public Ragdoll(DynamicsWorld ownerWorld, Vector3 positionOffset)
{
this.ownerWorld = ownerWorld;
// Setup the geometry
shapes[(int)BodyPart.Pelvis] = new CapsuleShape(0.15f, 0.20f);
shapes[(int)BodyPart.Spine] = new CapsuleShape(0.15f, 0.28f);
shapes[(int)BodyPart.Head] = new CapsuleShape(0.10f, 0.05f);
shapes[(int)BodyPart.LeftUpperLeg] = new CapsuleShape(0.05f, 0.45f);
shapes[(int)BodyPart.LeftLowerLeg] = new CapsuleShape(0.04f, 0.37f);
shapes[(int)BodyPart.RightUpperLeg] = new CapsuleShape(0.05f, 0.45f);
shapes[(int)BodyPart.RightLowerLeg] = new CapsuleShape(0.04f, 0.37f);
shapes[(int)BodyPart.LeftUpperArm] = new CapsuleShape(0.04f, 0.33f);
shapes[(int)BodyPart.LeftLowerArm] = new CapsuleShape(0.03f, 0.25f);
shapes[(int)BodyPart.RightUpperArm] = new CapsuleShape(0.04f, 0.33f);
shapes[(int)BodyPart.RightLowerArm] = new CapsuleShape(0.03f, 0.25f);
Matrix offset = Matrix.Translation(positionOffset);
Matrix transform;
transform = offset * Matrix.Translation(0, 1, 0);
bodies[(int)BodyPart.Pelvis] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.Pelvis]);
transform = offset * Matrix.Translation(0, 1.2f, 0);
bodies[(int)BodyPart.Spine] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.Spine]);
transform = offset * Matrix.Translation(0, 1.6f, 0);
bodies[(int)BodyPart.Head] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.Head]);
transform = offset * Matrix.Translation(-0.18f, 0.6f, 0);
bodies[(int)BodyPart.LeftUpperLeg] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.LeftUpperLeg]);
transform = offset * Matrix.Translation(-0.18f, 0.2f, 0);
bodies[(int)BodyPart.LeftLowerLeg] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.LeftLowerLeg]);
transform = offset * Matrix.Translation(0.18f, 0.65f, 0);
bodies[(int)BodyPart.RightUpperLeg] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.RightUpperLeg]);
transform = offset * Matrix.Translation(0.18f, 0.2f, 0);
bodies[(int)BodyPart.RightLowerLeg] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.RightLowerLeg]);
transform = Matrix.RotationZ(PI_2) * offset * Matrix.Translation(-0.35f, 1.45f, 0);
bodies[(int)BodyPart.LeftUpperArm] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.LeftUpperArm]);
transform = Matrix.RotationZ(PI_2) * offset * Matrix.Translation(-0.7f, 1.45f, 0);
bodies[(int)BodyPart.LeftLowerArm] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.LeftLowerArm]);
transform = Matrix.RotationZ(-PI_2) * offset * Matrix.Translation(0.35f, 1.45f, 0);
bodies[(int)BodyPart.RightUpperArm] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.RightUpperArm]);
transform = Matrix.RotationZ(-PI_2) * offset * Matrix.Translation(0.7f, 1.45f, 0);
bodies[(int)BodyPart.RightLowerArm] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.RightLowerArm]);
// Setup some damping on the m_bodies
foreach (RigidBody body in bodies)
{
body.SetDamping(0.05f, 0.85f);
body.DeactivationTime = 0.8f;
body.SetSleepingThresholds(1.6f, 2.5f);
}
// Now setup the constraints
HingeConstraint hingeC;
ConeTwistConstraint coneC;
Matrix localA, localB;
localA = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, 0.15f, 0);
localB = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, -0.15f, 0);
hingeC = new HingeConstraint(bodies[(int)BodyPart.Pelvis], bodies[(int)BodyPart.Spine], localA, localB);
hingeC.SetLimit(-PI_4, PI_2);
joints[(int)Joint.PelvisSpine] = hingeC;
hingeC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.PelvisSpine], true);
localA = Matrix.RotationYawPitchRoll(0, 0, PI_2) * Matrix.Translation(0, 0.30f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, PI_2) * Matrix.Translation(0, -0.14f, 0);
