public SmokeSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Create a single particle system and add it multiple times to the scene
// graph ("instancing"). By default, all instances look identical. The
// properties ParticleSystemNode.Color/Alpha/AngleOffset can be used to
// render the particles with some variations.
_particleSystem = Smoke.Create(ContentManager);
ParticleSystemService.ParticleSystems.Add(_particleSystem);
_particleSystemNode0 = new ParticleSystemNode(_particleSystem);
GraphicsScreen.Scene.Children.Add(_particleSystemNode0);
_particleSystemNode1 = new ParticleSystemNode(_particleSystem);
_particleSystemNode1.PoseWorld = new Pose(new Vector3F(5, 0, -5));
_particleSystemNode1.Color = new Vector3F(0.9f, 0.8f, 0.7f);
_particleSystemNode1.Alpha = 0.8f;
_particleSystemNode1.AngleOffset = 0.3f;
GraphicsScreen.Scene.Children.Add(_particleSystemNode1);
_particleSystemNode2 = new ParticleSystemNode(_particleSystem);
_particleSystemNode2.PoseWorld = new Pose(new Vector3F(-10, 5, -5), Matrix33F.CreateRotationZ(-ConstantsF.PiOver2));
_particleSystemNode2.Color = new Vector3F(0.5f, 0.5f, 0.5f);
_particleSystemNode2.AngleOffset = 0.6f;
GraphicsScreen.Scene.Children.Add(_particleSystemNode2);
}
public CollisionDetectionSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
GraphicsScreen.ClearBackground = true;
GraphicsScreen.BackgroundColor = Color.CornflowerBlue;
SetCamera(new Vector3F(0, 1, 10), 0, 0);
// ----- Initialize collision detection and create objects.
// Create a geometric object with a box shape.
// Position it on the left with an arbitrary rotation.
var geometricObjectA = new GeometricObject(
new BoxShape(1, 2, 3),
new Pose(new Vector3F(-2, -1, 0), Matrix33F.CreateRotationZ(0.1f)));
// Create a geometric object with a capsule shape.
// Position it on the right with an arbitrary rotation.
var geometricObjectB = new GeometricObject(
new CapsuleShape(1, 3),
new Pose(new Vector3F(2, -1, 0), Matrix33F.CreateRotationZ(-0.2f)));
// Create a geometric object with a complex shape that is the convex hull of
// a circle and a rectangle. Position it on the top with an arbitrary rotation.
// (A ConvexHullOfShapes is a collection of different shapes with different
// positions and orientations. The ConvexHullOfShapes combines these shapes
// into a single shape by building their convex hull.)
var complexShape = new ConvexHullOfShapes();
complexShape.Children.Add(new GeometricObject(new RectangleShape(1, 1), new Pose(new Vector3F(0, 0, 1))));
complexShape.Children.Add(new GeometricObject(new CircleShape(1), new Pose(new Vector3F(0, 0, -1))));
var geometricObjectC = new GeometricObject(
complexShape,
new Pose(new Vector3F(0, 2, 0), QuaternionF.CreateRotation(Vector3F.UnitZ, new Vector3F(1, 1, 1))));
// Create collision objects for the geometric objects.
// (A collision object is just a wrapper around the geometric object that
// stores additional information that is required by the collision detection.)
_collisionObjectA = new CollisionObject(geometricObjectA);
_collisionObjectB = new CollisionObject(geometricObjectB);
_collisionObjectC = new CollisionObject(geometricObjectC);
// Create a collision detection.
// (The CollisionDetection stores general parameters and it can be used to
// perform closest-point and contact queries.)
_collisionDetection = new CollisionDetection();
// Create a new collision domain and add the collision objects.
// (A CollisionDomain manages multiple collision objects. It improves the
// performance of contact queries by reusing results of the last frame.)
_domain = new CollisionDomain(_collisionDetection);
_domain.CollisionObjects.Add(_collisionObjectA);
_domain.CollisionObjects.Add(_collisionObjectB);
_domain.CollisionObjects.Add(_collisionObjectC);
}
public void CreateRotationZ()
{
float angle = (float)MathHelper.ToRadians(30);
Matrix33F m = Matrix33F.CreateRotationZ(angle);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F((float)Math.Cos(angle), (float)Math.Sin(angle), 0), m * Vector3F.UnitX));
QuaternionF q = QuaternionF.CreateRotation(Vector3F.UnitZ, angle);
Assert.IsTrue(Vector3F.AreNumericallyEqual(q.Rotate(Vector3F.One), m * Vector3F.One));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(Matrix33F.CreateRotation(Vector3F.UnitZ, angle), m));
}
/// <summary>
/// Adds test objects (walls, palm trees, ...) to the scene.
/// </summary>
private void AddTestObjects()
{
// Add a few palm trees.
Random random = new Random(12345);
for (int i = 0; i < 10; i++)
{
Vector3F position = new Vector3F(3.5f, 0, 2.5f - i / 2.0f);
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
float scale = random.NextFloat(0.5f, 1.2f);
Pose pose = _globalRotation * new Pose(position, orientation);
GameObjectService.Objects.Add(new StaticObject(Services, "PalmTree/palm_tree", scale, pose));
}
// Add a vertical concrete wall.
GameObjectService.Objects.Add(
new StaticObject(
Services,
"Building/concrete_small_window_1",
#if XNA
new Vector3F(1.0f, 1.6f, 1.8f),
_globalRotation * new Pose(new Vector3F(3.5f, 1.8f, -4f), Matrix33F.CreateRotationY(0)),
#else
new Vector3F(1.8f, 1.6f, 1.0f),
_globalRotation * new Pose(new Vector3F(3.5f, 1.8f, -4f), Matrix33F.CreateRotationY(ConstantsF.PiOver2)),
#endif
true,
false));
// Add a vertical brick wall.
GameObjectService.Objects.Add(
new StaticObject(
Services,
"Building/wall_brick_1",
new Vector3F(1.8f, 1.6f, 1),
_globalRotation * new Pose(new Vector3F(-3f, 1.8f, -4f), Matrix33F.CreateRotationY(ConstantsF.PiOver2)),
true,
false));
// Create a ceiling using a rotated wall.
GameObjectService.Objects.Add(
new StaticObject(
Services,
"Building/wall_brick_1",
new Vector3F(1.8f, 2.8f, 1),
_globalRotation * new Pose(new Vector3F(0.3f, 4, -4), Matrix33F.CreateRotationZ(ConstantsF.PiOver2) * Matrix33F.CreateRotationY(ConstantsF.PiOver2)),
true,
false));
}
private void UpdateEphemeris()
{
#if XBOX
_ephemeris.Time = new DateTimeOffset(_time.Ticks, TimeSpan.Zero);
#else
_ephemeris.Time = _time;
#endif
_ephemeris.Update();
var sunDirection = (Vector3F)_ephemeris.SunDirectionRefracted;
var sunUp = sunDirection.Orthonormal1;
var moonDirection = (Vector3F)_ephemeris.MoonPosition.Normalized;
var moonUp = (Vector3F)_ephemeris.EquatorialToWorld.TransformDirection(Vector3D.Up);
#if true
_starfield.PoseWorld = new Pose((Matrix33F)_ephemeris.EquatorialToWorld.Minor);
_sun.LookAt((Vector3F)_ephemeris.SunDirectionRefracted, sunUp);
_moon.SunDirection = (Vector3F)_ephemeris.SunPosition.Normalized;
#else
Vector3F sunRotationAxis = new Vector3F(0, -0.1f, 1).Normalized;
float hour = (float)_time.TimeOfDay.TotalHours / 24;
Matrix33F sunRotation = Matrix33F.CreateRotation(sunRotationAxis, hour * ConstantsF.TwoPi - ConstantsF.PiOver2);
_starfield.Orientation = sunRotation;
_sun.Direction = sunRotation * new Vector3F(1, 0, 0);
_moon.SunDirection = _sun.Direction;
#endif
_milkyWaySkybox.PoseWorld = new Pose(
(Matrix33F)_ephemeris.EquatorialToWorld.Minor
* Matrix33F.CreateRotationZ(ConstantsF.PiOver2)
* Matrix33F.CreateRotationX(ConstantsF.PiOver2));
_moon.LookAt(moonDirection, moonUp);
_cieSkyFilter.SunDirection = sunDirection;
_gradientSky.SunDirection = sunDirection;
_gradientTextureSky.SunDirection = sunDirection;
_gradientTextureSky.TimeOfDay = _time.TimeOfDay;
_scatteringSky.SunDirection = sunDirection;
_cloudLayerNode.SunDirection = _scatteringSky.SunDirection;
_cloudLayerNode.SunLight = ChangeSaturation(_scatteringSky.GetSunlight() / 5f, 1);
//_cloudPlaneRenderer.Color = new Vector4F(ChangeSaturation(_scatteringSky.GetFogColor(128), 0.9f) * 1.0f, 1);
//Vector3F c = (_scatteringSky.GetFogColor(128) + _scatteringSky.GetSunlight() / 10) / 2;
//_cloudPlaneRenderer.Color = new Vector4F(c, 1);
_cloudLayerNode.AmbientLight = _scatteringSky.GetAmbientLight(1024) / 6f;
//_cloudLayerNode.AmbientLight = _scatteringSky.GetFogColor(128) * _scatteringSky.GetAmbientLight(256).Length / 6f;
}
private static Pose GetRandomPose()
{
// Get a random position.
const float decalAreaSize = 20;
var randomPosition = new Vector3F(
RandomHelper.Random.NextFloat(-decalAreaSize, decalAreaSize),
0,
RandomHelper.Random.NextFloat(-decalAreaSize, 0));
// Decals are project along the forward (-z) direction.
// To project onto the terrain we have to point the decal down.
var downOrientation = Matrix33F.CreateRotationX(-ConstantsF.PiOver2);
// Get a random rotation around z.
var randomOrientation = Matrix33F.CreateRotationZ(RandomHelper.Random.NextFloat(0, ConstantsF.TwoPi));
return(new Pose(randomPosition, downOrientation * randomOrientation));
}
/// <summary>
/// Converts this render transformation to a 3x3 matrix.
/// </summary>
/// <returns>
/// A 3x3-matrix that represents the same transformation.
/// </returns>
public Matrix33F ToMatrix33F()
{
Matrix33F t = new Matrix33F(1, 0, Translation.X,
0, 1, Translation.Y,
0, 0, 1);
Matrix33F o = new Matrix33F(1, 0, Origin.X,
0, 1, Origin.Y,
0, 0, 1);
Matrix33F s = new Matrix33F(Scale.X, 0, 0,
0, Scale.Y, 0,
0, 0, 1);
Matrix33F r = Matrix33F.CreateRotationZ(Rotation);
Matrix33F minusO = new Matrix33F(1, 0, -Origin.X,
0, 1, -Origin.Y,
0, 0, 1);
return(t * o * r * s * minusO);
}
public ContinuousCollisionDetectionSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.ClearBackground = true;
SetCamera(new Vector3F(0, 1, 10), 0, 0);
// ----- Initialize collision detection and create objects.
// Create a geometric object with a capsule shape.
// Position it on the top with an arbitrary rotation.
_startPoseA = new Pose(new Vector3F(0, 2, 0), Matrix33F.CreateRotationZ(0.1f));
var geometricObjectA = new GeometricObject(new CapsuleShape(0.2f, 1), _startPoseA);
_collisionObjectA = new CollisionObject(geometricObjectA);
// Object A moves to the bottom of the screen.
_targetPoseA = new Pose(new Vector3F(0, -2, 0), Matrix33F.CreateRotationZ(0.63f));
// Create a geometric object with a composite shape.
// Position it on the left with an arbitrary rotation.
_startPoseB = new Pose(new Vector3F(-3, -1, 0), Matrix33F.CreateRotationZ(0.2f));
var composite = new CompositeShape();
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 1, 0.1f), new Pose(new Vector3F(-0.75f, 0.5f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 1, 0.1f), new Pose(new Vector3F(0.75f, 0.5f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 1, 0.1f), new Pose(new Vector3F(-0.75f, 0.5f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 1, 0.1f), new Pose(new Vector3F(0.75f, 0.5f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(1.8f, 0.1f, 1.1f), new Pose(new Vector3F(0, 1f, 0))));
var geometricObjectB = new GeometricObject(composite, _startPoseB);
// Object B moves to the left of the screen.
_targetPoseB = new Pose(new Vector3F(3, -1, 0), Matrix33F.CreateRotationZ(0.3f));
// Create collision objects for the geometric objects.
// (A collision object is just a wrapper around the geometric object that stores additional
// information that is required by the collision detection.)
_collisionObjectA = new CollisionObject(geometricObjectA);
_collisionObjectB = new CollisionObject(geometricObjectB);
// Create a collision detection.
// (The CollisionDetection stores general parameters and it can be used to perform
// closest-point and contact queries.)
_collisionDetection = new CollisionDetection();
}
public CustomSceneNodeSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
var delegateGraphicsScreen = new DelegateGraphicsScreen(GraphicsService)
{
RenderCallback = Render,
};
GraphicsService.Screens.Insert(0, delegateGraphicsScreen);
// Add a custom game object which controls the camera.
_cameraObject = new CameraObject(Services);
GameObjectService.Objects.Add(_cameraObject);
// Create a new empty scene.
