public PassiveRagdollSample(Microsoft.Xna.Framework.Game game) : base(game) { GraphicsScreen.DrawReticle = true; // Add game objects which allow to shoot balls and grab rigid bodies. _ballShooterObject = new BallShooterObject(Services) { Speed = 10 }; GameObjectService.Objects.Add(_ballShooterObject); _grabObject = new GrabObject(Services); GameObjectService.Objects.Add(_grabObject); var modelNode = ContentManager.Load<ModelNode>("Dude/Dude"); _meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone(); _meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0)); SampleHelper.EnablePerPixelLighting(_meshNode); GraphicsScreen.Scene.Children.Add(_meshNode); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _meshNode.PoseWorld; _ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose); // Uncomment to disable dynamic movement (for debugging during ragdoll creation): //foreach (var body in _ragdoll.Bodies) // if (body != null) // body.MotionType = MotionType.Kinematic; // In this sample we use a passive ragdoll where we need joints to hold the // limbs together and limits to restrict angular movement. _ragdoll.EnableJoints(); _ragdoll.EnableLimits(); // Set all motors to constraint motors that only use damping. This adds a damping // effect to all ragdoll limbs. foreach (RagdollMotor motor in _ragdoll.Motors) { if (motor != null) { motor.Mode = RagdollMotorMode.Constraint; motor.ConstraintDamping = 5; motor.ConstraintSpring = 0; } } _ragdoll.EnableMotors(); // Add rigid bodies and the constraints of the ragdoll to the simulation. _ragdoll.AddToSimulation(Simulation); // Add a rigid body. var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f)) { Name = "Box", Pose = new Pose(new Vector3F(0, 3, 0)), }; Simulation.RigidBodies.Add(box); }
private static void AddJoint(Ragdoll ragdoll, Skeleton skeleton, AvatarBone parentBone, AvatarBone childBone, float errorReduction, float softness) { int parentIndex = (int)parentBone; int childIndex = (int)childBone; // To define AnchorPositionALocal/AnchorPositionBLocal: // To get the AnchorPositionALocal we apply jointPosesAbsolute[indexA].Inverse to // convert the joint pose from model space into the joints space of parentBone. Then we apply // ragdoll.BodyOffsets[boneAIndex].Inverse to convert from joint space to body space. The result is // the joint position of B in body space of A. // To get AnchorPositionBLocal, we only have to apply the inverse offset. BallJoint joint = new BallJoint { BodyA = ragdoll.Bodies[parentIndex], BodyB = ragdoll.Bodies[childIndex], CollisionEnabled = false, AnchorPositionALocal = (ragdoll.BodyOffsets[parentIndex].Inverse * skeleton.GetBindPoseAbsoluteInverse(parentIndex) * skeleton.GetBindPoseAbsoluteInverse(childIndex).Inverse).Translation, AnchorPositionBLocal = ragdoll.BodyOffsets[childIndex].Inverse.Position, ErrorReduction = errorReduction, Softness = softness, }; ragdoll.Joints[childIndex] = joint; }
public CollisionDetectionOnlyRagdollSample(Microsoft.Xna.Framework.Game game) : base(game) { GraphicsScreen.DrawReticle = true; SetCamera(new Vector3F(0, 1, 6), 0, 0); // Add a game object which allows to shoot balls. _ballShooterObject = new BallShooterObject(Services); GameObjectService.Objects.Add(_ballShooterObject); var modelNode = ContentManager.Load<ModelNode>("Dude/Dude"); _meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone(); _meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0), Matrix33F.CreateRotationY(ConstantsF.Pi)); SampleHelper.EnablePerPixelLighting(_meshNode); GraphicsScreen.Scene.Children.Add(_meshNode); var animations = _meshNode.Mesh.Animations; var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First()) { LoopBehavior = LoopBehavior.Cycle, Duration = TimeSpan.MaxValue, }; AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_meshNode.SkeletonPose); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f); // Set the world space pose of the whole ragdoll. _ragdoll.Pose = _meshNode.PoseWorld; // And copy the bone poses of the current skeleton pose. _ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose); foreach (var body in _ragdoll.Bodies) { if (body != null) { // Set all bodies to kinematic - they should not be affected by forces. body.MotionType = MotionType.Kinematic; // Disable collision response. body.CollisionResponseEnabled = false; } } // In this sample, we do not need joints, limits or motors. _ragdoll.DisableJoints(); _ragdoll.DisableLimits(); _ragdoll.DisableMotors(); // Add ragdoll rigid bodies to the simulation. _ragdoll.AddToSimulation(Simulation); }
