internal DigitalRuneHingeJoint(HingeJointDescriptor descriptor)
{
WrappedHingeJoint = new HingeJoint();
#region set RigidBodies
if (!(descriptor.RigidBodyA is RigidBody))
throw new ArgumentException(String.Format("The type of the property 'RigidBodyA' must be '{0}'.", typeof(RigidBody)));
WrappedHingeJoint.BodyA = ((RigidBody)descriptor.RigidBodyA).WrappedRigidBody;
_rigidBodyA = descriptor.RigidBodyA;
if (!(descriptor.RigidBodyB is RigidBody))
throw new ArgumentException("The type of the property 'RigidBodyB' must be 'System.Physics.DigitalRune.RigidBody'.");
WrappedHingeJoint.BodyB = ((RigidBody)descriptor.RigidBodyB).WrappedRigidBody;
_rigidBodyB = descriptor.RigidBodyB;
#endregion
WrappedHingeJoint.AnchorPoseALocal = descriptor.AnchorPoseALocal.ToDigitalRune();
WrappedHingeJoint.AnchorPoseBLocal = descriptor.AnchorPoseBLocal.ToDigitalRune();
WrappedHingeJoint.Maximum = descriptor.MaximumAngle;
WrappedHingeJoint.Minimum = descriptor.MinimumAngle;
Descriptor = descriptor;
}
public ConstraintSample3(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- HingeJoint with AngularVelocityMotor
// A board is fixed on a pole like a wind wheel.
// An AngularVelocityMotor creates a rotation with constant angular velocity around the
// hinge axis.
RigidBody box0 = new RigidBody(new BoxShape(0.1f, 2f, 0.1f))
{
Pose = new Pose(new Vector3F(-2, 1, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(box0);
RigidBody box1 = new RigidBody(new BoxShape(0.1f, 0.4f, 1f))
{
Pose = new Pose(new Vector3F(-2 + 0.05f, 1.8f, 0))
};
Simulation.RigidBodies.Add(box1);
HingeJoint hingeJoint = new HingeJoint
{
BodyA = box0,
BodyB = box1,
AnchorPoseALocal = new Pose(new Vector3F(0.05f, 0.8f, 0)),
AnchorPoseBLocal = new Pose(new Vector3F(-0.05f, 0, 0)),
CollisionEnabled = false,
};
Simulation.Constraints.Add(hingeJoint);
AngularVelocityMotor angularVelocityMotor = new AngularVelocityMotor
{
BodyA = box0,
// The rotation axis is the local x axis of BodyA.
AxisALocal = Vector3F.UnitX,
BodyB = box1,
TargetVelocity = 10,
// The motor power is limit, so that the rotation can be stopped by other objects blocking
// the movement.
MaxForce = 10000,
// The HingeJoint controls all other axes. So this motor must only act on the hinge
// axis.
UseSingleAxisMode = true,
CollisionEnabled = false,
};
Simulation.Constraints.Add(angularVelocityMotor);
// ----- A PrismaticJoint with a LinearVelocityMotor.
RigidBody box2 = new RigidBody(new BoxShape(0.7f, 0.7f, 0.7f))
{
Pose = new Pose(new Vector3F(0, 2, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(box2);
RigidBody box3 = new RigidBody(new BoxShape(0.5f, 1.5f, 0.5f))
{
Pose = new Pose(new Vector3F(0, 1, 0))
};
Simulation.RigidBodies.Add(box3);
_prismaticJoint = new PrismaticJoint
{
BodyA = box2,
BodyB = box3,
AnchorPoseALocal = new Pose(new Vector3F(0, 0, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
AnchorPoseBLocal = new Pose(new Vector3F(0, 0, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
CollisionEnabled = false,
};
Simulation.Constraints.Add(_prismaticJoint);
_linearVelocityMotor = new LinearVelocityMotor
{
BodyA = box2,
AxisALocal = -Vector3F.UnitY,
BodyB = box3,
TargetVelocity = 1,
CollisionEnabled = false,
MaxForce = 10000,
UseSingleAxisMode = true,
};
Simulation.Constraints.Add(_linearVelocityMotor);
// ----- A BallJoint with a TwistSwingLimit and a QuaternionMotor
// The ball joint connects a cylinder to a static box.
// The twist-swing limits rotational movement.
// The quaternion motor acts like a spring that controls the angle of joint.