_scene = new Scene();
// Add the camera node to the scene.
_scene.Children.Add(_cameraObject.CameraNode);
// Add a few TextNodes. Position them along a circle.
for (int i = 0; i < 36; i++)
{
Vector3F position = Matrix33F.CreateRotationZ(MathHelper.ToRadians((float)i * 10)) * new Vector3F(1, 0, 0);
var textNode = new TextNode
{
PoseLocal = new Pose(position),
Color = Color.Yellow,
Text = i.ToString()
};
_scene.Children.Add(textNode);
}
// Initialize the TextRenderer.
var spriteFont = UIContentManager.Load <SpriteFont>("UI Themes/BlendBlue/Default");
_textRenderer = new TextRenderer(GraphicsService, spriteFont);
// For debugging:
_debugRenderer = new DebugRenderer(GraphicsService, spriteFont);
}
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);
}
}
private void UpdateSky()
{
// Update ephemeris model.
#if XBOX
_ephemeris.Time = new DateTimeOffset(_time.Ticks, TimeSpan.Zero);
#else
_ephemeris.Time = _time;
#endif
_ephemeris.Update();
// Update rotation of milky way. We also need to add an offset because the
// cube map texture is rotated.
_milkyWayNode.PoseWorld = new Pose(
(Matrix33F)_ephemeris.EquatorialToWorld.Minor
* Matrix33F.CreateRotationZ(ConstantsF.PiOver2 + -0.004f)
* Matrix33F.CreateRotationX(ConstantsF.PiOver2 + -0.002f));
// Update rotation of stars.
_starfieldNode.PoseWorld = new Pose((Matrix33F)_ephemeris.EquatorialToWorld.Minor);
// Update direction of sun.
SunDirection = (Vector3F)_ephemeris.SunDirectionRefracted;
var sunUp = SunDirection.Orthonormal1;
_sunNode.LookAt(SunDirection, sunUp);
// Update direction of moon.
var moonDirection = (Vector3F)_ephemeris.MoonPosition.Normalized;
var moonUp = (Vector3F)_ephemeris.EquatorialToWorld.TransformDirection(Vector3D.Up);
_moonNode.LookAt(moonDirection, moonUp);
// The moon needs to know the sun position and brightness to compute the moon phase.
_moonNode.SunDirection = (Vector3F)_ephemeris.SunPosition.Normalized;
_moonNode.SunLight = Ephemeris.ExtraterrestrialSunlight * SunlightScale;
// The ScatteringSky needs the sun direction and brightness to compute the sky colors.
_scatteringSkyNode.SunDirection = SunDirection;
_scatteringSkyNode.SunColor = Ephemeris.ExtraterrestrialSunlight * ScatteringSkyLightScale;
// Update the light directions.
_sunlightNode.LookAt(-SunDirection, sunUp);
_moonlightNode.LookAt(-moonDirection, moonUp);
// The ScatteringSkyNode can compute the actual sunlight.
SunLight = _scatteringSkyNode.GetSunlight();
// Undo the ScatteringSkyLightScale and apply a custom scale for the sunlight.
SunLight = SunLight / ScatteringSkyLightScale * SunlightScale;
// The ScatteringSkyNode can also compute the ambient light by sampling the
// sky hemisphere.
AmbientLight = _scatteringSkyNode.GetAmbientLight(256);
AmbientLight = AmbientLight / ScatteringSkyLightScale * SunlightScale;
// Desaturate the ambient light to avoid very blue shadows.
AmbientLight = InterpolationHelper.Lerp(
new Vector3F(Vector3F.Dot(AmbientLight, GraphicsHelper.LuminanceWeights)),
AmbientLight,
0.5f);
// The Ephemeris model can compute the actual moonlight.
Vector3F moonlight, moonAmbient;
Ephemeris.GetMoonlight(
_scatteringSkyNode.ObserverAltitude,
2.2f,
_ephemeris.MoonPosition,
(float)_ephemeris.MoonPhaseAngle,
out moonlight,
out moonAmbient);
moonlight *= MoonlightScale;
moonAmbient *= MoonlightScale;
// Scale sun light to 0 at horizon.
var directionalLightColor = SunLight;
directionalLightColor *= MathHelper.Clamp(SunDirection.Y / 0.1f, 0, 1);
var directionalLight = ((DirectionalLight)_sunlightNode.Light);
directionalLight.Color = directionalLightColor;
((DirectionalLight)_moonlightNode.Light).Color = moonlight;
((AmbientLight)_ambientLightNode.Light).Color = AmbientLight + moonAmbient + LightPollution;
// Use the sunlight color to create a bright sun disk.
var sunDiskColor = SunLight;
sunDiskColor.TryNormalize();
_sunNode.GlowColor0 = sunDiskColor * Ephemeris.ExtraterrestrialSunlight.Length * SunlightScale * 10;
if (_enableClouds)
{
// Update lighting info of cloud layer nodes.
_cloudLayerNode0.SunDirection = SunDirection;
_cloudLayerNode0.SunLight = SunLight;
_cloudLayerNode0.AmbientLight = AmbientLight;
// The second cloud layer uses simple unlit clouds (only ambient lighting).
_cloudLayerNode1.SunDirection = SunDirection;
_cloudLayerNode1.SunLight = Vector3F.Zero;
_cloudLayerNode1.AmbientLight = AmbientLight + SunLight;
// Use the cloud map as the texture for the directional light to create cloud shadows.
if (EnableCloudShadows)
{
directionalLight.Texture = _cloudLayerNode0.CloudMap.Texture;
}
else
{
directionalLight.Texture = null;
}
// Compute a texture offset so that the current sun position and the projected cloud
// shadows match.
// Since sky dome is always centered on the camera, position the sunlight node in
// line with the camera.
var cameraPosition = _cameraObject.CameraNode.PoseWorld.Position;
var upVector = Vector3F.AreNumericallyEqual(SunDirection, Vector3F.UnitZ) ? Vector3F.UnitY : Vector3F.UnitZ;
_sunlightNode.LookAt(cameraPosition + SunDirection, cameraPosition, upVector);
// Choose a scale for the cloud shadows.
directionalLight.TextureScale = new Vector2F(-1000);
// Get the scaled texture offset for the sun direction.
directionalLight.TextureOffset = _cloudLayerNode0.GetTextureCoordinates(SunDirection) *
directionalLight.TextureScale;
}
// The ScatteringSkyNode can also estimate a fog color by sampling the horizon colors.
Vector3F fogColor = _scatteringSkyNode.GetFogColor(256, FogSampleAngle);
// Desaturate the fog color.
fogColor = InterpolationHelper.Lerp(
new Vector3F(Vector3F.Dot(fogColor, GraphicsHelper.LuminanceWeights)),
fogColor,
FogSaturation);
// Find any FogNode in the scene and update its fog color.
foreach (var fogNode in ((Scene)_scene).GetSubtree().OfType <FogNode>())
{
var fog = fogNode.Fog;
fog.Color0 = fog.Color1 = new Vector4F(fogColor, 1);
fog.ScatteringSymmetry = FogScatteringSymmetry;
}
// TODO: If the fog is dense, reduce the direct light and increase the ambient light.
}
/// <summary>
/// Creates a <see cref="Ragdoll"/> for an Xbox LIVE Avatar. (Only available on Xbox 360.)
/// </summary>
/// <param name="skeleton">The skeleton of the Xbox LIVE Avatar.</param>
/// <param name="simulation">The simulation.</param>
/// <returns>The avatar ragdoll.</returns>
/// <exception cref="ArgumentNullException">
/// <paramref name="skeleton"/> or <paramref name="simulation"/> is
/// <see langword="null"/>.
/// </exception>
/// <remarks>
/// This method is available only in the Xbox 360 build of the
/// DigitalRune.Physics.Specialized.dll.
/// </remarks>
public static Ragdoll CreateAvatarRagdoll(Skeleton skeleton, Simulation simulation)
{
if (skeleton == null)
{
throw new ArgumentNullException("skeleton");
}
if (simulation == null)
{
throw new ArgumentNullException("simulation");
}
var ragdoll = new Ragdoll();
// The lists ragdoll.Bodies, ragdoll.BodyOffsets and _motors contain one entry per bone - even if there
// is no RigidBody for this bone. - This wastes memory but simplifies the code.
for (int i = 0; i < AvatarRenderer.BoneCount; i++)
{
ragdoll.Bodies.Add(null);
ragdoll.BodyOffsets.Add(Pose.Identity);
ragdoll.Joints.Add(null);
ragdoll.Limits.Add(null);
ragdoll.Motors.Add(null);
}
// ----- Create bodies.
// We use the same mass for all bodies. This is not physically correct but it makes the
// simulation more stable, for several reasons:
// - It is better to avoid large mass differences. Therefore, all limbs have the same mass.
// - Capsule shapes have a low inertia value about their height axis. This causes instability
// and it is better to use larger inertia values.
var massFrame = MassFrame.FromShapeAndMass(new SphereShape(0.2f), Vector3F.One, 4, 0.1f, 1);
// Use standard material.
var material = new UniformMaterial();
// Create rigid bodies for the important bones. The shapes have been manually adapted to
// produce useful results for thin and overweight avatars.
// Without offset, the bodies are centered at the joint. ragdoll.BodyOffsets stores an offset pose
// for each body. Instead, we could use TransformedShape but we can easily handle that
// ourselves.
// The collar bones are special, they use dummy shapes and are only used to connect the
// shoulder bones.
ragdoll.Bodies[(int)AvatarBone.Root] = new RigidBody(new BoxShape(0.22f, 0.16f, 0.16f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.Root] = new Pose(new Vector3F(0, -0.08f, -0.01f), QuaternionF.CreateRotationX(-0.0f));
ragdoll.Bodies[(int)AvatarBone.BackLower] = new RigidBody(new BoxShape(0.22f, 0.16f, 0.16f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.BackLower] = new Pose(new Vector3F(0, 0.08f, -0.01f), QuaternionF.CreateRotationX(-0.0f));
ragdoll.Bodies[(int)AvatarBone.BackUpper] = new RigidBody(new BoxShape(0.22f, 0.16f, 0.16f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.BackUpper] = new Pose(new Vector3F(0, 0.08f, -0.01f), QuaternionF.CreateRotationX(-0.1f));
ragdoll.Bodies[(int)AvatarBone.Neck] = new RigidBody(new CapsuleShape(0.04f, 0.09f), massFrame, material);
ragdoll.Bodies[(int)AvatarBone.Head] = new RigidBody(new SphereShape(0.15f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.Head] = new Pose(new Vector3F(0, 0.1f, 0));
ragdoll.Bodies[(int)AvatarBone.CollarLeft] = new RigidBody(Shape.Empty, massFrame, material);
ragdoll.Bodies[(int)AvatarBone.CollarRight] = new RigidBody(Shape.Empty, massFrame, material);
ragdoll.Bodies[(int)AvatarBone.ShoulderLeft] = new RigidBody(new CapsuleShape(0.04f, 0.25f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ShoulderLeft] = new Pose(new Vector3F(0.08f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.ShoulderRight] = new RigidBody(new CapsuleShape(0.04f, 0.25f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ShoulderRight] = new Pose(new Vector3F(-0.08f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.ElbowLeft] = new RigidBody(new CapsuleShape(0.04f, 0.21f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ElbowLeft] = new Pose(new Vector3F(0.06f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.ElbowRight] = new RigidBody(new CapsuleShape(0.04f, 0.21f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ElbowRight] = new Pose(new Vector3F(-0.06f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.WristLeft] = new RigidBody(new BoxShape(0.1f, 0.04f, 0.1f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.WristLeft] = new Pose(new Vector3F(0.06f, -0.02f, -0.01f), QuaternionF.CreateRotationZ(0.0f));
ragdoll.Bodies[(int)AvatarBone.WristRight] = new RigidBody(new BoxShape(0.1f, 0.04f, 0.1f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.WristRight] = new Pose(new Vector3F(-0.06f, -0.02f, -0.01f), QuaternionF.CreateRotationZ(0.0f));
ragdoll.Bodies[(int)AvatarBone.HipLeft] = new RigidBody(new CapsuleShape(0.06f, 0.34f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.HipLeft] = new Pose(new Vector3F(0, -0.14f, -0.02f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.HipRight] = new RigidBody(new CapsuleShape(0.06f, 0.34f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.HipRight] = new Pose(new Vector3F(0, -0.14f, -0.02f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.KneeLeft] = new RigidBody(new CapsuleShape(0.06f, 0.36f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.KneeLeft] = new Pose(new Vector3F(0, -0.18f, -0.04f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.KneeRight] = new RigidBody(new CapsuleShape(0.06f, 0.36f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.KneeRight] = new Pose(new Vector3F(0, -0.18f, -0.04f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.AnkleLeft] = new RigidBody(new BoxShape(0.1f, 0.06f, 0.22f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.AnkleLeft] = new Pose(new Vector3F(0, -0.07f, 0.05f), QuaternionF.CreateRotationZ(0));
ragdoll.Bodies[(int)AvatarBone.AnkleRight] = new RigidBody(new BoxShape(0.1f, 0.06f, 0.22f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.AnkleRight] = new Pose(new Vector3F(0, -0.07f, 0.05f), QuaternionF.CreateRotationZ(0));
// ----- Add joint constraints.
const float jointErrorReduction = 0.2f;
const float jointSoftness = 0.0001f;
AddJoint(ragdoll, skeleton, AvatarBone.Root, AvatarBone.BackLower, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.BackLower, AvatarBone.BackUpper, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.Neck, 0.6f, 0.000001f);
AddJoint(ragdoll, skeleton, AvatarBone.Neck, AvatarBone.Head, 0.6f, 0.000001f);
AddJoint(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.CollarLeft, AvatarBone.ShoulderLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.CollarRight, AvatarBone.ShoulderRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ShoulderLeft, AvatarBone.ElbowLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ShoulderRight, AvatarBone.ElbowRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ElbowLeft, AvatarBone.WristLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ElbowRight, AvatarBone.WristRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.HipLeft, AvatarBone.KneeLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.HipRight, AvatarBone.KneeRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.KneeLeft, AvatarBone.AnkleLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.KneeRight, AvatarBone.AnkleRight, jointErrorReduction, jointSoftness);
// ----- Add constraint limits.
