public ClosedFormIKSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
var modelNode = ContentManager.Load<ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
// Create the IK solver. The ClosedFormIKSolver uses an analytic solution to compute
// IK for arbitrary long bone chains. It does not support bone rotation limits.
_ikSolver = new ClosedFormIKSolver
{
SkeletonPose = _meshNode.SkeletonPose,
// The chain starts at the upper arm.
RootBoneIndex = 13,
// The chain ends at the hand bone.
TipBoneIndex = 15,
// The offset from the hand center to the hand origin.
TipOffset = new Vector3F(0.1f, 0, 0),
};
}
protected override void LoadContent()
{
_model = Game.Content.Load<Model>("Dude");
var additionalData = (Dictionary<string, object>)_model.Tag;
var skeleton = (Skeleton)additionalData["Skeleton"];
_skeletonPose = SkeletonPose.Create(skeleton);
// Create the IK solver. The ClosedFormIKSolver uses an analytic solution to compute
// IK for arbitrary long bone chains. It does not support bone rotation limits.
_ikSolver = new ClosedFormIKSolver
{
SkeletonPose = _skeletonPose,
// The chain starts at the upper arm.
RootBoneIndex = 13,
// The chain ends at the hand bone.
TipBoneIndex = 15,
// The offset from the hand center to the hand origin.
TipOffset = new Vector3F(0.1f, 0, 0),
};
base.LoadContent();
}