RigidBody box4 = new RigidBody(new BoxShape(0.5f, 0.5f, 0.5f))
{
Pose = new Pose(new Vector3F(2, 2, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(box4);
RigidBody cylinder0 = new RigidBody(new CylinderShape(0.1f, 0.75f))
{
Pose = new Pose(new Vector3F(2, 2 - 0.75f / 2 - 0.25f, 0))
};
Simulation.RigidBodies.Add(cylinder0);
_ballJoint = new BallJoint
{
BodyA = box4,
BodyB = cylinder0,
AnchorPositionALocal = new Vector3F(0, -0.25f, 0),
AnchorPositionBLocal = new Vector3F(0, 0.75f / 2, 0),
CollisionEnabled = false,
};
Simulation.Constraints.Add(_ballJoint);
_twistSwingLimit = new TwistSwingLimit
{
BodyA = box4,
// The first column is the twist axis (-y). The other two columns are the swing axes.
AnchorOrientationALocal = new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1),
BodyB = cylinder0,
AnchorOrientationBLocal = new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1),
CollisionEnabled = false,
// The twist is limited to +/- 10°. The swing limits are +/- 40° and +/- 60°. This creates
// a deformed cone that limits the swing movements (see visualization).
Minimum = new Vector3F(-MathHelper.ToRadians(10), -MathHelper.ToRadians(40), -MathHelper.ToRadians(60)),
Maximum = new Vector3F(MathHelper.ToRadians(10), MathHelper.ToRadians(40), MathHelper.ToRadians(60)),
};
Simulation.Constraints.Add(_twistSwingLimit);
QuaternionMotor quaternionMotor = new QuaternionMotor
{
BodyA = box4,
AnchorOrientationALocal = Matrix33F.Identity,
BodyB = cylinder0,
AnchorOrientationBLocal = Matrix33F.Identity,
CollisionEnabled = false,
// The QuaternionMotor controls the orientation of the second body relative to the first
// body. Here, we define that the cylinder should swing 30° away from the default
// orientation.
TargetOrientation = QuaternionF.CreateRotationZ(MathHelper.ToRadians(30)),
// Position and orientation motors are similar to damped-springs. We can control
// the stiffness and damping of the spring. (It is also possible to set the SpringConstant
// to 0 if the QuaternionMotor should only act as a rotational damping.)
SpringConstant = 100,
DampingConstant = 20,
};
Simulation.Constraints.Add(quaternionMotor);
}
public ConstraintSample1(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// Tip: It is best to initialize bodies in a position where the constraints are
// satisfied - but even if they are initialized in other poses, the simulation
// will try to move them to the correct positions.
// ----- FixedJoint
// Create two boxes and connect them with a FixedJoint.
RigidBody box0 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(-5, 3, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(box0);
RigidBody box1 = new RigidBody(new BoxShape(1.2f, 1.2f, 1.2f))
{
Pose = new Pose(new Vector3F(-5, 3 - 1.2f, 0))
};
Simulation.RigidBodies.Add(box1);
FixedJoint fixedJoint = new FixedJoint
{
BodyA = box0,
// The attachment point on the first box is at the bottom of the box.
AnchorPoseALocal = new Pose(new Vector3F(0, -0.5f, 0)),
BodyB = box1,
// The attachment point on the second box is at the top of the box.
AnchorPoseBLocal = new Pose(new Vector3F(0, 0.6f, 0)),
// Disable collision between the connected bodies.
CollisionEnabled = false,
};
Simulation.Constraints.Add(fixedJoint);
// ----- BallJoint
// Create two boxes and connect a corner of the second box with a ball-and-socked joint
// to the first box.
RigidBody box2 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(-3, 3, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(box2);
RigidBody box3 = new RigidBody(new BoxShape(1.2f, 1.2f, 1.2f))
{
Pose = new Pose(new Vector3F(-3, 3, 0))
};
Simulation.RigidBodies.Add(box3);
BallJoint ballJoint = new BallJoint
{
BodyA = box2,
// The attachment point on the first box is at the box bottom.
AnchorPositionALocal = new Vector3F(0, -0.5f, 0),
BodyB = box3,
// The attachment point on the second box is a corner of the box.