private static void AddTwistSwingLimit(Ragdoll ragdoll, Skeleton skeleton, AvatarBone parentBone, AvatarBone childBone, Matrix33F orientationA, Matrix33F orientationB, Vector3F minimum, Vector3F maximum) { int parentIndex = (int)parentBone; int childIndex = (int)childBone; // The difficult part is to define the constraint anchor orientation. // Here is how we do it: // When we look at the front side of an Avatar in bind pose, the x-axis is parallel // to the arms. y points up and z is normal to the those axes. // // To define orientationA/B: // The anchor x-axis is the twist axis. That means, this is already the correct axis // for the hands (wrist joints) and orientationA/B are therefore Matrix33F.Identity. // For the Head, the twist axis must point up. Therefore orientationA/B must be a 90° // rotation about z to rotate the twist axis up. // For the shoulder-elbow connection, orientationA is Matrix.Identity. The swing cone must // not be parallel to the arm axis (because the elbow cannot bend backwards). Therefore, // orientationB defines a rotation that rotates the twist axis (= swing cone center) to the // front. // // To define AnchorOrientationALocal/AnchorOrientationBLocal: // AnchorOrientationALocal must be a rotation matrix that transforms a vector from local // constraint anchor space to local body space of A. // orientationA defines the constraint anchor orientation in model space. // With jointPosesAbsolute[boneAIndex].Orientation.Transposed, we convert from model space // to joint space. With ragdoll.BodyOffsets[boneAIndex].Orientation.Transposed, we convert from joint // space to body space. The combined rotation matrix converts from constraint anchor space // to body space. var limit = new TwistSwingLimit { BodyA = ragdoll.Bodies[parentIndex], BodyB = ragdoll.Bodies[childIndex], AnchorOrientationALocal = ragdoll.BodyOffsets[parentIndex].Orientation.Transposed * skeleton.GetBindPoseAbsoluteInverse(parentIndex).Rotation.ToRotationMatrix33() * orientationA, AnchorOrientationBLocal = ragdoll.BodyOffsets[childIndex].Orientation.Transposed * skeleton.GetBindPoseAbsoluteInverse(childIndex).Rotation.ToRotationMatrix33() * orientationB, Minimum = minimum, Maximum = maximum, ErrorReduction = 0.2f, Softness = 0.001f }; ragdoll.Limits[childIndex] = limit; }
public AutoRagdollShapesSample(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), Matrix33F.CreateRotationY(ConstantsF.Pi)); SampleHelper.EnablePerPixelLighting(_meshNode); GraphicsScreen.Scene.Children.Add(_meshNode); var animations = _meshNode.Mesh.Animations; var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First()) { LoopBehavior = LoopBehavior.Cycle, Duration = TimeSpan.MaxValue, }; var animationController = AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_meshNode.SkeletonPose); animationController.AutoRecycle(); animationController.UpdateAndApply(); // Create a ragdoll for the Dude model. _ragdoll = CreateRagdoll(_meshNode); // Set the world space pose of the whole ragdoll. _ragdoll.Pose = _meshNode.PoseWorld; // And copy the bone poses of the current skeleton pose. _ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose); foreach (var body in _ragdoll.Bodies) { if (body != null) { // Set all bodies to kinematic - they should not be affected by forces. body.MotionType = MotionType.Kinematic; // Disable collision response. body.CollisionResponseEnabled = false; } } // Add ragdoll rigid bodies to the simulation. _ragdoll.AddToSimulation(Simulation); }
public override void Update(GameTime gameTime) { base.Update(gameTime); if (_avatarPose == null) { if (_avatarRenderer.State == AvatarRendererState.Ready) { _avatarPose = new AvatarPose(_avatarRenderer); // Create a ragdoll for the avatar. _ragdoll = Ragdoll.CreateAvatarRagdoll(_avatarPose, Simulation); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _pose; _ragdoll.UpdateBodiesFromSkeleton(_avatarPose.SkeletonPose); // In this sample we use a passive ragdoll where we need joints to hold the // limbs together and limits to control the angular movement. _ragdoll.EnableJoints(); _ragdoll.EnableLimits(); // Set all motors to constraint motors that only use damping. This adds a damping // effect to all ragdoll limbs. foreach (RagdollMotor motor in _ragdoll.Motors) { if (motor != null) { motor.Mode = RagdollMotorMode.Constraint; motor.ConstraintDamping = 5; motor.ConstraintSpring = 0; } } _ragdoll.EnableMotors(); // Add rigid bodies and the constraints of the ragdoll to the simulation. _ragdoll.AddToSimulation(Simulation); } } }