// We use TwistSwingLimits to define an allowed twist and swing cone for the joints.
// Exceptions are the back and knees, where we use AngularLimits to create hinges.
// (We could also create a hinge with a TwistSwingLimit where the twist axis is the hinge
// axis and no swing is allowed - but AngularLimits create more stable hinges.)
// Another exception are the collar bones joint. We use AngularLimits to disallow any
// rotations.
AddAngularLimit(ragdoll, skeleton, AvatarBone.Root, AvatarBone.BackLower,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackLower).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackLower).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(-0.3f, 0, 0), new Vector3F(0.3f, 0, 0));
AddAngularLimit(ragdoll, skeleton, AvatarBone.BackLower, AvatarBone.BackUpper,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackUpper).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackUpper).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(-0.3f, 0, 0), new Vector3F(0.4f, 0, 0));
var rotationZ90Degrees = Matrix33F.CreateRotationZ(ConstantsF.PiOver2);
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.Neck, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.3f, -0.3f), new Vector3F(+0.1f, +0.3f, +0.3f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.Neck, AvatarBone.Head, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.6f, -0.6f), new Vector3F(+0.1f, +0.6f, +0.6f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarLeft,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarLeft).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarLeft).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0), new Vector3F(0));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarRight,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarRight).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarRight).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0), new Vector3F(0));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.CollarLeft, AvatarBone.ShoulderLeft, Matrix33F.Identity, Matrix33F.CreateRotationY(0.7f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.CollarRight, AvatarBone.ShoulderRight, Matrix33F.Identity, Matrix33F.CreateRotationY(-0.7f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ShoulderLeft, AvatarBone.ElbowLeft, Matrix33F.Identity, Matrix33F.CreateRotationY(1.2f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ShoulderRight, AvatarBone.ElbowRight, Matrix33F.Identity, Matrix33F.CreateRotationY(-1.2f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ElbowLeft, AvatarBone.WristLeft, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.7f, -0.7f, -0.7f), new Vector3F(+0.7f, +0.7f, +0.7f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ElbowRight, AvatarBone.WristRight, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.7f, -0.7f, -0.7f), new Vector3F(+0.7f, +0.7f, +0.7f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipLeft, rotationZ90Degrees, Matrix33F.CreateRotationX(-1.2f) * Matrix33F.CreateRotationZ(ConstantsF.PiOver2 + 0.2f), new Vector3F(-0.1f, -1.5f, -0.7f), new Vector3F(+0.1f, +1.5f, +0.7f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipRight, rotationZ90Degrees, Matrix33F.CreateRotationX(-1.2f) * Matrix33F.CreateRotationZ(ConstantsF.PiOver2 - 0.2f), new Vector3F(-0.1f, -1.5f, -0.7f), new Vector3F(+0.1f, +1.5f, +0.7f));
AddAngularLimit(ragdoll, skeleton, AvatarBone.HipLeft, AvatarBone.KneeLeft,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeLeft).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeLeft).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0, 0, 0), new Vector3F(2.2f, 0, 0));
AddAngularLimit(ragdoll, skeleton, AvatarBone.HipRight, AvatarBone.KneeRight,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeRight).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeRight).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0, 0, 0), new Vector3F(2.2f, 0, 0));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.KneeLeft, AvatarBone.AnkleLeft, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.7f, -0.3f), new Vector3F(+0.1f, +0.7f, +0.3f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.KneeRight, AvatarBone.AnkleRight, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.7f, -0.3f), new Vector3F(+0.1f, +0.7f, +0.3f));
// ----- Add motors
// We use QuaternionMotors to create forces that rotate the bones into desired poses.
// This can be used for damping, spring or animating the ragdoll.
AddMotor(ragdoll, (AvatarBone)(-1), AvatarBone.Root);
AddMotor(ragdoll, AvatarBone.Root, AvatarBone.BackLower);
AddMotor(ragdoll, AvatarBone.BackLower, AvatarBone.BackUpper);
AddMotor(ragdoll, AvatarBone.BackUpper, AvatarBone.Neck);
AddMotor(ragdoll, AvatarBone.Neck, AvatarBone.Head);
AddMotor(ragdoll, AvatarBone.BackUpper, AvatarBone.CollarLeft);
AddMotor(ragdoll, AvatarBone.BackUpper, AvatarBone.CollarRight);
AddMotor(ragdoll, AvatarBone.CollarLeft, AvatarBone.ShoulderLeft);
AddMotor(ragdoll, AvatarBone.CollarRight, AvatarBone.ShoulderRight);
AddMotor(ragdoll, AvatarBone.ShoulderLeft, AvatarBone.ElbowLeft);
AddMotor(ragdoll, AvatarBone.ShoulderRight, AvatarBone.ElbowRight);
AddMotor(ragdoll, AvatarBone.ElbowLeft, AvatarBone.WristLeft);
AddMotor(ragdoll, AvatarBone.ElbowRight, AvatarBone.WristRight);
AddMotor(ragdoll, AvatarBone.Root, AvatarBone.HipLeft);
AddMotor(ragdoll, AvatarBone.Root, AvatarBone.HipRight);
AddMotor(ragdoll, AvatarBone.HipLeft, AvatarBone.KneeLeft);
AddMotor(ragdoll, AvatarBone.HipRight, AvatarBone.KneeRight);
AddMotor(ragdoll, AvatarBone.KneeLeft, AvatarBone.AnkleLeft);
AddMotor(ragdoll, AvatarBone.KneeRight, AvatarBone.AnkleRight);
// ----- Set collision filters.
// Collisions between connected bones have been disabled with Constraint.CollisionEnabled
// = false in the joints. We need to disable a few other collisions.
// Following bodies do not collide with anything. They are only used to connect other
// bones.
ragdoll.Bodies[(int)AvatarBone.Neck].CollisionObject.Enabled = false;
ragdoll.Bodies[(int)AvatarBone.CollarLeft].CollisionObject.Enabled = false;
ragdoll.Bodies[(int)AvatarBone.CollarRight].CollisionObject.Enabled = false;
// We disable filters for following body pairs because they are usually penetrating each
// other, which needs to be ignored.
var filter = simulation.CollisionDomain.CollisionDetection.CollisionFilter as CollisionFilter;
if (filter != null)
{
filter.Set(ragdoll.Bodies[(int)AvatarBone.BackUpper].CollisionObject, ragdoll.Bodies[(int)AvatarBone.ShoulderLeft].CollisionObject, false);
filter.Set(ragdoll.Bodies[(int)AvatarBone.BackUpper].CollisionObject, ragdoll.Bodies[(int)AvatarBone.ShoulderRight].CollisionObject, false);
}
return(ragdoll);
}
public ShapesSample(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);
// ----- Add a sphere.
Shape sphere = new SphereShape(0.5f);
Simulation.RigidBodies.Add(new RigidBody(sphere));
// ----- Add a box.
BoxShape box = new BoxShape(0.5f, 0.9f, 0.7f);
Simulation.RigidBodies.Add(new RigidBody(box));
// ----- Add a capsule.
CapsuleShape capsule = new CapsuleShape(0.4f, 1.2f);
Simulation.RigidBodies.Add(new RigidBody(capsule));
// ----- Add a cone.
ConeShape cone = new ConeShape(0.5f, 1f);
Simulation.RigidBodies.Add(new RigidBody(cone));
// ----- Add a cylinder.
CylinderShape cylinder = new CylinderShape(0.3f, 1f);
Simulation.RigidBodies.Add(new RigidBody(cylinder));
// ----- Add a convex hull of random points.
ConvexHullOfPoints convexHullOfPoints = new ConvexHullOfPoints();
for (int i = 0; i < 20; i++)
{
convexHullOfPoints.Points.Add(RandomHelper.Random.NextVector3F(-0.5f, 0.5f));
}
Simulation.RigidBodies.Add(new RigidBody(convexHullOfPoints));
// ----- Add a convex polyhedron.
// (A ConvexPolyhedron is similar to the ConvexHullOfPoints. The difference is that
// the points in a ConvexHullOfPoints can be changed at runtime. A ConvexPolyhedron
// cannot be changed at runtime, but it is faster.)
List <Vector3F> points = new List <Vector3F>();
for (int i = 0; i < 20; i++)
{
points.Add(RandomHelper.Random.NextVector3F(-0.7f, 0.7f));
}
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(points);
Simulation.RigidBodies.Add(new RigidBody(convexPolyhedron));
// ----- Add a composite shape (a table that consists of 5 boxes).
CompositeShape composite = new CompositeShape();
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(-0.75f, 0.4f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(0.75f, 0.4f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(-0.75f, 0.4f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(0.75f, 0.4f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(1.8f, 0.1f, 1.1f), new Pose(new Vector3F(0, 0.8f, 0))));
Simulation.RigidBodies.Add(new RigidBody(composite));
// ----- Add a convex hull of multiple shapes.
ConvexHullOfShapes convexHullOfShapes = new ConvexHullOfShapes();
convexHullOfShapes.Children.Add(new GeometricObject(new CylinderShape(0.2f, 0.8f), new Pose(new Vector3F(-0.4f, 0, 0))));
convexHullOfShapes.Children.Add(new GeometricObject(new CylinderShape(0.2f, 0.8f), new Pose(new Vector3F(+0.4f, 0, 0))));
Simulation.RigidBodies.Add(new RigidBody(convexHullOfShapes));
// ----- Add the Minkowski sum of two shapes.
// (The Minkowski sum is a mathematical operation that combines two shapes.
// Here a circle is combined with a sphere. The result is a wheel.)
MinkowskiSumShape minkowskiSum = new MinkowskiSumShape();
minkowskiSum.ObjectA = new GeometricObject(new SphereShape(0.2f), Pose.Identity);
minkowskiSum.ObjectB = new GeometricObject(new CircleShape(0.5f), Pose.Identity);
Simulation.RigidBodies.Add(new RigidBody(minkowskiSum));
// Create another Minkowski sum. (Here a small sphere is added to a box to create a
// box with rounded corners.)
minkowskiSum = new MinkowskiSumShape();
minkowskiSum.ObjectA = new GeometricObject(new SphereShape(0.1f), Pose.Identity);
minkowskiSum.ObjectB = new GeometricObject(new BoxShape(0.2f, 0.5f, 0.8f), Pose.Identity);
Simulation.RigidBodies.Add(new RigidBody(minkowskiSum));
// ----- Add a triangle mesh.
// A triangle mesh could be loaded from a file or built from an XNA model.
// Here we first create a composite shape and convert the shape into a triangle
// mesh. (Any Shape in DigitalRune.Geometry can be converted to a triangle mesh.)
CompositeShape dumbbell = new CompositeShape();
dumbbell.Children.Add(new GeometricObject(new SphereShape(0.4f), new Pose(new Vector3F(0.6f, 0.0f, 0.0f))));
dumbbell.Children.Add(new GeometricObject(new SphereShape(0.4f), new Pose(new Vector3F(-0.6f, 0.0f, 0.0f))));
dumbbell.Children.Add(new GeometricObject(new CylinderShape(0.1f, 0.6f), new Pose(Matrix33F.CreateRotationZ(ConstantsF.PiOver2))));
TriangleMeshShape triangleMeshShape = new TriangleMeshShape(dumbbell.GetMesh(0.01f, 2));
// Optional: We can enable "contact welding". When this flag is enabled, the triangle shape
// precomputes additional internal information for the mesh. The collision detection will
// be able to compute better contacts (e.g. better normal vectors at triangle edges).
// Pro: Collision detection can compute better contact information.
// Con: Contact welding information needs a bit of memory. And the collision detection is
// a bit slower.
triangleMeshShape.EnableContactWelding = true;
// Optional: Assign a spatial partitioning scheme to the triangle mesh. (A spatial partition
// adds an additional memory overhead, but it improves collision detection speed tremendously!)
triangleMeshShape.Partition = new AabbTree <int>();
Simulation.RigidBodies.Add(new RigidBody(triangleMeshShape));
// ----- Set random positions/orientations.
// (Start with the second object. The first object is the ground plane which should
// not be changed.)
for (int i = 1; i < Simulation.RigidBodies.Count; i++)
{
RigidBody body = Simulation.RigidBodies[i];
Vector3F position = RandomHelper.Random.NextVector3F(-3, 3);
position.Y = 3; // Position the objects 3m above ground.
