public PassiveRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
// Add game objects which allow to shoot balls and grab rigid bodies.
_ballShooterObject = new BallShooterObject(Services) { Speed = 10 };
GameObjectService.Objects.Add(_ballShooterObject);
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
var modelNode = ContentManager.Load<ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
// Uncomment to disable dynamic movement (for debugging during ragdoll creation):
//foreach (var body in _ragdoll.Bodies)
// if (body != null)
// body.MotionType = MotionType.Kinematic;
// In this sample we use a passive ragdoll where we need joints to hold the
// limbs together and limits to restrict angular movement.
_ragdoll.EnableJoints();
_ragdoll.EnableLimits();
// Set all motors to constraint motors that only use damping. This adds a damping
// effect to all ragdoll limbs.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 5;
motor.ConstraintSpring = 0;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
// Add a rigid body.
var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f))
{
Name = "Box",
Pose = new Pose(new Vector3F(0, 3, 0)),
};
Simulation.RigidBodies.Add(box);
}
public AvatarRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// This sample uses for a DebugRenderer for the rendering rigid bodies.
_debugRenderer = new DebugRenderer(GraphicsService, SpriteFont);
// Add a custom game object which controls the camera.
_cameraObject = new CameraObject(Services);
_cameraObject.ResetPose(new Vector3F(0, 1, -3), ConstantsF.Pi, 0);
GameObjectService.Objects.Add(_cameraObject);
// Add some objects which allow the user to interact with the rigid bodies.
_grabObject = new GrabObject(Services);
_ballShooterObject = new BallShooterObject(Services)
{
Speed = 20
};
GameObjectService.Objects.Add(_grabObject);
GameObjectService.Objects.Add(_ballShooterObject);
// Add some default force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane in the simulation.
Simulation.RigidBodies.Add(new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
MotionType = MotionType.Static
});
// Create a random avatar.
_avatarDescription = AvatarDescription.CreateRandom();
_avatarRenderer = new AvatarRenderer(_avatarDescription);
}
public AvatarRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
// This sample uses for a DebugRenderer for the rendering rigid bodies.
_debugRenderer = new DebugRenderer(GraphicsService, SpriteFont);
// Add a custom game object which controls the camera.
_cameraObject = new CameraObject(Services);
_cameraObject.ResetPose(new Vector3F(0, 1, -3), ConstantsF.Pi, 0);
GameObjectService.Objects.Add(_cameraObject);
// Add some objects which allow the user to interact with the rigid bodies.
_grabObject = new GrabObject(Services);
_ballShooterObject = new BallShooterObject(Services) { Speed = 20 };
GameObjectService.Objects.Add(_grabObject);
GameObjectService.Objects.Add(_ballShooterObject);
// Add some default force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane in the simulation.
Simulation.RigidBodies.Add(new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
MotionType = MotionType.Static
});
// Create a random avatar.
_avatarDescription = AvatarDescription.CreateRandom();
_avatarRenderer = new AvatarRenderer(_avatarDescription);
}
public CollisionDetectionOnlyRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
SetCamera(new Vector3F(0, 1, 6), 0, 0);
// Add a game object which allows to shoot balls.
_ballShooterObject = new BallShooterObject(Services);
GameObjectService.Objects.Add(_ballShooterObject);
var modelNode = ContentManager.Load <ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType <MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0), Matrix33F.CreateRotationY(ConstantsF.Pi));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
var animations = _meshNode.Mesh.Animations;
var loopingAnimation = new AnimationClip <SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_meshNode.SkeletonPose);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll.
_ragdoll.Pose = _meshNode.PoseWorld;
// And copy the bone poses of the current skeleton pose.
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
foreach (var body in _ragdoll.Bodies)
{
if (body != null)
{
// Set all bodies to kinematic - they should not be affected by forces.
body.MotionType = MotionType.Kinematic;
// Disable collision response.
body.CollisionResponseEnabled = false;
}
}
// In this sample, we do not need joints, limits or motors.
_ragdoll.DisableJoints();
_ragdoll.DisableLimits();
_ragdoll.DisableMotors();
// Add ragdoll rigid bodies to the simulation.