AnchorPositionBLocal = new Vector3F(0.6f, 0.6f, 0.6f),
};
Simulation.Constraints.Add(ballJoint);
// ----- PrismaticJoint
// A prismatic joint is like a slider (without rotation around the slider axis).
RigidBody box4 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(-1, 3, 0)),
};
Simulation.RigidBodies.Add(box4);
RigidBody box5 = new RigidBody(new BoxShape(0.5f, 1.5f, 0.5f))
{
Pose = new Pose(new Vector3F(-1, 3 - 0.5f, 0))
};
Simulation.RigidBodies.Add(box5);
PrismaticJoint prismaticJoint = new PrismaticJoint
{
BodyA = box4,
// The attachment point on the first box is in the center of the box.
// The slider joint allows linear movement along the first constraint axis.
// --> To define the constraint anchor orientation:
// The columns are the axes. We set the local -y axis in the first column. This is the
// slider axis. The other two columns are two orthonormal axes.
// (All three columns are orthonormal and form a valid rotation matrix.)
AnchorPoseALocal = new Pose(new Vector3F(0, 0, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
BodyB = box5,
// The attachment point on the second box is at the top of the box.
AnchorPoseBLocal = new Pose(new Vector3F(0, 0.75f, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
CollisionEnabled = false,
// The slider axis is -y. We limit the up movement, so that the anchor point on the second
// body can slide up to the anchor point on the first body, but not higher.
Minimum = 0,
// The second body can slide down until the anchor points have a max. distance of 0.5.
Maximum = 0.5f,
};
Simulation.Constraints.Add(prismaticJoint);
// ----- CylindricalJoint
// A cylindrical joint is a slider that allows rotation around the slider axis.
RigidBody box6 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(1, 3, 0)),
};
Simulation.RigidBodies.Add(box6);
RigidBody box7 = new RigidBody(new BoxShape(0.5f, 1.5f, 0.5f))
{
Pose = new Pose(new Vector3F(1, 3 - 0.5f, 0))
};
Simulation.RigidBodies.Add(box7);
CylindricalJoint cylindricalJoint = new CylindricalJoint
{
BodyA = box6,
AnchorPoseALocal = new Pose(new Vector3F(0, 0, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
BodyB = box7,
AnchorPoseBLocal = new Pose(new Vector3F(0, 0.75f, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
CollisionEnabled = false,
// The linear movement limits on the slider axis.
LinearMinimum = 0,
LinearMaximum = 0.5f,
// The rotation limits around the slider axis (in radians). Here, we allow free
// rotations.
AngularMinimum = float.NegativeInfinity,
AngularMaximum = float.PositiveInfinity,
};
Simulation.Constraints.Add(cylindricalJoint);
// ----- HingeJoint
// Hinge joints allow rotations around one axis. They can be used to model swinging doors
// or rotating wheels.
RigidBody cylinder0 = new RigidBody(new CylinderShape(0.1f, 2f))
{
Pose = new Pose(new Vector3F(3, 1, 0)),
MotionType = MotionType.Static
};
Simulation.RigidBodies.Add(cylinder0);
RigidBody box8 = new RigidBody(new BoxShape(1f, 1.8f, 0.1f))
{
Pose = new Pose(new Vector3F(3 + 0.5f, 1, 0))
};
Simulation.RigidBodies.Add(box8);
HingeJoint hingeJoint = new HingeJoint
{
BodyA = cylinder0,
AnchorPoseALocal = new Pose(new Vector3F(0, 0, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
BodyB = box8,
AnchorPoseBLocal = new Pose(new Vector3F(-0.5f, 0, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
CollisionEnabled = false,
// The rotation limits around the hinge axis (in radians).
Minimum = -ConstantsF.PiOver2,
Maximum = ConstantsF.PiOver2,
};
Simulation.Constraints.Add(hingeJoint);
}
// Using a softness value > 0 is important to give the ragdoll a more natural movement and to
// avoid jittering.
public static void AddRagdoll(Simulation simulation, float scale, Vector3F ragdollPosition, float softness, bool addDamping)
{
// 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 modeler or a game editor.
