public JacobianTransposeIKSample(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 JacobianTranspose method can solve long bone chains with
// limits. It allocates heap memory as is not recommended for performance critical
// console or phone games.
_ikSolver = new JacobianTransposeIKSolver
{
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),
// This solver uses an iterative method and will make up to 100 iterations if necessary.
NumberOfIterations = 100,
// This parameter must be hand-tuned. Make it too large and the solver is unstable.
// Make it too low and the solver needs a crazy amount of iterations.
StepSize = 1,
// A method that applies bone limits.
LimitBoneTransforms = LimitBoneTransform,
};
}
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 JacobianTranspose method can solve long bone chains with
// limits. It allocates heap memory as is not recommended for performance critical
// console or phone games.
_ikSolver = new JacobianTransposeIKSolver
{
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),
// This solver uses an iterative method and will make up to 100 iterations if necessary.
NumberOfIterations = 100,
// This parameter must be hand-tuned. Make it too large and the solver is unstable.
// Make it too low and the solver needs a crazy amount of iterations.
StepSize = 1,
// A method that applies bone limits.
LimitBoneTransforms = LimitBoneTransform,
};
base.LoadContent();
}