_ragdoll.AddToSimulation(Simulation);
}
public CollisionDetectionOnlyRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
SetCamera(new Vector3F(0, 1, 6), 0, 0);
// Add a game object which allows to shoot balls.
_ballShooterObject = new BallShooterObject(Services);
GameObjectService.Objects.Add(_ballShooterObject);
var modelNode = ContentManager.Load<ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0), Matrix33F.CreateRotationY(ConstantsF.Pi));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
var animations = _meshNode.Mesh.Animations;
var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_meshNode.SkeletonPose);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll.
_ragdoll.Pose = _meshNode.PoseWorld;
// And copy the bone poses of the current skeleton pose.
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
foreach (var body in _ragdoll.Bodies)
{
if (body != null)
{
// Set all bodies to kinematic - they should not be affected by forces.
body.MotionType = MotionType.Kinematic;
// Disable collision response.
body.CollisionResponseEnabled = false;
}
}
// In this sample, we do not need joints, limits or motors.
_ragdoll.DisableJoints();
_ragdoll.DisableLimits();
_ragdoll.DisableMotors();
// Add ragdoll rigid bodies to the simulation.
_ragdoll.AddToSimulation(Simulation);
}
protected PhysicsSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.ClearBackground = true;
GraphicsScreen.BackgroundColor = Color.White;
GraphicsScreen.DrawReticle = true;
SetCamera(new Vector3F(0, 2, 10), 0, 0);
// Add game objects which implement simple physics interactions.
_grabObject = new GrabObject(Services);
_ballShooterObject = new BallShooterObject(Services);
_explosionObject = new ExplosionObject(Services);
GameObjectService.Objects.Add(_grabObject);
GameObjectService.Objects.Add(_ballShooterObject);
GameObjectService.Objects.Add(_explosionObject);
}
public ActiveRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
// Add game objects which allow to shoot balls and grab rigid bodies.
_ballShooterObject = new BallShooterObject(Services)
{
Speed = 10
};
GameObjectService.Objects.Add(_ballShooterObject);
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
var modelNode = ContentManager.Load <ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType <MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
// Create a copy of the dude's skeleton.
_targetSkeletonPose = SkeletonPose.Create(_meshNode.Mesh.Skeleton);
// Animate the _targetSkeletonPose.
var animations = _meshNode.Mesh.Animations;
var loopingAnimation = new AnimationClip <SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_targetSkeletonPose);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_targetSkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_targetSkeletonPose);
// In this sample we use an active ragdoll. We need joints because constraint ragdoll
// motors only affect the body rotations.
_ragdoll.EnableJoints();
// We disable limits. If limits are enabled, the ragdoll could get unstable if
// the animation tries to move a limb beyond an allowed limit. (This happens if
// a pose in the animation violates one of our limits.)
_ragdoll.DisableLimits();
// Set all motors to constraint motors. Constraint motors are like springs that
// rotate the limbs to a target position.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 10000;
motor.ConstraintSpring = 100000;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
// Add a rigid body.
var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f))
{
Name = "Box",
Pose = new Pose(new Vector3F(0, 3, 0)),
};
Simulation.RigidBodies.Add(box);
}
public AdvancedAvatarRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
// This sample uses for a DebugRenderer to draw text and rigid bodies.
_debugRenderer = new DebugRenderer(GraphicsService, SpriteFont)
{
DefaultColor = Color.Black,
DefaultTextPosition = new Vector2F(10),
};
// Add a custom game object which controls the camera.
_cameraObject = new CameraObject(Services);
_cameraObject.ResetPose(new Vector3(0, 1, -3), ConstantsF.Pi, 0);
GameObjectService.Objects.Add(_cameraObject);
// Add some objects which allow the user to interact with the rigid bodies.
_grabObject = new GrabObject(Services);
_ballShooterObject = new BallShooterObject(Services)
{
Speed = 20
};
GameObjectService.Objects.Add(_grabObject);
GameObjectService.Objects.Add(_ballShooterObject);
// Add some default force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Create a random avatar.
_avatarDescription = AvatarDescription.CreateRandom();
_avatarRenderer = new AvatarRenderer(_avatarDescription);
// Use the "Wave" animation preset.
var avatarAnimation = new AvatarAnimation(AvatarAnimationPreset.Wave);
_expressionAnimation = new AnimationClip <AvatarExpression>(new WrappedAvatarExpressionAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
_skeletonAnimation = new AnimationClip <SkeletonPose>(new WrappedAvatarSkeletonAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
// Add a ground plane in the simulation.