#region ----- Create rigid bodies for the most relevant body parts -----
// The density used for all bodies.
const float density = 1000;
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 -----
float errorReduction = 0.3f;
float maxForce = float.PositiveInfinity;
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 = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
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 = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
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 = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
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 = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
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 = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
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 = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
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 = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
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 = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
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 = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
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 = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
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 = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
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 = errorReduction,
Softness = softness,
MaxForce = maxForce,
};
simulation.Constraints.Add(rightAnkleJoint);
#endregion
#region ----- Add damping to improve stability -----
if (addDamping)
{
// Damping removes jiggling and improves stability.
softness = 0.05f;
maxForce = float.PositiveInfinity;
AddDamping(simulation, pelvis, torso, softness, maxForce);
AddDamping(simulation, torso, head, softness, maxForce);
AddDamping(simulation, torso, leftUpperArm, softness, maxForce);
AddDamping(simulation, leftUpperArm, leftLowerArm, softness, maxForce);
AddDamping(simulation, torso, rightUpperArm, softness, maxForce);
AddDamping(simulation, rightUpperArm, rightLowerArm, softness, maxForce);
AddDamping(simulation, pelvis, leftUpperLeg, softness, maxForce);
AddDamping(simulation, pelvis, rightUpperLeg, softness, maxForce);
AddDamping(simulation, leftUpperLeg, leftLowerLeg, softness, maxForce);
AddDamping(simulation, rightUpperLeg, rightLowerLeg, softness, maxForce);
AddDamping(simulation, leftLowerLeg, leftFoot, softness, maxForce);
AddDamping(simulation, rightLowerLeg, rightFoot, softness, maxForce);
}
#endregion
}
public ConstraintCarSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Create a material with high friction - this will be used for the ground and the wheels
// to give the wheels some traction.
UniformMaterial roughMaterial = new UniformMaterial
{
DynamicFriction = 1,
StaticFriction = 1,
};
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0), null, roughMaterial)
{
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// Now, we build a car out of one box for the chassis and 4 cylindric wheels.
// Front wheels are fixed with Hinge2Joints and motorized with AngularVelocityMotors.
// Back wheels are fixed with HingeJoints and not motorized. - This creates a sloppy
// car configuration. Please note that cars for racing games are not normally built with
// simple constraints - nevertheless, it is funny to do and play with it.
// Check out the "Vehicle Sample" (not included in this project)! The "Vehicle Sample"
// provides a robust ray-car implementation.)
// ----- Chassis
BoxShape chassisShape = new BoxShape(1.7f, 1, 4f);
MassFrame chassisMass = MassFrame.FromShapeAndDensity(chassisShape, Vector3F.One, 200, 0.01f, 3);
// Here is a trick: The car topples over very easily. By lowering the center of mass we
// make it more stable.
chassisMass.Pose = new Pose(new Vector3F(0, -1, 0));
RigidBody chassis = new RigidBody(chassisShape, chassisMass, null)
{
Pose = new Pose(new Vector3F(0, 1, 0)),
};
Simulation.RigidBodies.Add(chassis);
// ------ Wheels
CylinderShape cylinderShape = new CylinderShape(0.4f, 0.3f);
MassFrame wheelMass = MassFrame.FromShapeAndDensity(cylinderShape, Vector3F.One, 500, 0.01f, 3);
RigidBody wheelFrontLeft = new RigidBody(cylinderShape, wheelMass, roughMaterial)
{
Pose = new Pose(new Vector3F(0, 1, 0), Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(wheelFrontLeft);
RigidBody wheelFrontRight = new RigidBody(cylinderShape, wheelMass, roughMaterial)
{
Pose = new Pose(new Vector3F(0, 1, 0), Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(wheelFrontRight);
RigidBody wheelBackLeft = new RigidBody(cylinderShape, wheelMass, roughMaterial)
{
Pose = new Pose(new Vector3F(0, 1, 0), Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(wheelBackLeft);
RigidBody wheelBackRight = new RigidBody(cylinderShape, wheelMass, roughMaterial)
{
Pose = new Pose(new Vector3F(0, 1, 0), Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(wheelBackRight);
// ----- Hinge2Joints for the front wheels.
// A Hinge2Joint allows a limited rotation on the first constraint axis - the steering
// axis. The second constraint axis is locked and the third constraint axis is the
// rotation axis of the wheels.
_frontLeftHinge = new Hinge2Joint
{
BodyA = chassis,
// --> To define the constraint anchor orientation for the chassis:
// The columns are the axes. We set the local y axis in the first column. This is
// steering axis. In the last column we set the -x axis. This is the wheel rotation axis.
// In the middle column is a vector that is normal to the first and last axis.