private static void AddAngularLimit(Ragdoll ragdoll, Skeleton skeleton, AvatarBone parentBone, AvatarBone childBone, Matrix33F orientationA, Matrix33F orientationB, Vector3F minimum, Vector3F maximum) { // Similar to AddTwistSwingLimit int parentIndex = (int)parentBone; int childIndex = (int)childBone; var limit = new AngularLimit { BodyA = ragdoll.Bodies[parentIndex], BodyB = ragdoll.Bodies[childIndex], AnchorOrientationALocal = ragdoll.BodyOffsets[parentIndex].Orientation.Transposed * skeleton.GetBindPoseAbsoluteInverse(parentIndex).Rotation.ToRotationMatrix33() * orientationA, AnchorOrientationBLocal = ragdoll.BodyOffsets[childIndex].Orientation.Transposed * skeleton.GetBindPoseAbsoluteInverse(childIndex).Rotation.ToRotationMatrix33() * orientationB, Minimum = minimum, Maximum = maximum, ErrorReduction = new Vector3F(0.2f), Softness = new Vector3F(0.001f) }; ragdoll.Limits[childIndex] = limit; }
private static void AddMotor(Ragdoll ragdoll, AvatarBone parentBone, AvatarBone childBone) { // A quaternion motor controls the relative orientation between two bodies. The target // orientation is specified with a quaternion. The target orientations are set in // SetMotorTargets. // We can use the motors to achieve following results: // - No motors: The ragdoll joints are not damped and the bones swing a lot (within the // allowed limits). // - Damping: If DampingConstant > 0 and SpringConstant == 0, the relative bone rotations // are damped. This simulates joint friction and muscles forces acting against the movement. // - Springs: If DampingConstant > 0 and SpringConstant > 0, the motors try to move the // ragdoll limbs to a pose defined by the TargetOrientations of the motors. This could be, // for example, a defensive pose of a character. // - Animation: Like "Springs" but the TargetOrientation is changed in each frame. This // way the ragdoll performs a user defined animation while still reacting to impacts. int parentIndex = (int)parentBone; int childIndex = (int)childBone; var motor = new RagdollMotor(childIndex, parentIndex); ragdoll.Motors[childIndex] = motor; }
/// <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> public static void Create(SkeletonPose skeletonPose, Ragdoll ragdoll, Simulation simulation) { 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, 0.4f, 0.55f), massFrame, material); ragdoll.BodyOffsets[pelvis] = new Pose(new Vector3F(0.0f, 0, 0)); var backLower = skeleton.GetIndex("Spine"); ragdoll.Bodies[backLower] = new RigidBody(new BoxShape(0.36f, 0.4f, 0.55f), massFrame, material); ragdoll.BodyOffsets[backLower] = new Pose(new Vector3F(0.18f, 0, 0)); var backUpper = skeleton.GetIndex("Spine2"); ragdoll.Bodies[backUpper] = new RigidBody(new BoxShape(0.5f, 0.4f, 0.65f), massFrame, material); ragdoll.BodyOffsets[backUpper] = new Pose(new Vector3F(0.25f, 0, 0)); var neck = skeleton.GetIndex("Neck"); ragdoll.Bodies[neck] = new RigidBody(new CapsuleShape(0.12f, 0.3f), massFrame, material); ragdoll.BodyOffsets[neck] = new Pose(new Vector3F(0.15f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2)); ragdoll.Bodies[neck].CollisionObject.Enabled = false; ragdoll.Bodies[head] = new RigidBody(new SphereShape(0.2f), massFrame, material); ragdoll.BodyOffsets[head] = new Pose(new Vector3F(0.15f, 0.02f, 0)); var armUpperLeft = skeleton.GetIndex("L_UpperArm"); ragdoll.Bodies[armUpperLeft] = new RigidBody(new CapsuleShape(0.12f, 0.6f), massFrame, material); ragdoll.BodyOffsets[armUpperLeft] = new Pose(new Vector3F(0.2f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2)); var armLowerLeft = skeleton.GetIndex("L_Forearm"); ragdoll.Bodies[armLowerLeft] = new RigidBody(new CapsuleShape(0.08f, 0.5f), massFrame, material); ragdoll.BodyOffsets[armLowerLeft] = new Pose(new Vector3F(0.2f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2)); var handLeft = skeleton.GetIndex("L_Hand"); ragdoll.Bodies[handLeft] = new RigidBody(new BoxShape(0.2f, 0.06f, 0.15f), massFrame, material); ragdoll.BodyOffsets[handLeft] = new Pose(new Vector3F(0.1f, 0, 0)); var armUpperRight = skeleton.GetIndex("R_UpperArm"); ragdoll.Bodies[armUpperRight] = new RigidBody(new CapsuleShape(0.12f, 0.6f), massFrame, material); ragdoll.BodyOffsets[armUpperRight] = new Pose(new Vector3F(0.2f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2)); var armLowerRight = skeleton.GetIndex("R_Forearm"); ragdoll.Bodies[armLowerRight] = new RigidBody(new CapsuleShape(0.08f, 0.5f), massFrame, material); ragdoll.BodyOffsets[armLowerRight] = new Pose(new Vector3F(0.2f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2)); var