Simulation.RigidBodies.Add(new RigidBody(new PlaneShape(Vector3.UnitY, 0))
{
MotionType = MotionType.Static
});
// Distribute a few dynamic spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.3f);
for (int i = 0; i < 10; i++)
{
Vector3 position = RandomHelper.Random.NextVector3(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(sphereShape)
{
Pose = new Pose(position)
});
}
BoxShape boxShape = new BoxShape(0.6f, 0.6f, 0.6f);
for (int i = 0; i < 10; i++)
{
Vector3 position = RandomHelper.Random.NextVector3(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(boxShape)
{
Pose = new Pose(position)
});
}
}
public AdvancedAvatarRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
// This sample uses for a DebugRenderer to draw text and rigid bodies.
_debugRenderer = new DebugRenderer(GraphicsService, SpriteFont)
{
DefaultColor = Color.Black,
DefaultTextPosition = new Vector2F(10),
};
// Add a custom game object which controls the camera.
_cameraObject = new CameraObject(Services);
_cameraObject.ResetPose(new Vector3F(0, 1, -3), ConstantsF.Pi, 0);
GameObjectService.Objects.Add(_cameraObject);
// Add some objects which allow the user to interact with the rigid bodies.
_grabObject = new GrabObject(Services);
_ballShooterObject = new BallShooterObject(Services) { Speed = 20 };
GameObjectService.Objects.Add(_grabObject);
GameObjectService.Objects.Add(_ballShooterObject);
// Add some default force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Create a random avatar.
_avatarDescription = AvatarDescription.CreateRandom();
_avatarRenderer = new AvatarRenderer(_avatarDescription);
// Use the "Wave" animation preset.
var avatarAnimation = new AvatarAnimation(AvatarAnimationPreset.Wave);
_expressionAnimation = new AnimationClip<AvatarExpression>(new WrappedAvatarExpressionAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
_skeletonAnimation = new AnimationClip<SkeletonPose>(new WrappedAvatarSkeletonAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
// Add a ground plane in the simulation.
Simulation.RigidBodies.Add(new RigidBody(new PlaneShape(Vector3F.UnitY, 0)) { MotionType = MotionType.Static });
// Distribute a few dynamic spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.3f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(sphereShape) { Pose = new Pose(position) });
}
BoxShape boxShape = new BoxShape(0.6f, 0.6f, 0.6f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(boxShape) { Pose = new Pose(position) });
}
}
public KinematicRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
// Add game objects which allow to shoot balls and grab rigid bodies.
_ballShooterObject = new BallShooterObject(Services)
{
Speed = 10
};
GameObjectService.Objects.Add(_ballShooterObject);
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
var modelNode = ContentManager.Load <ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType <MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0), Matrix33F.CreateRotationY(ConstantsF.Pi));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
var animations = _meshNode.Mesh.Animations;
var loopingAnimation = new AnimationClip <SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
var animationController = AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_meshNode.SkeletonPose);
animationController.UpdateAndApply();
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
// Set all bodies to kinematic - they should not be affected by forces.
foreach (var body in _ragdoll.Bodies)
{
if (body != null)
{
body.MotionType = MotionType.Kinematic;
}
}
// Set all motors to velocity motors. Velocity motors change RigidBody.LinearVelocity
// RigidBody.AngularVelocity to move the rigid bodies.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Velocity;
}
}
_ragdoll.EnableMotors();
// In this sample, we do not need joints or limits.
_ragdoll.DisableJoints();
_ragdoll.DisableLimits();
// Add ragdoll rigid bodies to the simulation.
_ragdoll.AddToSimulation(Simulation);
// Add a rigid body.
var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f))
{
Name = "Box",
Pose = new Pose(new Vector3F(0, 3, 0)),
};
Simulation.RigidBodies.Add(box);
}
public PassiveRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
// Add game objects which allow to shoot balls and grab rigid bodies.