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
body.Pose = new Pose(position, orientation);
}
}
public void Orthogonalize()
{
var m = Matrix33F.CreateRotationX(0.1f) * Matrix33F.CreateRotationY(20) * Matrix33F.CreateRotationZ(1000);
// Introduce error.
m.M01 += 0.1f;
m.M22 += 0.1f;
Assert.IsFalse(m.IsOrthogonal);
Assert.IsFalse(m.IsRotation);
m.Orthogonalize();
Assert.IsTrue(m.IsOrthogonal);
Assert.IsTrue(m.IsRotation);
// Orthogonalizing and orthogonal matrix does not change the matrix.
var n = m;
n.Orthogonalize();
Assert.IsTrue(Matrix33F.AreNumericallyEqual(m, n));
}
// Add a flower shape.
private void CreateFlower()
{
// Define single flower petal.
var petalPath = new Path2F
{
new PathKey2F
{
Parameter = 0,
Interpolation = SplineInterpolation.Bezier,
Point = new Vector2F(0, 0),
TangentIn = new Vector2F(0, 0),
TangentOut = new Vector2F(-0.2f, 0.2f)
},
new PathKey2F
{
Parameter = 1,
Interpolation = SplineInterpolation.Bezier,
Point = new Vector2F(0, 1),
TangentIn = new Vector2F(-0.3f, 1.1f),
TangentOut = new Vector2F(0.3f, 1.1f)
},
new PathKey2F
{
Parameter = 2,
Interpolation = SplineInterpolation.Bezier,
Point = new Vector2F(0, 0),
TangentIn = new Vector2F(0.2f, 0.2f),
TangentOut = new Vector2F(0, 0)
}
};
var petal = new PathFigure2F();
petal.Segments.Add(petalPath);
// Duplicate and rotate flower petal several times.
const int numberOfPetals = 9;
var flower = new CompositeFigure();
flower.Children.Add(petal);
for (int i = 1; i < numberOfPetals; i++)
{
var transformedPetal = new TransformedFigure(petal)
{
Pose = new Pose(Matrix33F.CreateRotationZ(i * ConstantsF.TwoPi / numberOfPetals))
};
flower.Children.Add(transformedPetal);
}
var flowerNode = new FigureNode(flower)
{
Name = "Flower",
StrokeThickness = 2,
StrokeColor = new Vector3F(1, 0.2f, 0.2f),
FillColor = new Vector3F(1, 0.5f, 0.5f),
FillAlpha = 1,
PoseLocal = new Pose(new Vector3F(3, 1, 0)),
ScaleLocal = new Vector3F(0.5f)
};
_scene.Children.Add(flowerNode);
}
//--------------------------------------------------------------
#region Creation & Cleanup
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="SsaoFilter"/> class.
/// </summary>
/// <param name="graphicsService">The graphics service.</param>
/// <exception cref="ArgumentNullException">
/// <paramref name="graphicsService"/> is <see langword="null"/>.
/// </exception>
public SsaoFilter(IGraphicsService graphicsService)
: base(graphicsService)
{
_effect = GraphicsService.Content.Load <Effect>("DigitalRune/PostProcessing/SsaoFilter");
_farParameter = _effect.Parameters["Far"];
_radiusParameter = _effect.Parameters["Radius"];
_strengthParameter = _effect.Parameters["Strength"];
_maxDistancesParameter = _effect.Parameters["MaxDistances"];
_viewportSizeParameter = _effect.Parameters["ViewportSize"];
_sourceTextureParameter = _effect.Parameters["SourceTexture"];
_gBuffer0Parameter = _effect.Parameters["GBuffer0"];
_occlusionTextureParameter = _effect.Parameters["OcclusionTexture"];
_createLinesAPass = _effect.CurrentTechnique.Passes["CreateLinesA"];
_createLinesBPass = _effect.CurrentTechnique.Passes["CreateLinesB"];
_blurHorizontalPass = _effect.CurrentTechnique.Passes["BlurHorizontal"];
_blurVerticalPass = _effect.CurrentTechnique.Passes["BlurVertical"];
_combinePass = _effect.CurrentTechnique.Passes["Combine"];
_copyPass = _effect.CurrentTechnique.Passes["Copy"];
Radii = new Vector2F(0.01f, 0.02f);
MaxDistances = new Vector2F(0.5f, 1.0f);
Strength = 1f;
NumberOfBlurPasses = 1;
DownsampleFactor = 2;
Quality = 2;
Scale = new Vector2F(0.5f, 2f);
CombineWithSource = true;
_blur = new Blur(graphicsService);
_blur.InitializeGaussianBlur(7, 7 / 3, true);
_copyFilter = PostProcessHelper.GetCopyFilter(graphicsService);
_downsampleFilter = PostProcessHelper.GetDownsampleFilter(graphicsService);
Random random = new Random(123456);
Vector3[] vectors = new Vector3[9];
// 16 random vectors for Crytek-style point samples.
//for (int i = 0; i < vectors.Length; i++)
// vectors[i] = (Vector3)random.NextQuaternionF().Rotate(Vector3F.One).Normalized;
// //* random.NextFloat(0.5f, 1) // Note: StarCraft 2 uses varying length to vary the sample offset length.
// We create rotated random vectors with uniform distribution in 360°. Each random vector
// is further rotated with small random angle.
float jitterAngle = ConstantsF.TwoPi / vectors.Length / 4;
for (int i = 0; i < vectors.Length; i++)
{
vectors[i] = (Vector3)(Matrix33F.CreateRotationZ(ConstantsF.TwoPi * i / vectors.Length + random.NextFloat(-jitterAngle, jitterAngle)) * new Vector3F(1, 0, 0)).Normalized;
}
// Permute randomVectors.
for (int i = 0; i < vectors.Length; i++)
{
MathHelper.Swap(ref vectors[i], ref vectors[random.Next(i, vectors.Length - 1)]);
}
// Scale random vectors.
for (int i = 0; i < vectors.Length; i++)
{
vectors[i].Z = random.NextFloat(Scale.X, Scale.Y);
}
_effect.Parameters["RandomVectors"].SetValue(vectors);
}
// Add a 3D coordinate cross.
private void CreateGizmo(SpriteFont spriteFont)
{
var gizmoNode = new SceneNode
{
Name = "Gizmo",
Children = new SceneNodeCollection(),
PoseLocal = new Pose(new Vector3F(3, 2, 0)),
ScaleLocal = new Vector3F(0.5f)
};
// Red arrow
var arrow = new PathFigure2F();
arrow.Segments.Add(new LineSegment2F {
Point1 = new Vector2F(0, 0), Point2 = new Vector2F(1, 0)
});
arrow.Segments.Add(new LineSegment2F {
Point1 = new Vector2F(1, 0), Point2 = new Vector2F(0.9f, 0.02f)
});
arrow.Segments.Add(new LineSegment2F {
Point1 = new Vector2F(1, 0), Point2 = new Vector2F(0.9f, -0.02f)
});
var figureNode = new FigureNode(arrow)
{
Name = "Gizmo X",
StrokeThickness = 2,
StrokeColor = new Vector3F(1, 0, 0),
PoseLocal = new Pose(new Vector3F(0, 0, 0))
};
gizmoNode.Children.Add(figureNode);
// Green arrow
var transformedArrow = new TransformedFigure(arrow)
{
Pose = new Pose(Matrix33F.CreateRotationZ(MathHelper.ToRadians(90)))
};
figureNode = new FigureNode(transformedArrow)
{
Name = "Gizmo Y",
StrokeThickness = 2,
StrokeColor = new Vector3F(0, 1, 0),
PoseLocal = new Pose(new Vector3F(0, 0, 0))
};
gizmoNode.Children.Add(figureNode);
// Blue arrow
transformedArrow = new TransformedFigure(arrow)
{
Pose = new Pose(Matrix33F.CreateRotationY(MathHelper.ToRadians(-90)))
};
figureNode = new FigureNode(transformedArrow)
{
Name = "Gizmo Z",
StrokeThickness = 2,
StrokeColor = new Vector3F(0, 0, 1),
PoseLocal = new Pose(new Vector3F(0, 0, 0))
};
gizmoNode.Children.Add(figureNode);
// Red arc
var arc = new PathFigure2F();
arc.Segments.Add(
new StrokedSegment2F(
new LineSegment2F {
Point1 = new Vector2F(0, 0), Point2 = new Vector2F(1, 0),
},
false));
arc.Segments.Add(
new ArcSegment2F
{
Point1 = new Vector2F(1, 0),
Point2 = new Vector2F(0, 1),
Radius = new Vector2F(1, 1)
});
arc.Segments.Add(
new StrokedSegment2F(
new LineSegment2F {
Point1 = new Vector2F(0, 1), Point2 = new Vector2F(0, 0),
},
false));
var transformedArc = new TransformedFigure(arc)
{
Scale = new Vector3F(0.333f),
Pose = new Pose(Matrix33F.CreateRotationY(MathHelper.ToRadians(-90)))
};
figureNode = new FigureNode(transformedArc)
{
Name = "Gizmo YZ",
StrokeThickness = 2,
StrokeColor = new Vector3F(1, 0, 0),
FillColor = new Vector3F(1, 0, 0),
FillAlpha = 0.5f,
PoseLocal = new Pose(new Vector3F(0, 0, 0))
};
gizmoNode.Children.Add(figureNode);
// Green arc
transformedArc = new TransformedFigure(arc)
{
Scale = new Vector3F(0.333f),
Pose = new Pose(Matrix33F.CreateRotationX(MathHelper.ToRadians(90)))
};
figureNode = new FigureNode(transformedArc)
{
Name = "Gizmo XZ",
StrokeThickness = 2,
StrokeColor = new Vector3F(0, 1, 0),
FillColor = new Vector3F(0, 1, 0),
FillAlpha = 0.5f,
PoseLocal = new Pose(new Vector3F(0, 0, 0))
};
gizmoNode.Children.Add(figureNode);
// Blue arc
transformedArc = new TransformedFigure(arc)
{
Scale = new Vector3F(0.333f),
};
figureNode = new FigureNode(transformedArc)
{
Name = "Gizmo XY",
StrokeThickness = 2,
StrokeColor = new Vector3F(0, 0, 1),
FillColor = new Vector3F(0, 0, 1),
FillAlpha = 0.5f,
PoseLocal = new Pose(new Vector3F(0, 0, 0))
};
gizmoNode.Children.Add(figureNode);
// Labels "X", "Y", "Z"
var spriteNode = new SpriteNode(new TextSprite("X", spriteFont))
{
Color = new Vector3F(1, 0, 0),
Origin = new Vector2F(0, 1),
PoseLocal = new Pose(new Vector3F(1, 0, 0))
};
gizmoNode.Children.Add(spriteNode);
spriteNode = new SpriteNode(new TextSprite("Y", spriteFont))
{
Color = new Vector3F(0, 1, 0),
Origin = new Vector2F(0, 1),
PoseLocal = new Pose(new Vector3F(0, 1, 0))
};
gizmoNode.Children.Add(spriteNode);
spriteNode = new SpriteNode(new TextSprite("Z", spriteFont))
{
Color = new Vector3F(0, 0, 1),
Origin = new Vector2F(0, 1),
PoseLocal = new Pose(new Vector3F(0, 0, 1))
};
gizmoNode.Children.Add(spriteNode);
_scene.Children.Add(gizmoNode);
}
public BillboardSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
_delegateGraphicsScreen = new DelegateGraphicsScreen(GraphicsService)
{
RenderCallback = Render,
};
GraphicsService.Screens.Insert(0, _delegateGraphicsScreen);
// Add a custom game object which controls the camera.
_cameraObject = new CameraObject(Services);
GameObjectService.Objects.Add(_cameraObject);
// In this example we need three renderers:
// The MeshRenderer handles MeshNodes.
_meshRenderer = new MeshRenderer();
// The BillboardRenderer handles BillboardNodes and ParticleSystemNodes.
_billboardRenderer = new BillboardRenderer(GraphicsService, 2048);
// The DebugRenderer is used to draw text.
var spriteFont = UIContentManager.Load <SpriteFont>("Default");
_debugRenderer = new DebugRenderer(GraphicsService, spriteFont);
// Create a new empty scene.
_scene = new Scene();
// Add the camera node to the scene.
_scene.Children.Add(_cameraObject.CameraNode);
// Add a few models to the scene.
var sandbox = ContentManager.Load <ModelNode>("Sandbox/Sandbox").Clone();
_scene.Children.Add(sandbox);
// Add some lights to the scene which have the same properties as the lights
// of BasicEffect.EnableDefaultLighting().
SceneSample.InitializeDefaultXnaLights(_scene);
var texture = new PackedTexture(ContentManager.Load <Texture2D>("Billboard/BillboardReference"));
// ----- View plane-aligned billboards with variations.
// View plane-aligned billboards are rendered parallel to the screen.