handRight = skeleton.GetIndex("R_Hand"); ragdoll.Bodies[handRight] = new RigidBody(new BoxShape(0.2f, 0.06f, 0.15f), massFrame, material); ragdoll.BodyOffsets[handRight] = new Pose(new Vector3F(0.1f, 0, 0)); var legUpperLeft = skeleton.GetIndex("L_Thigh1"); ragdoll.Bodies[legUpperLeft] = new RigidBody(new CapsuleShape(0.16f, 0.8f), massFrame, material); ragdoll.BodyOffsets[legUpperLeft] = new Pose(new Vector3F(0.4f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2)); var legLowerLeft = skeleton.GetIndex("L_Knee2"); ragdoll.Bodies[legLowerLeft] = new RigidBody(new CapsuleShape(0.12f, 0.65f), massFrame, material); ragdoll.BodyOffsets[legLowerLeft] = new Pose(new Vector3F(0.32f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2)); //var footLeft = skeleton.GetIndex("L_Ankle1"); ragdoll.Bodies[footLeft] = new RigidBody(new BoxShape(0.20f, 0.5f, 0.3f), massFrame, material); ragdoll.BodyOffsets[footLeft] = new Pose(new Vector3F(0.16f, 0.15f, 0)); var legUpperRight = skeleton.GetIndex("R_Thigh"); ragdoll.Bodies[legUpperRight] = new RigidBody(new CapsuleShape(0.16f, 0.8f), massFrame, material); ragdoll.BodyOffsets[legUpperRight] = new Pose(new Vector3F(0.4f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2)); var legLowerRight = skeleton.GetIndex("R_Knee"); ragdoll.Bodies[legLowerRight] = new RigidBody(new CapsuleShape(0.12f, 0.65f), massFrame, material); ragdoll.BodyOffsets[legLowerRight] = new Pose(new Vector3F(0.32f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2)); var footRight = skeleton.GetIndex("R_Ankle"); ragdoll.Bodies[footRight] = new RigidBody(new BoxShape(0.20f, 0.5f, 0.3f), massFrame, material); ragdoll.BodyOffsets[footRight] = new Pose(new Vector3F(0.16f, 0.15f, 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 }
/// <summary> /// Adds a BallJoint between the specified bones. /// </summary> /// <param name="skeletonPose">The skeleton pose.</param> /// <param name="ragdoll">The ragdoll.</param> /// <param name="parent">The parent.</param> /// <param name="child">The child.</param> private static void AddJoint(SkeletonPose skeletonPose, Ragdoll ragdoll, int parent, int child) { // Get bodies and offsets for the bones. var skeleton = skeletonPose.Skeleton; var childBody = ragdoll.Bodies[child]; var childOffset = ragdoll.BodyOffsets[child]; var parentBody = ragdoll.Bodies[parent]; var parentOffset = ragdoll.BodyOffsets[parent]; // Get bind poses of the bones in model space. var parentBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(parent).Inverse; var childBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(child).Inverse; // The child pose relative to the parent bone. var bindPoseRelative = parentBindPoseAbsolute.Inverse * childBindPoseAbsolute; // Add BallJoint that connects the two bones. The position of the joint is the // origin of the child bone. BallJoint joint = new BallJoint { BodyA = parentBody, BodyB = childBody, CollisionEnabled = false, AnchorPositionALocal = (parentOffset.Inverse * bindPoseRelative).Position, AnchorPositionBLocal = childOffset.Inverse.Position, ErrorReduction = 0.2f, Softness = 0.0001f, }; ragdoll.Joints.Add(joint); }
/// <summary> /// Visualizes the constraints of the ragdoll (for debugging). /// </summary> /// <param name="ragdoll">The ragdoll.</param> /// <param name="graphicsDevice">The graphics device.</param> /// <param name="effect"> /// A BasicEffect. The world, view and projection matrices must be initialized. /// </param> /// <param name="scale"> /// A scale factor that determines the size of the drawn elements. /// </param> /// <remarks> /// Currently, only <see cref="TwistSwingLimit"/>s and <see cref="AngularLimit"/>s are /// supported. /// </remarks> /// <exception cref="ArgumentNullException"> /// <paramref name="ragdoll"/>, <paramref name="graphicsDevice"/> or <paramref name="effect"/> /// is <see langword="null"/>. /// </exception> public static void DrawConstraints(Ragdoll ragdoll, GraphicsDevice graphicsDevice, BasicEffect effect, float scale) { if (ragdoll == null) throw new ArgumentNullException("ragdoll"); if (graphicsDevice == null) throw new ArgumentNullException("graphicsDevice"); if (effect == null) throw new ArgumentNullException("effect"); _graphicsDevice = graphicsDevice; _scale = scale; _pointCount = 0; Debug.Assert(_points.Length % 2 == 0, "_points array must have an even number of elements."); _pointCount = 0; // Disable lighting, enable vertex colors. bool originalLightingEnabled = effect.LightingEnabled; bool originalVertexColorEnabled = effect.VertexColorEnabled; effect.LightingEnabled = false; effect.VertexColorEnabled = true; effect.CurrentTechnique.Passes[0].Apply(); // Render information for each limit. foreach (Constraint limit in ragdoll.Limits) { // Get the ball joint constraint that connects the two bodies of the limit. BallJoint joint = null; foreach (Constraint constraint in ragdoll.Joints) { if (constraint.BodyA == limit.BodyA && constraint.BodyB == limit.BodyB || constraint.BodyA == limit.BodyB && constraint.BodyB == limit.BodyA) { joint = constraint as BallJoint; break; } } // Skip this limit if no joint was found. if (joint == null) continue; TwistSwingLimit twistSwingLimit = limit as TwistSwingLimit; if (twistSwingLimit != null) { DrawTwistSwingLimit(joint, twistSwingLimit); continue; } AngularLimit angularLimit = limit as AngularLimit; if (angularLimit != null) { DrawAngularLimit(joint, angularLimit); continue; } } // Draw everything that is in the buffer. Flush(); // Restore original effect settings. effect.LightingEnabled = originalLightingEnabled; effect.VertexColorEnabled = originalVertexColorEnabled; }
/// <summary> /// Adds an AngularLimit between the specified bones. /// </summary> /// <param name="skeletonPose">The skeleton pose.</param> /// <param name="ragdoll">The ragdoll.</param> /// <param name="parent">The parent bone.</param> /// <param name="child">The childbone .</param> /// <param name="minimum">The minimum limits for each constraint axis (x/y/z).</param> /// <param name="maximum">The maximum limits for each constraint axis (x/y/z).</param> /// <remarks> /// The constraint anchor orientation is the orientation of the child bone. /// </remarks> private static void AddAngularLimit(SkeletonPose skeletonPose, Ragdoll ragdoll, int parent, int child, Vector3F minimum, Vector3F maximum) { var skeleton = skeletonPose.Skeleton; var childBody = ragdoll.Bodies[child]; var childOffset = ragdoll.BodyOffsets[child]; var parentBody = ragdoll.Bodies[parent]; var parentOffset = ragdoll.BodyOffsets[parent]; var parentBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(parent).Inverse; var childBindPoseAbsolute = (Pose)skeleton.GetBindPoseAbsoluteInverse(child).Inverse; var bindPoseRelative = parentBindPoseAbsolute.Inverse * childBindPoseAbsolute; var limit = new AngularLimit { BodyA = parentBody, BodyB = childBody, AnchorOrientationALocal = parentOffset.Orientation.Transposed * bindPoseRelative.Orientation, AnchorOrientationBLocal = childOffset.Orientation.Transposed, Minimum = minimum, Maximum = maximum, ErrorReduction = new Vector3F(0.2f), Softness = new Vector3F(0.001f) }; ragdoll.Limits.Add(limit); }
public ActiveRagdollSample(Microsoft.Xna.Framework.Game game) : base(game) { GraphicsScreen.DrawReticle = true; // Add game objects which allow to shoot balls and grab rigid bodies. _ballShooterObject = new BallShooterObject(Services) { Speed = 10 }; GameObjectService.Objects.Add(_ballShooterObject); _grabObject = new GrabObject(Services); GameObjectService.Objects.Add(_grabObject); var modelNode = ContentManager.Load<ModelNode>("Dude/Dude"); _meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone(); _meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0)); SampleHelper.EnablePerPixelLighting(_meshNode); GraphicsScreen.Scene.Children.Add(_meshNode); // Create a copy of the dude's skeleton. _targetSkeletonPose = SkeletonPose.Create(_meshNode.Mesh.Skeleton); // Animate the _targetSkeletonPose. var animations = _meshNode.Mesh.Animations; var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First()) { LoopBehavior = LoopBehavior.Cycle, Duration = TimeSpan.MaxValue, }; AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_targetSkeletonPose); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_targetSkeletonPose, _ragdoll, Simulation, 0.571f); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _meshNode.PoseWorld; _ragdoll.UpdateBodiesFromSkeleton(_targetSkeletonPose); // In this sample we use an active ragdoll. We need joints because constraint ragdoll // motors only affect the body rotations. _ragdoll.EnableJoints(); // We disable limits. If limits are enabled, the ragdoll could get unstable if // the animation tries to move a limb beyond an allowed limit. (This happens if // a pose in the animation violates one of our limits.) _ragdoll.DisableLimits(); // Set all motors to constraint motors. Constraint motors are like springs that // rotate the limbs to a target position. foreach (RagdollMotor motor in _ragdoll.Motors) { if (motor != null) { motor.Mode = RagdollMotorMode.Constraint; motor.ConstraintDamping = 10000; motor.ConstraintSpring = 100000; } } _ragdoll.EnableMotors(); // Add rigid bodies and the constraints of the ragdoll to the simulation. _ragdoll.AddToSimulation(Simulation); // Add a rigid body. var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f)) { Name = "Box", Pose = new Pose(new Vector3F(0, 3, 0)), }; Simulation.RigidBodies.Add(box); }