// (All three columns are orthonormal and form a valid rotation matrix.)
AnchorPoseALocal = new Pose(new Vector3F(-0.9f, -0.4f, -1.4f),
new Matrix33F(0, 0, -1,
1, 0, 0,
0, -1, 0)),
BodyB = wheelFrontLeft,
// --> To define the constraint anchor orientation for the chassis:
// The columns are the axes. We set the local x axis in the first column. This is
// steering axis. In the last column we set the y axis. This is the wheel rotation axis.
// (In local space of a cylinder the cylinder axis is the +y axis.)
// In the middle column is a vector that is normal to the first and last axis.
// (All three columns are orthonormal and form a valid rotation matrix.)
AnchorPoseBLocal = new Pose(new Matrix33F(1, 0, 0,
0, 0, 1,
0, -1, 0)),
CollisionEnabled = false,
Minimum = new Vector2F(-0.7f, float.NegativeInfinity),
Maximum = new Vector2F(0.7f, float.PositiveInfinity),
};
Simulation.Constraints.Add(_frontLeftHinge);
_frontRightHinge = new Hinge2Joint
{
BodyA = chassis,
BodyB = wheelFrontRight,
AnchorPoseALocal = new Pose(new Vector3F(0.9f, -0.4f, -1.4f),
new Matrix33F(0, 0, -1,
1, 0, 0,
0, -1, 0)),
AnchorPoseBLocal = new Pose(new Matrix33F(1, 0, 0,
0, 0, 1,
0, -1, 0)),
CollisionEnabled = false,
Minimum = new Vector2F(-0.7f, float.NegativeInfinity),
Maximum = new Vector2F(0.7f, float.PositiveInfinity),
};
Simulation.Constraints.Add(_frontRightHinge);
// ----- HingeJoints for the back wheels.
// Hinges allow free rotation on the first constraint axis.
HingeJoint backLeftHinge = new HingeJoint
{
BodyA = chassis,
AnchorPoseALocal = new Pose(new Vector3F(-0.9f, -0.4f, 1.4f)),
BodyB = wheelBackLeft,
// --> To define the constraint anchor orientation:
// The columns are the axes. We set the local y axis in the first column. This is
// cylinder axis and should be the hinge axis. In the other two columns we set two
// orthonormal vectors.
// (All three columns are orthonormal and form a valid rotation matrix.)
AnchorPoseBLocal = new Pose(new Matrix33F(0, 0, 1,
1, 0, 0,
0, 1, 0)),
CollisionEnabled = false,
};
Simulation.Constraints.Add(backLeftHinge);
HingeJoint backRightHinge = new HingeJoint
{
BodyA = chassis,
AnchorPoseALocal = new Pose(new Vector3F(0.9f, -0.4f, 1.4f)),
BodyB = wheelBackRight,
AnchorPoseBLocal = new Pose(new Matrix33F(0, 0, 1,
1, 0, 0,
0, 1, 0)),
CollisionEnabled = false,
};
Simulation.Constraints.Add(backRightHinge);
// ----- Motors for the front wheels.
// (Motor axes and target velocities are set in Update() below.)
_frontLeftMotor = new AngularVelocityMotor
{
BodyA = chassis,
BodyB = wheelFrontLeft,
CollisionEnabled = false,
// We use "single axis mode", which means the motor drives only on axis and does not
// block motion orthogonal to this axis. - Rotation about the orthogonal axes is already
// controlled by the Hinge2Joint.
UseSingleAxisMode = true,
// The motor has only limited power:
MaxForce = 50000,
};
Simulation.Constraints.Add(_frontLeftMotor);
_frontRightMotor = new AngularVelocityMotor
{
BodyA = chassis,
BodyB = wheelFrontRight,
CollisionEnabled = false,
UseSingleAxisMode = true,
MaxForce = 50000,
};
Simulation.Constraints.Add(_frontRightMotor);
// ----- Drop a few boxes to create obstacles.
BoxShape boxShape = new BoxShape(1, 1, 1);
MassFrame boxMass = MassFrame.FromShapeAndDensity(boxShape, Vector3F.One, 100, 0.01f, 3);
for (int i = 0; i < 20; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-20, 20);
position.Y = 5;
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
RigidBody body = new RigidBody(boxShape, boxMass, null)
{
Pose = new Pose(position, orientation),
};
Simulation.RigidBodies.Add(body);
}
}
public BridgeSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// We add another damping effect that acts only on the suspension bridge parts.