// The up-axis of the BillboardNode determines the up direction of the
// billboard.
var pose0 = new Pose(new Vector3F(-9, 1.0f, 1.5f));
var pose1 = pose0;
var billboard = new ImageBillboard(texture);
var billboardNode = new BillboardNode(billboard);
billboardNode.Name = "View plane-aligned\nVarying color\nVarying alpha";
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
billboardNode.Color = new Vector3F(1, 0, 0);
billboardNode.Alpha = 0.9f;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
billboardNode.Color = new Vector3F(0, 1, 0);
billboardNode.Alpha = 0.7f;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
billboardNode.Color = new Vector3F(0, 0, 1);
billboardNode.Alpha = 0.3f;
_scene.Children.Add(billboardNode);
// ----- View plane-aligned billboards with different blend modes
// blend mode = 0 ... additive blend
// blend mode = 1 ... alpha blend
pose0.Position.X += 2;
pose1 = pose0;
billboard = new ImageBillboard(texture);
billboard.BlendMode = 0.0f;
billboardNode = new BillboardNode(billboard);
billboardNode.Name = "View plane-aligned\nVarying blend mode";
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboard = new ImageBillboard(texture);
billboard.BlendMode = 0.333f;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboard = new ImageBillboard(texture);
billboard.BlendMode = 0.667f;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboard = new ImageBillboard(texture);
billboard.BlendMode = 1.0f;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
// ----- View plane-aligned billboards with alpha test
pose0.Position.X += 2;
pose1 = pose0;
billboard = new ImageBillboard(texture);
billboard.AlphaTest = 0.9f;
billboardNode = new BillboardNode(billboard);
billboardNode.Name = "View plane-aligned\nVarying reference alpha";
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboard = new ImageBillboard(texture);
billboard.AlphaTest = 0.667f;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboard = new ImageBillboard(texture);
billboard.AlphaTest = 0.333f;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboard = new ImageBillboard(texture);
billboard.AlphaTest = 0.0f;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
// ----- View plane-aligned billboards with different scale and rotation
pose0.Position.X += 2;
pose1 = pose0;
billboard = new ImageBillboard(texture);
billboard.Orientation = BillboardOrientation.ViewPlaneAligned;
billboardNode = new BillboardNode(billboard);
billboardNode.Name = "View plane-aligned\nVarying scale\nVarying rotation";
billboardNode.PoseWorld = pose1;
billboardNode.ScaleLocal = new Vector3F(0.4f);
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = billboardNode.Clone();
billboardNode.Name = null;
billboardNode.PoseWorld = pose1 * new Pose(Matrix33F.CreateRotationZ(MathHelper.ToRadians(-15)));
billboardNode.ScaleLocal = new Vector3F(0.6f);
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = billboardNode.Clone();
billboardNode.Name = null;
billboardNode.PoseWorld = pose1 * new Pose(Matrix33F.CreateRotationZ(MathHelper.ToRadians(-30)));
billboardNode.ScaleLocal = new Vector3F(0.8f);
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = billboardNode.Clone();
billboardNode.Name = null;
billboardNode.PoseWorld = pose1 * new Pose(Matrix33F.CreateRotationZ(MathHelper.ToRadians(-45)));
billboardNode.ScaleLocal = new Vector3F(1.0f);
_scene.Children.Add(billboardNode);
// ----- Viewpoint-oriented billboards
// Viewpoint-orientated billboards always face the player. (The face normal
// points directly to the camera.)
pose0.Position.X += 2;
pose1 = pose0;
billboard = new ImageBillboard(texture);
billboard.Orientation = BillboardOrientation.ViewpointOriented;
billboardNode = new BillboardNode(billboard);
billboardNode.Name = "Viewpoint-oriented";
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
// ----- Screen-aligned billboards
// View plane-aligned billboards and screen-aligned billboards are similar. The
// billboards are rendered parallel to the screen. The orientation can be changed
// by rotating the BillboardNode. The difference is that the orientation of view
// plane-aligned billboards is relative to world space and the orientation of
// screen-aligned billboards is relative to view space.
// Screen-aligned billboards are, for example, used for text label.
pose0.Position.X += 2;
pose1 = pose0;
billboard = new ImageBillboard(texture);
billboard.Orientation = BillboardOrientation.ScreenAligned;
billboardNode = new BillboardNode(billboard);
billboardNode.Name = "Screen-aligned";
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
// ----- Axial, view plane-aligned billboards
pose0.Position.X += 2;
pose1 = pose0;
billboard = new ImageBillboard(texture);
billboard.Orientation = BillboardOrientation.AxialViewPlaneAligned;
billboardNode = new BillboardNode(billboard);
billboardNode.Name = "Axial, view plane-aligned";
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = billboardNode.Clone();
billboardNode.Name = null;
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
// ----- Axial, viewpoint-oriented billboards
pose0.Position.X += 2;
pose1 = pose0;
billboard = new ImageBillboard(texture);
billboard.Orientation = BillboardOrientation.AxialViewpointOriented;
billboardNode = new BillboardNode(billboard);
billboardNode.Name = "Axial, viewpoint-oriented";
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
// ----- World-oriented billboards
// World-oriented billboards have a fixed orientation in world space. The
// orientation is determine by the BillboardNode.
pose0.Position.X += 2;
pose1 = pose0;
pose1.Orientation *= Matrix33F.CreateRotationY(0.2f);
billboard = new ImageBillboard(texture);
billboard.Orientation = BillboardOrientation.WorldOriented;
billboardNode = new BillboardNode(billboard);
billboardNode.Name = "World-oriented";
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
pose1.Orientation *= Matrix33F.CreateRotationY(0.2f);
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1 * new Pose(Matrix33F.CreateRotationZ(MathHelper.ToRadians(15)));
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
pose1.Orientation *= Matrix33F.CreateRotationY(0.2f);
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1 * new Pose(Matrix33F.CreateRotationZ(MathHelper.ToRadians(30)));
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
pose1.Orientation *= Matrix33F.CreateRotationY(0.2f);
billboardNode = new BillboardNode(billboard);
billboardNode.PoseWorld = pose1 * new Pose(Matrix33F.CreateRotationZ(MathHelper.ToRadians(45)));
_scene.Children.Add(billboardNode);
// ----- Animated billboards
// DigitalRune Graphics supports "texture atlases". I.e. textures can be packed
// together into a single, larger texture file. A PackedTexture can describe a
// single texture packed into a texture atlas or a tile set packed into a
// texture atlas. In this example the "beeWingFlap" is a set of three tiles.
// Tile sets can be used for sprite animations. (The animation is set below in
// Update().)
pose0.Position.X += 2;
pose1 = pose0;
texture = new PackedTexture("Bee", ContentManager.Load <Texture2D>("Particles/beeWingFlap"), Vector2F.Zero, Vector2F.One, 3, 1);
_animatedBillboard = new ImageBillboard(texture);
billboardNode = new BillboardNode(_animatedBillboard);
billboardNode.Name = "Animated billboards";
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(_animatedBillboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
pose1.Position.Z -= 1;
billboardNode = new BillboardNode(_animatedBillboard);
billboardNode.PoseWorld = pose1;
_scene.Children.Add(billboardNode);
// Use DebugRenderer to draw node names above billboard nodes.
foreach (var node in _scene.GetDescendants().OfType <BillboardNode>())
{
_debugRenderer.DrawText(node.Name, node.PoseWorld.Position + new Vector3F(0, 1, 0), new Vector2F(0.5f), Color.Yellow, false);
}
}
public void AddRagdoll(float scale, Vector3F ragdollPosition)
{
// Ragdolls are usually used in games to create realistic death animations of
// characters. The character is usually rendered using a skinned triangle mesh.
// But in the physics simulation the body parts of the character are represented
// using simple shapes, such as spheres, capsules, boxes, or convex polyhedra,
// which are connected with joints.
// The physics simulations computes how these parts collide and fall. The positions
// and orientations are then read back each frame to update the animation of the
// triangle mesh.
// In this example the ragdoll is built from spheres, capsules and boxes. The
// rigid bodies are created in code. In practice, ragdolls should be built using
// external tools, such as a 3D modeller or a game editor.
#region ----- Create rigid bodies for the most relevant body parts -----
BoxShape pelvisShape = new BoxShape(0.3f * scale, 0.22f * scale, 0.20f * scale);
MassFrame pelvisMass = MassFrame.FromShapeAndDensity(pelvisShape, Vector3F.One, Density, 0.01f, 3);
RigidBody pelvis = new RigidBody(pelvisShape, pelvisMass, null)
{
Pose = new Pose(new Vector3F(0f, 0.01f * scale, -0.03f * scale) + ragdollPosition),
};
Simulation.RigidBodies.Add(pelvis);
BoxShape torsoShape = new BoxShape(0.35f * scale, 0.22f * scale, 0.44f * scale);
MassFrame torsoMass = MassFrame.FromShapeAndDensity(torsoShape, Vector3F.One, Density, 0.01f, 3);
RigidBody torso = new RigidBody(torsoShape, torsoMass, null)
{
Pose = new Pose(new Vector3F(0f, 0.01f * scale, -0.4f * scale) + ragdollPosition),
};
Simulation.RigidBodies.Add(torso);
SphereShape headShape = new SphereShape(0.13f * scale);
MassFrame headMass = MassFrame.FromShapeAndDensity(headShape, Vector3F.One, Density, 0.01f, 3);
RigidBody head = new RigidBody(headShape, headMass, null)
{
Pose = new Pose(new Vector3F(0f * scale, 0f, -0.776f * scale) + ragdollPosition),
};
Simulation.RigidBodies.Add(head);
CapsuleShape upperArmShape = new CapsuleShape(0.08f * scale, 0.3f * scale);
MassFrame upperArmMass = MassFrame.FromShapeAndDensity(upperArmShape, Vector3F.One, Density, 0.01f, 3);
RigidBody leftUpperArm = new RigidBody(upperArmShape, upperArmMass, null)
{
Pose = new Pose(new Vector3F(-0.32f * scale, 0.06f * scale, -0.53f * scale) + ragdollPosition, Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(leftUpperArm);
RigidBody rightUpperArm = new RigidBody(upperArmShape, upperArmMass, null)
{
Pose = new Pose(new Vector3F(0.32f * scale, 0.06f * scale, -0.53f * scale) + ragdollPosition, Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(rightUpperArm);
CapsuleShape lowerArmShape = new CapsuleShape(0.08f * scale, 0.4f * scale);
MassFrame lowerArmMass = MassFrame.FromShapeAndDensity(lowerArmShape, Vector3F.One, Density, 0.01f, 3);
RigidBody leftLowerArm = new RigidBody(lowerArmShape, lowerArmMass, null)
{
Pose = new Pose(new Vector3F(-0.62f * scale, 0.06f * scale, -0.53f * scale) + ragdollPosition, Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(leftLowerArm);
RigidBody rightLowerArm = new RigidBody(lowerArmShape, lowerArmMass, null)
{
Pose = new Pose(new Vector3F(0.62f * scale, 0.06f * scale, -0.53f * scale) + ragdollPosition, Matrix33F.CreateRotationZ(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(rightLowerArm);
CapsuleShape upperLegShape = new CapsuleShape(0.09f * scale, 0.5f * scale);
MassFrame upperLegMass = MassFrame.FromShapeAndDensity(upperLegShape, Vector3F.One, Density, 0.01f, 3);
RigidBody leftUpperLeg = new RigidBody(upperLegShape, upperLegMass, null)
{
Pose = new Pose(new Vector3F(-0.10f * scale, 0.01f * scale, 0.233f * scale) + ragdollPosition, Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(leftUpperLeg);
RigidBody rightUpperLeg = new RigidBody(upperLegShape, upperLegMass, null)
{
Pose = new Pose(new Vector3F(0.10f * scale, 0.01f * scale, 0.233f * scale) + ragdollPosition, Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(rightUpperLeg);
