, Vector3.Down, Vector3.Down, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var pelvisToRightThighMotor = new AngularMotor(pelvis, rightThigh);
pelvisToRightThighMotor.Settings.VelocityMotor.Softness = .1f;
var rightThighToRightShinRevoluteJoint = new RevoluteJoint(rightThigh, rightShin, rightThigh.Position + new Vector3(0, -.3f, 0), Vector3.Right);
rightThighToRightShinRevoluteJoint.Limit.IsActive = true;
rightThighToRightShinRevoluteJoint.Limit.MinimumAngle = -MathHelper.Pi * .8f;
rightThighToRightShinRevoluteJoint.Limit.MaximumAngle = 0;
rightThighToRightShinRevoluteJoint.Motor.IsActive = true;
rightThighToRightShinRevoluteJoint.Motor.Settings.VelocityMotor.Softness = .2f;
var rightShinToRightFootBallSocketJoint = new BallSocketJoint(rightShin, rightFoot, rightShin.Position + new Vector3(0, -.3f, 0));
var rightShinToRightFootSwingLimit = new SwingLimit(rightShin, rightFoot, Vector3.Forward, Vector3.Forward, MathHelper.Pi / 8);
var rightShinToRightFootTwistLimit = new TwistLimit(rightShin, rightFoot, Vector3.Down, Vector3.Forward, -MathHelper.Pi / 8, MathHelper.Pi / 8);
var rightShinToRightFootMotor = new AngularMotor(rightShin, rightFoot);
rightShinToRightFootMotor.Settings.VelocityMotor.Softness = .2f;
#endregion
#region Joint List
//Collect the joints.
joints.Add(pelvisToTorsoBottomBallSocketJoint);
joints.Add(pelvisToTorsoBottomTwistLimit);
joints.Add(pelvisToTorsoBottomSwingLimit);
joints.Add(pelvisToTorsoBottomMotor);
joints.Add(torsoBottomToTorsoTopBallSocketJoint);
joints.Add(torsoBottomToTorsoTopTwistLimit);
joints.Add(torsoBottomToTorsoTopSwingLimit);
joints.Add(torsoBottomToTorsoTopMotor);
joints.Add(torsoTopToNeckBallSocketJoint);
joints.Add(torsoTopToNeckTwistLimit);
joints.Add(torsoTopToNeckSwingLimit);
joints.Add(torsoTopToNeckMotor);
joints.Add(neckToHeadBallSocketJoint);
joints.Add(neckToHeadTwistLimit);
joints.Add(neckToHeadSwingLimit);
joints.Add(neckToHeadMotor);
joints.Add(torsoTopToLeftArmBallSocketJoint);
joints.Add(torsoTopToLeftArmEllipseLimit);
joints.Add(torsoTopToLeftArmTwistLimit);
joints.Add(torsoTopToLeftArmMotor);
joints.Add(leftUpperArmToLeftForearmSwivelHingeJoint);
joints.Add(leftUpperArmToLeftForearmMotor);
joints.Add(leftForearmToLeftHandBallSocketJoint);
joints.Add(leftForearmToLeftHandEllipseSwingLimit);
joints.Add(leftForearmToLeftHandTwistLimit);
joints.Add(leftForearmToLeftHandMotor);
joints.Add(torsoTopToRightArmBallSocketJoint);
joints.Add(torsoTopToRightArmEllipseLimit);
joints.Add(torsoTopToRightArmTwistLimit);
joints.Add(torsoTopToRightArmMotor);
joints.Add(rightUpperArmToRightForearmSwivelHingeJoint);
joints.Add(rightUpperArmToRightForearmMotor);
joints.Add(rightForearmToRightHandBallSocketJoint);
joints.Add(rightForearmToRightHandEllipseSwingLimit);
joints.Add(rightForearmToRightHandTwistLimit);
joints.Add(rightForearmToRightHandMotor);
joints.Add(pelvisToLeftThighBallSocketJoint);
joints.Add(pelvisToLeftThighEllipseSwingLimit);
joints.Add(pelvisToLeftThighTwistLimit);
joints.Add(pelvisToLeftThighMotor);
joints.Add(leftThighToLeftShinRevoluteJoint);
joints.Add(leftShinToLeftFootBallSocketJoint);
joints.Add(leftShinToLeftFootSwingLimit);
joints.Add(leftShinToLeftFootTwistLimit);
joints.Add(leftShinToLeftFootMotor);
joints.Add(pelvisToRightThighBallSocketJoint);
joints.Add(pelvisToRightThighEllipseSwingLimit);
joints.Add(pelvisToRightThighTwistLimit);
joints.Add(pelvisToRightThighMotor);
joints.Add(rightThighToRightShinRevoluteJoint);
joints.Add(rightShinToRightFootBallSocketJoint);
joints.Add(rightShinToRightFootSwingLimit);
joints.Add(rightShinToRightFootTwistLimit);
joints.Add(rightShinToRightFootMotor);
#endregion
}