_ballShooterObject = new BallShooterObject(Services)
{
Speed = 10
};
GameObjectService.Objects.Add(_ballShooterObject);
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
var modelNode = ContentManager.Load <ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType <MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
// Uncomment to disable dynamic movement (for debugging during ragdoll creation):
//foreach (var body in _ragdoll.Bodies)
// if (body != null)
// body.MotionType = MotionType.Kinematic;
// In this sample we use a passive ragdoll where we need joints to hold the
// limbs together and limits to restrict angular movement.
_ragdoll.EnableJoints();
_ragdoll.EnableLimits();
// Set all motors to constraint motors that only use damping. This adds a damping
// effect to all ragdoll limbs.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 5;
motor.ConstraintSpring = 0;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
// Add a rigid body.
var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f))
{
Name = "Box",
Pose = new Pose(new Vector3F(0, 3, 0)),
};
Simulation.RigidBodies.Add(box);
}
public KinematicRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
// Add game objects which allow to shoot balls and grab rigid bodies.
_ballShooterObject = new BallShooterObject(Services) { Speed = 10 };
GameObjectService.Objects.Add(_ballShooterObject);
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
var modelNode = ContentManager.Load<ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0), Matrix33F.CreateRotationY(ConstantsF.Pi));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
var animations = _meshNode.Mesh.Animations;
var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
var animationController = AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_meshNode.SkeletonPose);
animationController.UpdateAndApply();
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose);
// Set all bodies to kinematic - they should not be affected by forces.
foreach (var body in _ragdoll.Bodies)
{
if (body != null)
{
body.MotionType = MotionType.Kinematic;
}
}
// Set all motors to velocity motors. Velocity motors change RigidBody.LinearVelocity
// RigidBody.AngularVelocity to move the rigid bodies.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Velocity;
}
}
_ragdoll.EnableMotors();
// In this sample, we do not need joints or limits.
_ragdoll.DisableJoints();
_ragdoll.DisableLimits();
// Add ragdoll rigid bodies to the simulation.
_ragdoll.AddToSimulation(Simulation);
// Add a rigid body.
var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f))
{
Name = "Box",
Pose = new Pose(new Vector3F(0, 3, 0)),
};
Simulation.RigidBodies.Add(box);
}
public ActiveRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
// Add game objects which allow to shoot balls and grab rigid bodies.
_ballShooterObject = new BallShooterObject(Services) { Speed = 10 };
GameObjectService.Objects.Add(_ballShooterObject);
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
var modelNode = ContentManager.Load<ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
// Create a copy of the dude's skeleton.
_targetSkeletonPose = SkeletonPose.Create(_meshNode.Mesh.Skeleton);
// Animate the _targetSkeletonPose.
var animations = _meshNode.Mesh.Animations;
var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_targetSkeletonPose);
// Create a ragdoll for the Dude model.
_ragdoll = new Ragdoll();
DudeRagdollCreator.Create(_targetSkeletonPose, _ragdoll, Simulation, 0.571f);
// Set the world space pose of the whole ragdoll. And copy the bone poses of the
// current skeleton pose.
_ragdoll.Pose = _meshNode.PoseWorld;
_ragdoll.UpdateBodiesFromSkeleton(_targetSkeletonPose);
// In this sample we use an active ragdoll. We need joints because constraint ragdoll
// motors only affect the body rotations.
_ragdoll.EnableJoints();
// We disable limits. If limits are enabled, the ragdoll could get unstable if
// the animation tries to move a limb beyond an allowed limit. (This happens if
// a pose in the animation violates one of our limits.)
_ragdoll.DisableLimits();
// Set all motors to constraint motors. Constraint motors are like springs that
// rotate the limbs to a target position.
foreach (RagdollMotor motor in _ragdoll.Motors)
{
if (motor != null)
{
motor.Mode = RagdollMotorMode.Constraint;
motor.ConstraintDamping = 10000;
motor.ConstraintSpring = 100000;
}
}
_ragdoll.EnableMotors();
// Add rigid bodies and the constraints of the ragdoll to the simulation.
_ragdoll.AddToSimulation(Simulation);
// Add a rigid body.
var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f))
{
Name = "Box",
Pose = new Pose(new Vector3F(0, 3, 0)),
};
Simulation.RigidBodies.Add(box);
}