CapsuleShape lowerLegShape = new CapsuleShape(0.08f * scale, 0.4f * scale);
MassFrame lowerLegMass = MassFrame.FromShapeAndDensity(pelvisShape, Vector3F.One, Density, 0.01f, 3);
RigidBody leftLowerLeg = new RigidBody(lowerLegShape, lowerLegMass, null)
{
Pose = new Pose(new Vector3F(-0.11f * scale, 0.01f * scale, 0.7f * scale) + ragdollPosition, Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(leftLowerLeg);
RigidBody rightLowerLeg = new RigidBody(lowerLegShape, lowerLegMass, null)
{
Pose = new Pose(new Vector3F(0.11f * scale, 0.01f * scale, 0.7f * scale) + ragdollPosition, Matrix33F.CreateRotationX(ConstantsF.PiOver2)),
};
Simulation.RigidBodies.Add(rightLowerLeg);
BoxShape footShape = new BoxShape(0.12f * scale, 0.28f * scale, 0.07f * scale);
MassFrame footMass = MassFrame.FromShapeAndDensity(footShape, Vector3F.One, Density, 0.01f, 3);
RigidBody leftFoot = new RigidBody(footShape, footMass, null)
{
Pose = new Pose(new Vector3F(-0.11f * scale, -0.06f * scale, 0.94f * scale) + ragdollPosition),
};
Simulation.RigidBodies.Add(leftFoot);
RigidBody rightFoot = new RigidBody(footShape, footMass, null)
{
Pose = new Pose(new Vector3F(0.11f * scale, -0.06f * scale, 0.94f * scale) + ragdollPosition),
};
Simulation.RigidBodies.Add(rightFoot);
#endregion
#region ----- Add joints between body parts -----
Vector3F pelvisJointPosition = new Vector3F(0f, 0.026f * scale, -0.115f * scale) + ragdollPosition;
HingeJoint pelvisJoint = new HingeJoint
{
BodyA = torso,
BodyB = pelvis,
AnchorPoseALocal = new Pose(torso.Pose.ToLocalPosition(pelvisJointPosition)),
AnchorPoseBLocal = new Pose(pelvis.Pose.ToLocalPosition(pelvisJointPosition)),
Minimum = -0.5f,
Maximum = 1.1f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(pelvisJoint);
Vector3F neckJointPosition = new Vector3F(0f, 0.026f * scale, -0.690f * scale) + ragdollPosition;
HingeJoint neckJoint = new HingeJoint
{
BodyA = head,
BodyB = torso,
AnchorPoseALocal = new Pose(head.Pose.ToLocalPosition(neckJointPosition)),
AnchorPoseBLocal = new Pose(torso.Pose.ToLocalPosition(neckJointPosition)),
Minimum = -1f,
Maximum = 1f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(neckJoint);
Vector3F leftShoulderJointPosition = new Vector3F(-0.193f * scale, 0.056f * scale, -0.528f * scale) + ragdollPosition;
Vector3F leftShoulderJointAxis = new Vector3F(0, -1, -1).Normalized;
Matrix33F leftShoulderJointOrientation = new Matrix33F();
leftShoulderJointOrientation.SetColumn(0, leftShoulderJointAxis);
leftShoulderJointOrientation.SetColumn(1, leftShoulderJointAxis.Orthonormal1);
leftShoulderJointOrientation.SetColumn(2, leftShoulderJointAxis.Orthonormal2);
BallJoint leftShoulderJoint = new BallJoint
{
BodyA = leftUpperArm,
BodyB = torso,
AnchorPositionALocal = leftUpperArm.Pose.ToLocalPosition(leftShoulderJointPosition),
AnchorPositionBLocal = torso.Pose.ToLocalPosition(leftShoulderJointPosition),
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(leftShoulderJoint);
Vector3F rightShoulderJointPosition = new Vector3F(0.193f * scale, 0.056f * scale, -0.528f * scale) + ragdollPosition;
Vector3F rightShoulderJointAxis = new Vector3F(0, 1, 1).Normalized;
Matrix33F rightShoulderJointOrientation = new Matrix33F();
rightShoulderJointOrientation.SetColumn(0, rightShoulderJointAxis);
rightShoulderJointOrientation.SetColumn(1, rightShoulderJointAxis.Orthonormal1);
rightShoulderJointOrientation.SetColumn(2, rightShoulderJointAxis.Orthonormal2);
BallJoint rightShoulderJoint = new BallJoint
{
BodyA = rightUpperArm,
BodyB = torso,
AnchorPositionALocal = rightUpperArm.Pose.ToLocalPosition(rightShoulderJointPosition),
AnchorPositionBLocal = torso.Pose.ToLocalPosition(rightShoulderJointPosition),
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(rightShoulderJoint);
Vector3F leftElbowJointPosition = new Vector3F(-0.451f * scale, 0.071f * scale, -0.538f * scale) + ragdollPosition;
Matrix33F elbowAxisOrientation = new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0);
HingeJoint leftElbowJoint = new HingeJoint
{
BodyA = leftLowerArm,
BodyB = leftUpperArm,
AnchorPoseALocal = new Pose(leftLowerArm.Pose.ToLocalPosition(leftElbowJointPosition), leftLowerArm.Pose.Orientation.Inverse * elbowAxisOrientation),
AnchorPoseBLocal = new Pose(leftUpperArm.Pose.ToLocalPosition(leftElbowJointPosition), leftUpperArm.Pose.Orientation.Inverse * elbowAxisOrientation),
Minimum = -2,
Maximum = 0,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(leftElbowJoint);
Vector3F rightElbowJointPosition = new Vector3F(0.451f * scale, 0.071f * scale, -0.538f * scale) + ragdollPosition;
HingeJoint rightElbowJoint = new HingeJoint
{
BodyA = rightLowerArm,
BodyB = rightUpperArm,
AnchorPoseALocal = new Pose(rightLowerArm.Pose.ToLocalPosition(rightElbowJointPosition), rightLowerArm.Pose.Orientation.Inverse * elbowAxisOrientation),
AnchorPoseBLocal = new Pose(rightUpperArm.Pose.ToLocalPosition(rightElbowJointPosition), rightUpperArm.Pose.Orientation.Inverse * elbowAxisOrientation),
Minimum = 0,
Maximum = 2,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(rightElbowJoint);
Vector3F leftHipJointPosition = new Vector3F(-0.107f * scale, 0.049f * scale, 0.026f * scale) + ragdollPosition;
HingeJoint leftHipJoint = new HingeJoint
{
BodyA = pelvis,
BodyB = leftUpperLeg,
AnchorPoseALocal = new Pose(pelvis.Pose.ToLocalPosition(leftHipJointPosition)),
AnchorPoseBLocal = new Pose(leftUpperLeg.Pose.ToLocalPosition(leftHipJointPosition), leftUpperLeg.Pose.Orientation.Inverse),
Minimum = -0.1f,
Maximum = 1.2f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(leftHipJoint);
Vector3F rightHipJointPosition = new Vector3F(0.107f * scale, 0.049f * scale, 0.026f * scale) + ragdollPosition;
HingeJoint rightHipJoint = new HingeJoint
{
BodyA = pelvis,
BodyB = rightUpperLeg,
AnchorPoseALocal = new Pose(pelvis.Pose.ToLocalPosition(rightHipJointPosition)),
AnchorPoseBLocal = new Pose(rightUpperLeg.Pose.ToLocalPosition(rightHipJointPosition), rightUpperLeg.Pose.Orientation.Inverse),
Minimum = -0.1f,
Maximum = 1.2f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(rightHipJoint);
Vector3F leftKneeJointPosition = new Vector3F(-0.118f * scale, -0.012f * scale, 0.439f * scale) + ragdollPosition;
HingeJoint leftKneeJoint = new HingeJoint
{
BodyA = leftLowerLeg,
BodyB = leftUpperLeg,
AnchorPoseALocal = new Pose(leftLowerLeg.Pose.ToLocalPosition(leftKneeJointPosition)),
AnchorPoseBLocal = new Pose(leftUpperLeg.Pose.ToLocalPosition(leftKneeJointPosition)),
Minimum = 0,
Maximum = 1.7f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(leftKneeJoint);
Vector3F rightKneeJointPosition = new Vector3F(0.118f * scale, -0.012f * scale, 0.439f * scale) + ragdollPosition;
HingeJoint rightKneeJoint = new HingeJoint
{
BodyA = rightLowerLeg,
BodyB = rightUpperLeg,
AnchorPoseALocal = new Pose(rightLowerLeg.Pose.ToLocalPosition(rightKneeJointPosition)),
AnchorPoseBLocal = new Pose(rightUpperLeg.Pose.ToLocalPosition(rightKneeJointPosition)),
Minimum = 0,
Maximum = 1.7f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(rightKneeJoint);
Vector3F leftAnkleJointPosition = new Vector3F(-0.118f * scale, -0.016f * scale, 0.861f * scale) + ragdollPosition;
HingeJoint leftAnkleJoint = new HingeJoint
{
BodyA = leftFoot,
BodyB = leftLowerLeg,
AnchorPoseALocal = new Pose(leftFoot.Pose.ToLocalPosition(leftAnkleJointPosition)),
AnchorPoseBLocal = new Pose(leftLowerLeg.Pose.ToLocalPosition(leftAnkleJointPosition), leftLowerLeg.Pose.Orientation.Inverse),
Minimum = -0.4f,
Maximum = 0.9f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(leftAnkleJoint);
Vector3F rightAnkleJointPosition = new Vector3F(0.118f * scale, -0.016f * scale, 0.861f * scale) + ragdollPosition;
HingeJoint rightAnkleJoint = new HingeJoint
{
BodyA = rightFoot,
BodyB = rightLowerLeg,
AnchorPoseALocal = new Pose(rightFoot.Pose.ToLocalPosition(rightAnkleJointPosition)),
AnchorPoseBLocal = new Pose(rightLowerLeg.Pose.ToLocalPosition(rightAnkleJointPosition), rightLowerLeg.Pose.Orientation.Inverse),
Minimum = -0.4f,
Maximum = 0.9f,
CollisionEnabled = false,
ErrorReduction = JointErrorReduction,
Softness = JointSoftness,
MaxForce = JointMaxForce,
};
Simulation.Constraints.Add(rightAnkleJoint);
#endregion
#region ----- Add damping to improve stability -----
if (DampingEnabled)
{
// Damping removes jiggling and improves stability.
AddDamping(pelvis, torso);
AddDamping(torso, head);
AddDamping(torso, leftUpperArm);
AddDamping(leftUpperArm, leftLowerArm);
AddDamping(torso, rightUpperArm);
AddDamping(rightUpperArm, rightLowerArm);
AddDamping(pelvis, leftUpperLeg);
AddDamping(pelvis, rightUpperLeg);
AddDamping(leftUpperLeg, leftLowerLeg);
AddDamping(rightUpperLeg, rightLowerLeg);
AddDamping(leftLowerLeg, leftFoot);
AddDamping(rightLowerLeg, rightFoot);
}
#endregion
}
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);
}
}
public ConstraintSample2(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);
// ----- PointOnLineConstraint
RigidBody box0 = new RigidBody(new BoxShape(0.1f, 0.5f, 6))
{
Pose = new Pose(new Vector3F(-4, 3, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(box0);
RigidBody sphere0 = new RigidBody(new SphereShape(0.5f))
{
Pose = new Pose(new Vector3F(-4, 2, 0))
};
Simulation.RigidBodies.Add(sphere0);
PointOnLineConstraint pointOnLineConstraint = new PointOnLineConstraint
{
BodyA = box0,
// The line goes through this point:
AnchorPositionALocal = new Vector3F(0, -0.25f, 0),
BodyB = sphere0,
AnchorPositionBLocal = new Vector3F(0, 0.5f, 0),
// The line axis:
AxisALocal = Vector3F.UnitZ,
// The movement on the line axis:
Minimum = -3,
Maximum = +3,
CollisionEnabled = false,
};
Simulation.Constraints.Add(pointOnLineConstraint);
// ----- PointOnPlaneConstraint
RigidBody box1 = new RigidBody(new BoxShape(2f, 0.5f, 6))
{
Pose = new Pose(new Vector3F(-1, 3, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(box1);
RigidBody sphere1 = new RigidBody(new SphereShape(0.5f))
{
Pose = new Pose(new Vector3F(-1, 2, 0))
};
Simulation.RigidBodies.Add(sphere1);
PointOnPlaneConstraint pointOnPlaneConstraint = new PointOnPlaneConstraint
{
BodyA = box1,
// The plane goes through this point:
AnchorPositionALocal = new Vector3F(0, -0.25f, 0),
BodyB = sphere1,
AnchorPositionBLocal = new Vector3F(0, 0.5f, 0),
// Two orthonormal vectors that define the plane:
XAxisALocal = Vector3F.UnitX,
YAxisALocal = Vector3F.UnitZ,
// Limits for the x axis and y axis movement:
Minimum = new Vector2F(-1, -3),
Maximum = new Vector2F(1, 3),
CollisionEnabled = false,
};
Simulation.Constraints.Add(pointOnPlaneConstraint);
// ----- NoRotationConstraint
// This constraint keeps two rotations synchronized.
RigidBody box2 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(2, 3, 0)),
};
Simulation.RigidBodies.Add(box2);
RigidBody box3 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(2.5f, 2, 0))
};
Simulation.RigidBodies.Add(box3);
NoRotationConstraint noRotationConstraint = new NoRotationConstraint
{
BodyA = box2,
BodyB = box3,
CollisionEnabled = true,
};
Simulation.Constraints.Add(noRotationConstraint);
// ----- Distance limit.
// Here, the distance of two cone tips is kept at a constant distance.
RigidBody cone0 = new RigidBody(new ConeShape(0.5f, 1f))
{
Pose = new Pose(new Vector3F(4, 3, 0), Matrix33F.CreateRotationZ(ConstantsF.Pi)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(cone0);
RigidBody cone1 = new RigidBody(new ConeShape(0.5f, 1f))
{
Pose = new Pose(new Vector3F(4, 0, 0))
};
Simulation.RigidBodies.Add(cone1);
DistanceLimit distanceLimit = new DistanceLimit
{
BodyA = cone0,
BodyB = cone1,
// The attachment points are the tips of the cones.
AnchorPositionALocal = new Vector3F(0, 1, 0),
AnchorPositionBLocal = new Vector3F(0, 1, 0),
// The tips should always have a distance of 0.5 units.
MinDistance = 0.5f,
MaxDistance = 0.5f,
};
Simulation.Constraints.Add(distanceLimit);
}
/// <summary>
/// Initializes the ragdoll for the given skeleton pose.