protected override void LoadContent() { // Add a ground plane to the simulation. Simulation.RigidBodies.Add( new RigidBody(new PlaneShape(Vector3F.UnitY, 0)) { MotionType = MotionType.Static }); _basicEffect = new BasicEffect(GraphicsDevice); _model = Game.Content.Load<Model>("Dude"); var additionalData = (Dictionary<string, object>)_model.Tag; var skeleton = (Skeleton)additionalData["Skeleton"]; _skeletonPose = SkeletonPose.Create(skeleton); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_skeletonPose, _ragdoll, Simulation); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _pose; _ragdoll.UpdateBodiesFromSkeleton(_skeletonPose); // Uncomment to disable dynamic movement (for debugging during ragdoll creation): //foreach (var body in _ragdoll.Bodies) // if (body != null) // body.MotionType = MotionType.Kinematic; // In this sample we use a passive ragdoll where we need joints to hold the // limbs together and limits to restrict angular movement. _ragdoll.EnableJoints(); _ragdoll.EnableLimits(); // Set all motors to constraint motors that only use damping. This adds a damping // effect to all ragdoll limbs. foreach (RagdollMotor motor in _ragdoll.Motors) { if (motor != null) { motor.Mode = RagdollMotorMode.Constraint; motor.ConstraintDamping = 5; motor.ConstraintSpring = 0; } } _ragdoll.EnableMotors(); // Add rigid bodies and the constraints of the ragdoll to the simulation. _ragdoll.AddToSimulation(Simulation); base.LoadContent(); }
/// <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); }
private void InitializeModelAndRagdoll() { // Load Dude model. var contentManager = Services.GetInstance<ContentManager>(); var dudeModelNode = contentManager.Load<ModelNode>("Dude/Dude"); _meshNode = dudeModelNode.GetSubtree().OfType<MeshNode>().First().Clone(); _meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0)); SampleHelper.EnablePerPixelLighting(_meshNode); GraphicsScreen.Scene.Children.Add(_meshNode); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _meshNode.PoseWorld; _ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose); // Disable sleeping. foreach (var body in _ragdoll.Bodies) { if (body != null) { body.CanSleep = false; //body.CollisionResponseEnabled = false; } } // The pelvis bone (index 1) is updated directly from the Kinect hip center. _ragdoll.Bodies[1].MotionType = MotionType.Kinematic; // In this sample we use a passive ragdoll where we need joints to hold the // limbs together and limits to restrict angular movement. _ragdoll.EnableJoints(); _ragdoll.EnableLimits(); // Set all motors to constraint motors that only use damping. This adds a damping // effect to all ragdoll limbs. foreach (RagdollMotor motor in _ragdoll.Motors) { if (motor != null) { motor.Mode = RagdollMotorMode.Constraint; motor.ConstraintDamping = 100; motor.ConstraintSpring = 0; } } _ragdoll.EnableMotors(); // Add rigid bodies and the constraints of the ragdoll to the simulation. _ragdoll.AddToSimulation(Simulation); }
public override void Update(GameTime gameTime) { base.Update(gameTime); if (_avatarPose == null) { if (_avatarRenderer.State == AvatarRendererState.Ready) { _avatarPose = new AvatarPose(_avatarRenderer); _targetPose = SkeletonPose.Create(_avatarPose.SkeletonPose.Skeleton); // Create a ragdoll for the avatar. _ragdoll = Ragdoll.CreateAvatarRagdoll(_avatarPose, Simulation); // Set the world space pose of the whole ragdoll. And copy the bone poses // of the current skeleton pose. _ragdoll.Pose = _pose; _ragdoll.UpdateBodiesFromSkeleton(_avatarPose.SkeletonPose); // To simplify collision checks, we need a simple way to determine whether // a rigid body belongs to the ragdoll. // --> Set RigidBody.UserData = _ragdoll. // (Alternatively we could also set specific names for the rigid bodies, // or we could assign the collision objects to a certain collision group.) foreach (var body in _ragdoll.Bodies) if (body != null) body.UserData = _ragdoll; // Add rigid bodies and constraints to the simulation. _ragdoll.AddToSimulation(Simulation); // Start by playing the key frame animation. SwitchMode(RagdollMode.Mode1); // The facial expression can be applied directly to the _avatarPose. _animationController0 = AnimationService.StartAnimation(_expressionAnimation, _avatarPose); // The skeletal animation is applied to the _targetPose. The _targetPose // is used to drive the ragdoll. (See end of method.) _animationController1 = AnimationService.StartAnimation(_skeletonAnimation, (IAnimatableProperty<SkeletonPose>)_targetPose); } return; } if (InputService.IsPressed(Buttons.A, false, PlayerIndex.One)) SwitchMode(RagdollMode.Mode1); else if (InputService.IsPressed(Buttons.B, false, PlayerIndex.One)) SwitchMode(RagdollMode.Mode2); else if (InputService.IsPressed(Buttons.X, false, PlayerIndex.One)) SwitchMode(RagdollMode.Mode3); else if (InputService.IsPressed(Buttons.Y, false, PlayerIndex.One)) SwitchMode(RagdollMode.Mode4); if (_mode == RagdollMode.Mode1 || _mode == RagdollMode.Mode2) { // The ragdoll plays a certain animation. Check whether the character was // hit by a ball. foreach (var contactConstraint in Simulation.ContactConstraints) { if (contactConstraint.BodyA.UserData == _ragdoll && contactConstraint.BodyB.Name.StartsWith("Ball") || contactConstraint.BodyB.UserData == _ragdoll && contactConstraint.BodyA.Name.StartsWith("Ball")) { // Switch to the "Passive Ragdoll" mode and let the character collapse. SwitchMode(RagdollMode.Mode3); // Hint: You can read contactConstraint.LinearConstraintImpulse.Length to // determine the strength of the impact. } } } switch (_mode) { case RagdollMode.Mode1: // In mode 1 we update the rigid bodies directly. _ragdoll.UpdateBodiesFromSkeleton(_targetPose); break; case RagdollMode.Mode2: // In mode 2 velocity motors update the rigid bodies. _ragdoll.DriveToPose(_targetPose, gameTime.ElapsedGameTime); break; case RagdollMode.Mode3: // In mode 3 we don't have to update the rigid bodies. break; case RagdollMode.Mode4: // In mode 4 constraint motors control the joints of the ragdoll. _ragdoll.DriveToPose(_targetPose, gameTime.ElapsedGameTime); break; } // Copy the skeleton pose. (_avatarPose stores the skeleton pose which is // being rendered.) _ragdoll.UpdateSkeletonFromBodies(_avatarPose.SkeletonPose); }
public KinematicRagdollSample(Microsoft.Xna.Framework.Game game) : base(game) { GraphicsScreen.DrawReticle = true; // Add game objects which allow to shoot balls and grab rigid bodies. _ballShooterObject = new BallShooterObject(Services) { Speed = 10 }; GameObjectService.Objects.Add(_ballShooterObject); _grabObject = new GrabObject(Services); GameObjectService.Objects.Add(_grabObject); var modelNode = ContentManager.Load<ModelNode>("Dude/Dude"); _meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone(); _meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0), Matrix33F.CreateRotationY(ConstantsF.Pi)); SampleHelper.EnablePerPixelLighting(_meshNode); GraphicsScreen.Scene.Children.Add(_meshNode); var animations = _meshNode.Mesh.Animations; var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First()) { LoopBehavior = LoopBehavior.Cycle, Duration = TimeSpan.MaxValue, }; var animationController = AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_meshNode.SkeletonPose); animationController.UpdateAndApply(); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _meshNode.PoseWorld; _ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose); // Set all bodies to kinematic - they should not be affected by forces. foreach (var body in _ragdoll.Bodies) { if (body != null) { body.MotionType = MotionType.Kinematic; } } // Set all motors to velocity motors. Velocity motors change RigidBody.LinearVelocity // RigidBody.AngularVelocity to move the rigid bodies. foreach (RagdollMotor motor in _ragdoll.Motors) { if (motor != null) { motor.Mode = RagdollMotorMode.Velocity; } } _ragdoll.EnableMotors(); // In this sample, we do not need joints or limits. _ragdoll.DisableJoints(); _ragdoll.DisableLimits(); // Add ragdoll rigid bodies to the simulation. _ragdoll.AddToSimulation(Simulation); // Add a rigid body. var box = new RigidBody(new BoxShape(0.4f, 0.4f, 0.4f)) { Name = "Box", Pose = new Pose(new Vector3F(0, 3, 0)), }; Simulation.RigidBodies.Add(box); }