coneC = new ConeTwistConstraint(bodies[(int)BodyPart.Spine], bodies[(int)BodyPart.Head], localA, localB);
coneC.SetLimit(PI_4, PI_4, PI_2);
joints[(int)Joint.SpineHead] = coneC;
coneC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.SpineHead], true);
localA = Matrix.RotationYawPitchRoll(0, 0, -PI_4 * 5) * Matrix.Translation(-0.18f, -0.18f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, -PI_4 * 5) * Matrix.Translation(0, 0.225f, 0);
coneC = new ConeTwistConstraint(bodies[(int)BodyPart.Pelvis], bodies[(int)BodyPart.LeftUpperLeg], localA, localB);
coneC.SetLimit(PI_4, PI_4, 0);
joints[(int)Joint.LeftHip] = coneC;
coneC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.LeftHip], true);
localA = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, -0.225f, 0);
localB = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, 0.185f, 0);
hingeC = new HingeConstraint(bodies[(int)BodyPart.LeftUpperLeg], bodies[(int)BodyPart.LeftLowerLeg], localA, localB);
hingeC.SetLimit(0, PI_2);
joints[(int)Joint.LeftKnee] = hingeC;
hingeC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.LeftKnee], true);
localA = Matrix.RotationYawPitchRoll(0, 0, PI_4) * Matrix.Translation(0.18f, -0.10f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, PI_4) * Matrix.Translation(0, 0.225f, 0);
coneC = new ConeTwistConstraint(bodies[(int)BodyPart.Pelvis], bodies[(int)BodyPart.RightUpperLeg], localA, localB);
coneC.SetLimit(PI_4, PI_4, 0);
joints[(int)Joint.RightHip] = coneC;
coneC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.RightHip], true);
localA = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, -0.225f, 0);
localB = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, 0.185f, 0);
hingeC = new HingeConstraint(bodies[(int)BodyPart.RightUpperLeg], bodies[(int)BodyPart.RightLowerLeg], localA, localB);
hingeC.SetLimit(0, PI_2);
joints[(int)Joint.RightKnee] = hingeC;
hingeC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.RightKnee], true);
localA = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI) * Matrix.Translation(-0.2f, 0.15f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, PI_2) * Matrix.Translation(0, -0.18f, 0);
coneC = new ConeTwistConstraint(bodies[(int)BodyPart.Spine], bodies[(int)BodyPart.LeftUpperArm], localA, localB);
coneC.SetLimit(PI_2, PI_2, 0);
joints[(int)Joint.LeftShoulder] = coneC;
coneC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.LeftShoulder], true);
localA = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, 0.18f, 0);
localB = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, -0.14f, 0);
hingeC = new HingeConstraint(bodies[(int)BodyPart.LeftUpperArm], bodies[(int)BodyPart.LeftLowerArm], localA, localB);
hingeC.SetLimit(0, PI_2);
joints[(int)Joint.LeftElbow] = hingeC;
hingeC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.LeftElbow], true);
localA = Matrix.RotationYawPitchRoll(0, 0, 0) * Matrix.Translation(0.2f, 0.15f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, PI_2) * Matrix.Translation(0, -0.18f, 0);
coneC = new ConeTwistConstraint(bodies[(int)BodyPart.Spine], bodies[(int)BodyPart.RightUpperArm], localA, localB);
coneC.SetLimit(PI_2, PI_2, 0);
joints[(int)Joint.RightShoulder] = coneC;
coneC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.RightShoulder], true);
localA = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, 0.18f, 0);
localB = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, -0.14f, 0);
hingeC = new HingeConstraint(bodies[(int)BodyPart.RightUpperArm], bodies[(int)BodyPart.RightLowerArm], localA, localB);