// This damping uses higher damping factors than the standard damping. It makes the
// bridge movement smoother and more stable.
// We use a ListAreaOfEffect. So the additional damping acts only on bodies in this list.
ListAreaOfEffect boardList = new ListAreaOfEffect(new List<RigidBody>());
Damping damping = new Damping
{
AreaOfEffect = boardList,
AngularDamping = 1f,
LinearDamping = 0.5f
};
Simulation.ForceEffects.Add(damping);
const int numberOfBoards = 20;
BoxShape boardShape = new BoxShape(0.8f, 0.1f, 1.5f);
RigidBody lastBoard = null;
for (int i = 0; i < numberOfBoards; i++)
{
// A single plank of the bridge.
RigidBody body = new RigidBody(boardShape)
{
Pose = new Pose(new Vector3F(-10 + boardShape.WidthX * i, 4, 0))
};
Simulation.RigidBodies.Add(body);
// Add the body to the list of the additional damping force effect.
boardList.RigidBodies.Add(body);
if (lastBoard != null)
{
// Connect the last body with current body using a hinge.
HingeJoint hinge = new HingeJoint
{
BodyA = lastBoard,
// The attachment point is at the right side of the board.
// --> To define the constraint anchor orientation:
// The columns are the axes. We set the local z axis in the first column. This is
// the hinge axis. In the other two columns we set two orthonormal vectors.
// (All three columns are orthonormal and form a valid rotation matrix.)
AnchorPoseALocal = new Pose(new Vector3F(boardShape.WidthX / 2, 0, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
BodyB = body,
// The attachment point is at the left side of the board.
// The anchor orientation is defined as above.
AnchorPoseBLocal = new Pose(new Vector3F(-boardShape.WidthX / 2, 0, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
CollisionEnabled = false,
// ErrorReduction and Softness are tweaked to get a stable and smooth bridge
// movement.
ErrorReduction = 0.3f,
Softness = 0.00005f,
};
Simulation.Constraints.Add(hinge);
}
else if (i == 0)
{
// To attach the bridge somewhere, connect the the first board to a fixed position in the
// world.
HingeJoint hinge = new HingeJoint
{
BodyA = Simulation.World,
AnchorPoseALocal = new Pose(new Vector3F(-9, 3, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
BodyB = body,
AnchorPoseBLocal = new Pose(new Vector3F(-boardShape.WidthX / 2, 0, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
};
Simulation.Constraints.Add(hinge);
}
if (i == numberOfBoards - 1)
{
// To attach the bridge somewhere, connect the the last board to a fixed position in the
// world.
HingeJoint hinge = new HingeJoint
{
BodyA = Simulation.World,
AnchorPoseALocal = new Pose(new Vector3F(9, 3, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
BodyB = body,
AnchorPoseBLocal = new Pose(new Vector3F(boardShape.WidthX / 2, 0, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
};
Simulation.Constraints.Add(hinge);
}
lastBoard = body;
}
// The bridge is ready.
// Now, add some ramps so that the character controller can walk up to the bridge.
BoxShape rampShape = new BoxShape(10, 10, 2);
RigidBody ramp0 = new RigidBody(rampShape)
{
Pose = new Pose(new Vector3F(-12.5f, -3f, 0), Matrix33F.CreateRotationZ(0.3f)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(ramp0);
RigidBody ramp1 = new RigidBody(rampShape)
{
Pose = new Pose(new Vector3F(12.5f, -3f, 0), Matrix33F.CreateRotationZ(-0.3f)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(ramp1);
// Drop a few light boxes onto the bridge.
BoxShape boxShape = new BoxShape(1, 1, 1);
MassFrame boxMass = MassFrame.FromShapeAndDensity(boxShape, Vector3F.One, 100, 0.01f, 3);
for (int i = 0; i < 10; i++)
{
Vector3F randomPosition = new Vector3F(RandomHelper.Random.NextFloat(-10, 10), 5, 0);
QuaternionF randomOrientation = RandomHelper.Random.NextQuaternionF();
RigidBody body = new RigidBody(boxShape, boxMass, null)
{
Pose = new Pose(randomPosition, randomOrientation),
};
Simulation.RigidBodies.Add(body);
}
}