/// </summary>
/// <param name="skeletonPose">The skeleton pose.</param>
/// <param name="ragdoll">The ragdoll.</param>
/// <param name="simulation">The simulation in which the ragdoll will be used.</param>
/// <param name="scale">A scaling factor to scale the size of the ragdoll.</param>
public static void Create(SkeletonPose skeletonPose, Ragdoll ragdoll, Simulation simulation, float scale)
{
var skeleton = skeletonPose.Skeleton;
const float totalMass = 80; // The total mass of the ragdoll.
const int numberOfBodies = 17;
// Get distance from foot to head as a measure for the size of the ragdoll.
int head = skeleton.GetIndex("Head");
int footLeft = skeleton.GetIndex("L_Ankle1");
var headPosition = skeletonPose.GetBonePoseAbsolute(head).Translation;
var footPosition = skeletonPose.GetBonePoseAbsolute(footLeft).Translation;
var headToFootDistance = (headPosition - footPosition).Length;
// We use the same mass properties for all bodies. This is not realistic but more stable
// because large mass differences or thin bodies (arms!) are less stable.
// We use the mass properties of sphere proportional to the size of the model.
var massFrame = MassFrame.FromShapeAndMass(new SphereShape(headToFootDistance / 8), Vector3F.One, totalMass / numberOfBodies, 0.1f, 1);
var material = new UniformMaterial();
#region ----- Add Bodies and Body Offsets -----
var numberOfBones = skeleton.NumberOfBones;
ragdoll.Bodies.AddRange(Enumerable.Repeat <RigidBody>(null, numberOfBones));
ragdoll.BodyOffsets.AddRange(Enumerable.Repeat(Pose.Identity, numberOfBones));
var pelvis = skeleton.GetIndex("Pelvis");
ragdoll.Bodies[pelvis] = new RigidBody(new BoxShape(0.3f * scale, 0.4f * scale, 0.55f * scale), massFrame, material);
ragdoll.BodyOffsets[pelvis] = new Pose(new Vector3F(0, 0, 0));
var backLower = skeleton.GetIndex("Spine");
ragdoll.Bodies[backLower] = new RigidBody(new BoxShape(0.36f * scale, 0.4f * scale, 0.55f * scale), massFrame, material);
ragdoll.BodyOffsets[backLower] = new Pose(new Vector3F(0.18f * scale, 0, 0));
var backUpper = skeleton.GetIndex("Spine2");
ragdoll.Bodies[backUpper] = new RigidBody(new BoxShape(0.5f * scale, 0.4f * scale, 0.65f * scale), massFrame, material);
ragdoll.BodyOffsets[backUpper] = new Pose(new Vector3F(0.25f * scale, 0, 0));
var neck = skeleton.GetIndex("Neck");
ragdoll.Bodies[neck] = new RigidBody(new CapsuleShape(0.12f * scale, 0.3f * scale), massFrame, material);
ragdoll.BodyOffsets[neck] = new Pose(new Vector3F(0.15f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[neck].CollisionObject.Enabled = false;
ragdoll.Bodies[head] = new RigidBody(new SphereShape(0.2f * scale), massFrame, material);
ragdoll.BodyOffsets[head] = new Pose(new Vector3F(0.15f * scale, 0.02f * scale, 0));
var armUpperLeft = skeleton.GetIndex("L_UpperArm");
ragdoll.Bodies[armUpperLeft] = new RigidBody(new CapsuleShape(0.12f * scale, 0.6f * scale), massFrame, material);
ragdoll.BodyOffsets[armUpperLeft] = new Pose(new Vector3F(0.2f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var armLowerLeft = skeleton.GetIndex("L_Forearm");
ragdoll.Bodies[armLowerLeft] = new RigidBody(new CapsuleShape(0.08f * scale, 0.5f * scale), massFrame, material);
ragdoll.BodyOffsets[armLowerLeft] = new Pose(new Vector3F(0.2f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var handLeft = skeleton.GetIndex("L_Hand");
ragdoll.Bodies[handLeft] = new RigidBody(new BoxShape(0.2f * scale, 0.06f * scale, 0.15f * scale), massFrame, material);
ragdoll.BodyOffsets[handLeft] = new Pose(new Vector3F(0.1f * scale, 0, 0));
var armUpperRight = skeleton.GetIndex("R_UpperArm");
ragdoll.Bodies[armUpperRight] = new RigidBody(new CapsuleShape(0.12f * scale, 0.6f * scale), massFrame, material);
ragdoll.BodyOffsets[armUpperRight] = new Pose(new Vector3F(0.2f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var armLowerRight = skeleton.GetIndex("R_Forearm");
ragdoll.Bodies[armLowerRight] = new RigidBody(new CapsuleShape(0.08f * scale, 0.5f * scale), massFrame, material);
ragdoll.BodyOffsets[armLowerRight] = new Pose(new Vector3F(0.2f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var handRight = skeleton.GetIndex("R_Hand");
ragdoll.Bodies[handRight] = new RigidBody(new BoxShape(0.2f * scale, 0.06f * scale, 0.15f * scale), massFrame, material);
ragdoll.BodyOffsets[handRight] = new Pose(new Vector3F(0.1f * scale, 0, 0));
var legUpperLeft = skeleton.GetIndex("L_Thigh1");
ragdoll.Bodies[legUpperLeft] = new RigidBody(new CapsuleShape(0.16f * scale, 0.8f * scale), massFrame, material);
ragdoll.BodyOffsets[legUpperLeft] = new Pose(new Vector3F(0.4f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var legLowerLeft = skeleton.GetIndex("L_Knee2");
ragdoll.Bodies[legLowerLeft] = new RigidBody(new CapsuleShape(0.12f * scale, 0.65f * scale), massFrame, material);
ragdoll.BodyOffsets[legLowerLeft] = new Pose(new Vector3F(0.32f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
//var footLeft = skeleton.GetIndex("L_Ankle1");
ragdoll.Bodies[footLeft] = new RigidBody(new BoxShape(0.20f * scale, 0.5f * scale, 0.3f * scale), massFrame, material);
ragdoll.BodyOffsets[footLeft] = new Pose(new Vector3F(0.16f * scale, 0.15f * scale, 0));
var legUpperRight = skeleton.GetIndex("R_Thigh");
ragdoll.Bodies[legUpperRight] = new RigidBody(new CapsuleShape(0.16f * scale, 0.8f * scale), massFrame, material);
ragdoll.BodyOffsets[legUpperRight] = new Pose(new Vector3F(0.4f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var legLowerRight = skeleton.GetIndex("R_Knee");
ragdoll.Bodies[legLowerRight] = new RigidBody(new CapsuleShape(0.12f * scale, 0.65f * scale), massFrame, material);
ragdoll.BodyOffsets[legLowerRight] = new Pose(new Vector3F(0.32f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var footRight = skeleton.GetIndex("R_Ankle");
ragdoll.Bodies[footRight] = new RigidBody(new BoxShape(0.20f * scale, 0.5f * scale, 0.3f * scale), massFrame, material);
ragdoll.BodyOffsets[footRight] = new Pose(new Vector3F(0.16f * scale, 0.15f * scale, 0));
#endregion
#region ----- Set Collision Filters -----
// Collisions between connected bodies will be disabled in AddJoint(). (A BallJoint
// has a property CollisionEnabled which decides whether connected bodies can
// collide.)
// But we need to disable some more collision between bodies that are not directly
// connected but still too close to each other.
var filter = (ICollisionFilter)simulation.CollisionDomain.CollisionDetection.CollisionFilter;
filter.Set(ragdoll.Bodies[backUpper].CollisionObject, ragdoll.Bodies[head].CollisionObject, false);
filter.Set(ragdoll.Bodies[armUpperRight].CollisionObject, ragdoll.Bodies[backLower].CollisionObject, false);
filter.Set(ragdoll.Bodies[armUpperLeft].CollisionObject, ragdoll.Bodies[backLower].CollisionObject, false);
filter.Set(ragdoll.Bodies[legUpperLeft].CollisionObject, ragdoll.Bodies[legUpperRight].CollisionObject, false);
#endregion
#region ----- Add Joints -----
AddJoint(skeletonPose, ragdoll, pelvis, backLower);
AddJoint(skeletonPose, ragdoll, backLower, backUpper);
AddJoint(skeletonPose, ragdoll, backUpper, neck);
AddJoint(skeletonPose, ragdoll, neck, head);
AddJoint(skeletonPose, ragdoll, backUpper, armUpperLeft);
AddJoint(skeletonPose, ragdoll, armUpperLeft, armLowerLeft);
AddJoint(skeletonPose, ragdoll, armLowerLeft, handLeft);
AddJoint(skeletonPose, ragdoll, backUpper, armUpperRight);
AddJoint(skeletonPose, ragdoll, armUpperRight, armLowerRight);
AddJoint(skeletonPose, ragdoll, armLowerRight, handRight);
AddJoint(skeletonPose, ragdoll, pelvis, legUpperLeft);
AddJoint(skeletonPose, ragdoll, legUpperLeft, legLowerLeft);
AddJoint(skeletonPose, ragdoll, legLowerLeft, footLeft);
AddJoint(skeletonPose, ragdoll, pelvis, legUpperRight);
AddJoint(skeletonPose, ragdoll, legUpperRight, legLowerRight);
AddJoint(skeletonPose, ragdoll, legLowerRight, footRight);
#endregion
#region ----- Add Limits -----
// Choosing limits is difficult.
// We create hinge limits with AngularLimits in the back and in the knee.
// For all other joints we use TwistSwingLimits with symmetric cones.
AddAngularLimit(skeletonPose, ragdoll, pelvis, backLower, new Vector3F(0, 0, -0.3f), new Vector3F(0, 0, 0.3f));
AddAngularLimit(skeletonPose, ragdoll, backLower, backUpper, new Vector3F(0, 0, -0.3f), new Vector3F(0, 0, 0.4f));
AddAngularLimit(skeletonPose, ragdoll, backUpper, neck, new Vector3F(0, 0, -0.3f), new Vector3F(0, 0, 0.3f));
AddTwistSwingLimit(ragdoll, neck, head, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.1f, -0.5f, -0.7f), new Vector3F(0.1f, 0.5f, 0.7f));
var parentBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(backUpper).Inverse;
var childBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(armUpperLeft).Inverse;
var bindPoseRelative = parentBindPoseAbsolute.Inverse * childBindPoseAbsolute;
AddTwistSwingLimit(ragdoll, backUpper, armUpperLeft, bindPoseRelative.Orientation * Matrix33F.CreateRotationY(-0.5f) * Matrix33F.CreateRotationZ(-0.5f), Matrix33F.Identity, new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(0.7f, 1.2f, 1.2f));
AddTwistSwingLimit(ragdoll, armUpperLeft, armLowerLeft, Matrix33F.CreateRotationZ(-1.2f), Matrix33F.Identity, new Vector3F(-0.3f, -1.2f, -1.2f), new Vector3F(0.3f, 1.2f, 1.2f));
AddTwistSwingLimit(ragdoll, armLowerLeft, handLeft, Matrix33F.Identity, Matrix33F.CreateRotationX(+ConstantsF.PiOver2), new Vector3F(-0.3f, -0.7f, -0.7f), new Vector3F(0.3f, 0.7f, 0.7f));
parentBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(backUpper).Inverse;
childBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(armUpperRight).Inverse;
bindPoseRelative = parentBindPoseAbsolute.Inverse * childBindPoseAbsolute;
AddTwistSwingLimit(ragdoll, backUpper, armUpperRight, bindPoseRelative.Orientation * Matrix33F.CreateRotationY(0.5f) * Matrix33F.CreateRotationZ(-0.5f), Matrix33F.Identity, new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(0.7f, 1.2f, 1.2f));
AddTwistSwingLimit(ragdoll, armUpperRight, armLowerRight, Matrix33F.CreateRotationZ(-1.2f), Matrix33F.Identity, new Vector3F(-0.3f, -1.2f, -1.2f), new Vector3F(0.3f, 1.2f, 1.2f));
AddTwistSwingLimit(ragdoll, armLowerRight, handRight, Matrix33F.Identity, Matrix33F.CreateRotationX(-ConstantsF.PiOver2), new Vector3F(-0.3f, -0.7f, -0.7f), new Vector3F(0.3f, 0.7f, 0.7f));
parentBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(pelvis).Inverse;
childBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(legUpperLeft).Inverse;
bindPoseRelative = parentBindPoseAbsolute.Inverse * childBindPoseAbsolute;
AddTwistSwingLimit(ragdoll, pelvis, legUpperLeft, bindPoseRelative.Orientation * Matrix33F.CreateRotationZ(1.2f), Matrix33F.Identity, new Vector3F(-0.1f, -0.7f, -1.5f), new Vector3F(+0.1f, +0.7f, +1.5f));
AddAngularLimit(skeletonPose, ragdoll, legUpperLeft, legLowerLeft, new Vector3F(0, 0, -2.2f), new Vector3F(0, 0, 0.0f));
AddTwistSwingLimit(ragdoll, legLowerLeft, footLeft, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.1f, -0.3f, -0.7f), new Vector3F(0.1f, 0.3f, 0.7f));
parentBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(pelvis).Inverse;
childBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(legUpperRight).Inverse;
bindPoseRelative = parentBindPoseAbsolute.Inverse * childBindPoseAbsolute;
AddTwistSwingLimit(ragdoll, pelvis, legUpperRight, bindPoseRelative.Orientation * Matrix33F.CreateRotationZ(1.2f), Matrix33F.Identity, new Vector3F(-0.1f, -0.7f, -1.5f), new Vector3F(+0.1f, +0.7f, +1.5f));
AddAngularLimit(skeletonPose, ragdoll, legUpperRight, legLowerRight, new Vector3F(0, 0, -2.2f), new Vector3F(0, 0, 0.0f));
AddTwistSwingLimit(ragdoll, legLowerRight, footRight, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.1f, -0.3f, -0.7f), new Vector3F(0.1f, 0.3f, 0.7f));
#endregion
#region ----- Add Motors -----
ragdoll.Motors.AddRange(Enumerable.Repeat <RagdollMotor>(null, numberOfBones));
ragdoll.Motors[pelvis] = new RagdollMotor(pelvis, -1);
ragdoll.Motors[backLower] = new RagdollMotor(backLower, pelvis);
ragdoll.Motors[backUpper] = new RagdollMotor(backUpper, backLower);
ragdoll.Motors[neck] = new RagdollMotor(neck, backUpper);
ragdoll.Motors[head] = new RagdollMotor(head, neck);
ragdoll.Motors[armUpperLeft] = new RagdollMotor(armUpperLeft, backUpper);
ragdoll.Motors[armLowerLeft] = new RagdollMotor(armLowerLeft, armUpperLeft);
ragdoll.Motors[handLeft] = new RagdollMotor(handLeft, armLowerLeft);
ragdoll.Motors[armUpperRight] = new RagdollMotor(armUpperRight, backUpper);
ragdoll.Motors[armLowerRight] = new RagdollMotor(armLowerRight, armUpperRight);
ragdoll.Motors[handRight] = new RagdollMotor(handRight, armLowerRight);
ragdoll.Motors[legUpperLeft] = new RagdollMotor(legUpperLeft, pelvis);
ragdoll.Motors[legLowerLeft] = new RagdollMotor(legLowerLeft, legUpperLeft);
ragdoll.Motors[footLeft] = new RagdollMotor(footLeft, legLowerLeft);
ragdoll.Motors[legUpperRight] = new RagdollMotor(legUpperRight, pelvis);
ragdoll.Motors[legLowerRight] = new RagdollMotor(legLowerRight, legUpperRight);
ragdoll.Motors[footRight] = new RagdollMotor(footRight, legLowerRight);
#endregion
}
// Creates a lot of random objects.