//hingeC.SetLimit(-PI_2, 0);
hingeC.SetLimit(0, PI_2);
joints[(int)Joint.RightElbow] = hingeC;
hingeC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.RightElbow], true);
}
public TestRig(DynamicsWorld ownerWorld, Vector3 positionOffset, bool bFixed)
{
this.ownerWorld = ownerWorld;
Vector3 vUp = new Vector3(0, 1, 0);
//
// Setup geometry
//
const float fBodySize = 0.25f;
const float fLegLength = 0.45f;
const float fForeLegLength = 0.75f;
const float PI_2 = (float)(0.5f * Math.PI);
const float PI_4 = (float)(0.25f * Math.PI);
const float PI_8 = (float)(0.125f * Math.PI);
shapes[0] = new CapsuleShape(fBodySize, 0.10f);
int i;
for (i = 0; i < NumLegs; i++)
{
shapes[1 + 2 * i] = new CapsuleShape(0.10f, fLegLength);
shapes[2 + 2 * i] = new CapsuleShape(0.08f, fForeLegLength);
}
//
// Setup rigid bodies
//
const float fHeight = 0.5f;
Matrix offset = Matrix.Translation(positionOffset);
// root
Vector3 vRoot = new Vector3(0, fHeight, 0);
Matrix transform = Matrix.Translation(vRoot);
if (bFixed)
{
bodies[0] = LocalCreateRigidBody(0, transform * offset, shapes[0]);
}
else
{
bodies[0] = LocalCreateRigidBody(1, transform * offset, shapes[0]);
}
// legs
for (i = 0; i < NumLegs; i++)
{
float fAngle = (float)(2 * Math.PI * i / NumLegs);
float fSin = (float)Math.Sin(fAngle);
float fCos = (float)Math.Cos(fAngle);
Vector3 vBoneOrigin = new Vector3(fCos * (fBodySize + 0.5f * fLegLength), fHeight, fSin * (fBodySize + 0.5f * fLegLength));
// thigh
Vector3 vToBone = (vBoneOrigin - vRoot);
vToBone.Normalize();
Vector3 vAxis = Vector3.Cross(vToBone, vUp);
transform = Matrix.RotationQuaternion(Quaternion.RotationAxis(vAxis, PI_2)) * Matrix.Translation(vBoneOrigin);
bodies[1 + 2 * i] = LocalCreateRigidBody(1, transform * offset, shapes[1 + 2 * i]);
// shin
transform = Matrix.Translation(fCos * (fBodySize + fLegLength), fHeight - 0.5f * fForeLegLength, fSin * (fBodySize + fLegLength));
bodies[2 + 2 * i] = LocalCreateRigidBody(1, transform * offset, shapes[2 + 2 * i]);
}
// Setup some damping on the bodies
for (i = 0; i < BodyPartCount; ++i)
{
bodies[i].SetDamping(0.05f, 0.85f);
bodies[i].DeactivationTime = 0.8f;
//bodies[i].SetSleepingThresholds(1.6f, 2.5f);
bodies[i].SetSleepingThresholds(0.5f, 0.5f);
}
//
// Setup the constraints
//
HingeConstraint hingeC;
//ConeTwistConstraint coneC;
Matrix localA, localB, localC;
for (i = 0; i < NumLegs; i++)
{
float fAngle = (float)(2 * Math.PI * i / NumLegs);
float fSin = (float)Math.Sin(fAngle);
float fCos = (float)Math.Cos(fAngle);
// hip joints
localA = Matrix.RotationYawPitchRoll(-fAngle, 0, 0) * Matrix.Translation(fCos * fBodySize, 0, fSin * fBodySize); // OK
localB = localA * bodies[0].WorldTransform * Matrix.Invert(bodies[1 + 2 * i].WorldTransform);
hingeC = new HingeConstraint(bodies[0], bodies[1 + 2 * i], localA, localB);
hingeC.SetLimit(-0.75f * PI_4, PI_8);
//hingeC.SetLimit(-0.1f, 0.1f);
joints[2 * i] = hingeC;
ownerWorld.AddConstraint(joints[2 * i], true);
// knee joints
localA = Matrix.RotationYawPitchRoll(-fAngle, 0, 0) * Matrix.Translation(fCos * (fBodySize + fLegLength), 0, fSin * (fBodySize + fLegLength));
localB = localA * bodies[0].WorldTransform * Matrix.Invert(bodies[1 + 2 * i].WorldTransform);
localC = localA * bodies[0].WorldTransform * Matrix.Invert(bodies[2 + 2 * i].WorldTransform);
hingeC = new HingeConstraint(bodies[1 + 2 * i], bodies[2 + 2 * i], localB, localC);
//hingeC.SetLimit(-0.01f, 0.01f);
hingeC.SetLimit(-PI_8, 0.2f);
joints[1 + 2 * i] = hingeC;
ownerWorld.AddConstraint(joints[1 + 2 * i], true);
}
}