private void CreateRandomObjects()
{
var random = new Random();
var isFirstHeightField = true;
int currentShape = 0;
int numberOfObjects = 0;
while (true)
{
numberOfObjects++;
if (numberOfObjects > ObjectsPerType)
{
currentShape++;
numberOfObjects = 0;
}
Shape shape;
switch (currentShape)
{
case 0:
// Box
shape = new BoxShape(ObjectSize, ObjectSize * 2, ObjectSize * 3);
break;
case 1:
// Capsule
shape = new CapsuleShape(0.3f * ObjectSize, 2 * ObjectSize);
break;
case 2:
// Cone
shape = new ConeShape(1 * ObjectSize, 2 * ObjectSize);
break;
case 3:
// Cylinder
shape = new CylinderShape(0.4f * ObjectSize, 2 * ObjectSize);
break;
case 4:
// Sphere
shape = new SphereShape(ObjectSize);
break;
case 5:
// Convex hull of several points.
ConvexHullOfPoints hull = new ConvexHullOfPoints();
hull.Points.Add(new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize));
hull.Points.Add(new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize));
hull.Points.Add(new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize));
shape = hull;
break;
case 6:
// A composite shape: two boxes that form a "T" shape.
var composite = new CompositeShape();
composite.Children.Add(
new GeometricObject(
new BoxShape(ObjectSize, 3 * ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 0, 0))));
composite.Children.Add(
new GeometricObject(
new BoxShape(2 * ObjectSize, ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 2 * ObjectSize, 0))));
shape = composite;
break;
case 7:
shape = new CircleShape(ObjectSize);
break;
case 8:
{
var compBvh = new CompositeShape();
compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new BoxShape(0.8f, 0.5f, 0.5f), new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-MathHelper.ToRadians(15)))));
compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
compBvh.Partition = new AabbTree <int>();
shape = compBvh;
break;
}
case 9:
CompositeShape comp = new CompositeShape();
comp.Children.Add(new GeometricObject(new BoxShape(0.5f * ObjectSize, 1 * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0, 0.5f * ObjectSize, 0), QuaternionF.Identity)));
comp.Children.Add(new GeometricObject(new BoxShape(0.8f * ObjectSize, 0.5f * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0.3f * ObjectSize, 0.7f * ObjectSize, 0), QuaternionF.CreateRotationZ(-MathHelper.ToRadians(45)))));
comp.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 1.15f * ObjectSize, 0), QuaternionF.Identity)));
shape = comp;
break;
case 10:
shape = new ConvexHullOfPoints(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 11:
ConvexHullOfShapes shapeHull = new ConvexHullOfShapes();
shapeHull.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 2 * ObjectSize, 0), Matrix33F.Identity)));
shapeHull.Children.Add(new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize), Pose.Identity));
shape = shapeHull;
break;
case 12:
shape = Shape.Empty;
break;
case 13:
var numberOfSamplesX = 10;
var numberOfSamplesZ = 10;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
samples[z * numberOfSamplesX + x] = (float)(Math.Cos(z / 3f) * Math.Sin(x / 2f) * BoxSize / 6);
}
}
HeightField heightField = new HeightField(0, 0, 2 * BoxSize, 2 * BoxSize, samples, numberOfSamplesX, numberOfSamplesZ);
shape = heightField;
break;
//case 14:
//shape = new LineShape(new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, -0.3f).Normalized);
//break;
case 15:
shape = new LineSegmentShape(
new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, 0.3f) + 3 * ObjectSize * new Vector3F(0.1f, 0.2f, -0.3f));
break;
case 16:
shape = new MinkowskiDifferenceShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize))
};
break;
case 17:
shape = new MinkowskiSumShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize)),
};
break;
case 18:
shape = new OrthographicViewVolume(0, ObjectSize, 0, ObjectSize, ObjectSize / 2, ObjectSize * 2);
break;
case 19:
shape = new PerspectiveViewVolume(MathHelper.ToRadians(60f), 16f / 10, ObjectSize / 2, ObjectSize * 3);
break;
case 20:
shape = new PointShape(0.1f, 0.3f, 0.2f);
break;
case 21:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2);
break;
case 22:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2)
{
StopsAtFirstHit = true
};
break;
case 23:
shape = new RectangleShape(ObjectSize, ObjectSize * 2);
break;
case 24:
shape = new TransformedShape(
new GeometricObject(
new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize),
new Pose(new Vector3F(0.1f, 1, -0.2f))));
break;
case 25:
shape = new TriangleShape(
new Vector3F(ObjectSize, 0, 0), new Vector3F(0, ObjectSize, 0), new Vector3F(ObjectSize, ObjectSize, ObjectSize));
break;
//case 26:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
//case 27:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), QuaternionF.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), QuaternionF.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
case 28:
shape = new ConvexPolyhedron(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 29:
return;
default:
currentShape++;
continue;
}
// Create an object with the random shape, pose, color and velocity.
Pose randomPose = new Pose(
random.NextVector3F(-BoxSize + ObjectSize * 2, BoxSize - ObjectSize * 2),
random.NextQuaternionF());
var newObject = new MovingGeometricObject
{
Pose = randomPose,
Shape = shape,
LinearVelocity = random.NextQuaternionF().Rotate(new Vector3F(MaxLinearVelocity, 0, 0)),
AngularVelocity = random.NextQuaternionF().Rotate(Vector3F.Forward)
* RandomHelper.Random.NextFloat(0, MaxAngularVelocity),
};
if (RandomHelper.Random.NextBool())
{
newObject.LinearVelocity = Vector3F.Zero;
}
if (RandomHelper.Random.NextBool())
{
newObject.AngularVelocity = Vector3F.Zero;
}
if (shape is LineShape || shape is HeightField)
{
// Do not move lines or the height field.
newObject.LinearVelocity = Vector3F.Zero;
newObject.AngularVelocity = Vector3F.Zero;
}
// Create only 1 heightField!
if (shape is HeightField)
{
if (isFirstHeightField)
{
isFirstHeightField = true;
newObject.Pose = new Pose(new Vector3F(-BoxSize, -BoxSize, -BoxSize));
}
else
{
currentShape++;
numberOfObjects = 0;
continue;
}
}
// Add collision object to collision domain.
_domain.CollisionObjects.Add(new CollisionObject(newObject));
//co.Type = CollisionObjectType.Trigger;
//co.Name = "Object" + shape.GetType().Name + "_" + i;
}
}
/// <summary>
/// Initializes the physics simulation.
/// </summary>
private void InitializePhysics()
{
// Add a gravity force.
_gravity = new Gravity {
Acceleration = new Vector3F(0, -GravityAcceleration, 0)
};
Simulation.ForceEffects.Add(_gravity);
// Add a damping force.
Simulation.ForceEffects.Add(new Damping());
// Add a few spheres.
Simulation.RigidBodies.Add(new RigidBody(new SphereShape(0.3f))
{
Pose = new Pose(new Vector3F(0, 1, 0)),
});
Simulation.RigidBodies.Add(new RigidBody(new SphereShape(0.2f))
{
Pose = new Pose(new Vector3F(1, 1, 0)),
});
Simulation.RigidBodies.Add(new RigidBody(new SphereShape(0.4f))
{
Pose = new Pose(new Vector3F(0, 1, 2)),
});
// Add ragdoll.
AddRagdoll(1, new Vector3F(0, 2, 0));
// The Simulation performs 2 sub-time-steps per frame because we have set
// the FixedTimeStep of the simulation to 1/60 s and the TargetElapsedTime of the game
// is 1/30 s (30 Hz). In the event SubTimeStepFinished, we call our method
// HandleBreakableJoints() to check the forces in the joints and disable constraints where
// the force is too large.
// Instead, we could also call HandleBreakableJoints() in the Update() method of the game
// but then it is only called with the 30 Hz of the game. It is more accurate to call the
// method at the end of each simulation sub-time-step (60 Hz).
Simulation.SubTimeStepFinished += (s, e) => HandleBreakableJoints();
// Add 6 planes that keep the bodies inside the visible area. The exact positions and angles
// have been determined by experimentation.
var groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
var nearPlane = new RigidBody(new PlaneShape(-Vector3F.UnitY, -8))
{
Name = "NearPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(nearPlane);
var leftPlane = new RigidBody(new PlaneShape(Matrix33F.CreateRotationZ(MathHelper.ToRadians(-22f)) * Vector3F.UnitX, -4.8f))
{
Name = "LeftPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(leftPlane);
var rightPlane = new RigidBody(new PlaneShape(Matrix33F.CreateRotationZ(MathHelper.ToRadians(22f)) * -Vector3F.UnitX, -4.8f))
{
Name = "RightPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(rightPlane);
var topPlane = new RigidBody(new PlaneShape(Matrix33F.CreateRotationX(MathHelper.ToRadians(14f)) * Vector3F.UnitZ, -3f))
{
Name = "TopPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(topPlane);
var bottomPlane = new RigidBody(new PlaneShape(Matrix33F.CreateRotationX(MathHelper.ToRadians(-14f)) * -Vector3F.UnitZ, -3f))
{
Name = "BottomPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(bottomPlane);
}
public CompositeMaterial2Sample(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(new Vector3F(0, 1, 0.25f).Normalized, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
// Adjust the coefficients of friction of the ground plane.
((UniformMaterial)groundPlane.Material).DynamicFriction = 0.5f;
((UniformMaterial)groundPlane.Material).StaticFriction = 0.5f;
Simulation.RigidBodies.Add(groundPlane);
// Prepare two materials: a slippery material and a rough material.
UniformMaterial slipperyMaterial = new UniformMaterial
{
DynamicFriction = 0.001f,
StaticFriction = 0.001f,
};
UniformMaterial roughMaterial = new UniformMaterial
{
DynamicFriction = 1,
StaticFriction = 1,
};
// Create a rigid body that consists of multiple shapes: Two boxes and a cylinder between them.
CompositeShape compositeShape = new CompositeShape();
compositeShape.Children.Add(new GeometricObject(new BoxShape(1f, 1f, 1f), new Pose(new Vector3F(1.5f, 0f, 0f))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(1f, 1, 1f), new Pose(new Vector3F(-1.5f, 0f, 0f))));
compositeShape.Children.Add(new GeometricObject(new CylinderShape(0.1f, 2), new Pose(Matrix33F.CreateRotationZ(ConstantsF.PiOver2))));
// A CompositeMaterial is used to assign a different material to each shape.
CompositeMaterial compositeMaterial = new CompositeMaterial();
compositeMaterial.Materials.Add(roughMaterial); // Assign the rough material to the first box.
compositeMaterial.Materials.Add(slipperyMaterial); // Assign the slippery material to the second box.
compositeMaterial.Materials.Add(null); // Use whatever is default for the handle between the boxes.
RigidBody body = new RigidBody(compositeShape, null, compositeMaterial)
{
Pose = new Pose(new Vector3F(0, 2.2f, -5)),
};
Simulation.RigidBodies.Add(body);
}