private Ragdoll CreateRagdoll(MeshNode meshNode) { var mesh = meshNode.Mesh; var skeleton = mesh.Skeleton; // Extract the vertices from the mesh sorted per bone. var verticesPerBone = new List<Vector3F>[skeleton.NumberOfBones]; // Also get the AABB of the model. Aabb? aabb = null; foreach (var submesh in mesh.Submeshes) { // Get vertex element info. var vertexDeclaration = submesh.VertexBuffer.VertexDeclaration; var vertexElements = vertexDeclaration.GetVertexElements(); // Get the vertex positions. var positionElement = vertexElements.First(e => e.VertexElementUsage == VertexElementUsage.Position); if (positionElement.VertexElementFormat != VertexElementFormat.Vector3) throw new NotSupportedException("For vertex positions only VertexElementFormat.Vector3 is supported."); var positions = new Vector3[submesh.VertexCount]; submesh.VertexBuffer.GetData( submesh.StartVertex * vertexDeclaration.VertexStride + positionElement.Offset, positions, 0, submesh.VertexCount, vertexDeclaration.VertexStride); // Get the bone indices. var boneIndexElement = vertexElements.First(e => e.VertexElementUsage == VertexElementUsage.BlendIndices); if (boneIndexElement.VertexElementFormat != VertexElementFormat.Byte4) throw new NotSupportedException(); var boneIndicesArray = new Byte4[submesh.VertexCount]; submesh.VertexBuffer.GetData( submesh.StartVertex * vertexDeclaration.VertexStride + boneIndexElement.Offset, boneIndicesArray, 0, submesh.VertexCount, vertexDeclaration.VertexStride); // Get the bone weights. var boneWeightElement = vertexElements.First(e => e.VertexElementUsage == VertexElementUsage.BlendWeight); if (boneWeightElement.VertexElementFormat != VertexElementFormat.Vector4) throw new NotSupportedException(); var boneWeightsArray = new Vector4[submesh.VertexCount]; submesh.VertexBuffer.GetData( submesh.StartVertex * vertexDeclaration.VertexStride + boneWeightElement.Offset, boneWeightsArray, 0, submesh.VertexCount, vertexDeclaration.VertexStride); // Sort the vertices per bone. for (int i = 0; i < submesh.VertexCount; i++) { var vertex = (Vector3F)positions[i]; // Here, we only check the first bone index. We could also check the // bone weights to add the vertex to all bone vertex lists where the // weight is high... Vector4 boneIndices = boneIndicesArray[i].ToVector4(); //Vector4 boneWeights = boneWeightsArray[i]; int boneIndex = (int)boneIndices.X; if (verticesPerBone[boneIndex] == null) verticesPerBone[boneIndex] = new List<Vector3F>(); verticesPerBone[boneIndex].Add(vertex); // Add vertex to AABB. if (aabb == null) aabb = new Aabb(vertex, vertex); else aabb.Value.Grow(vertex); } } // We create a body for each bone with vertices. int numberOfBodies = verticesPerBone.Count(vertices => vertices != null); // 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. const float totalMass = 80; // The total mass of the ragdoll. var massFrame = MassFrame.FromShapeAndMass(new SphereShape(aabb.Value.Extent.Y / 8), Vector3F.One, totalMass / numberOfBodies, 0.1f, 1); var material = new UniformMaterial(); Ragdoll ragdoll = new Ragdoll(); for (int boneIndex = 0; boneIndex < skeleton.NumberOfBones; boneIndex++) { var boneVertices = verticesPerBone[boneIndex]; if (boneVertices != null) { var bindPoseInverse = (Pose)skeleton.GetBindPoseAbsoluteInverse(boneIndex); // Compute bounding capsule. //float radius; //float height; //Pose pose; //GeometryHelper.ComputeBoundingCapsule(boneVertices, out radius, out height, out pose); //Shape shape = new TransformedShape(new GeometricObject(new CapsuleShape(radius, height), pose)); // Compute convex hull. var points = GeometryHelper.CreateConvexHull(boneVertices, 32, 0).ToTriangleMesh().Vertices; Shape shape = new ConvexHullOfPoints(points.Count > 0 ? points : boneVertices); ragdoll.Bodies.Add(new RigidBody(shape, massFrame, material)); ragdoll.BodyOffsets.Add(bindPoseInverse); } else { ragdoll.Bodies.Add(null); ragdoll.BodyOffsets.Add(Pose.Identity); } } return ragdoll; }
internal static void CorrectWorldSpacePose(MeshNode meshNode, Ragdoll ragdoll) { // Notes: // The Ragdoll class is simply a container for rigid bodies, joints, limits, motors, etc. // It has a Ragdoll.Pose property that determines the world space pose of the model. // The Ragdoll class does not update this property. It only reads it. // Let's say the ragdoll and model are created at the world space origin. Then the user // grabs the ragdoll and throws it 100 units away. Then the Ragdoll.Pose (and the root bone) // is still at the origin and the first body (the pelvis) is 100 units away. // You can observe this if you comment out this method and look at the debug rendering of // the skeleton. // To avoid this we correct the Ragdoll.Pose and make sure that it is always near the // pelvis bone. int pelvis = meshNode.SkeletonPose.Skeleton.GetIndex("Pelvis"); SrtTransform pelvisBindPoseAbsoluteInverse = meshNode.SkeletonPose.Skeleton.GetBindPoseAbsoluteInverse(pelvis); ragdoll.Pose = ragdoll.Bodies[pelvis].Pose * ragdoll.BodyOffsets[pelvis].Inverse * (Pose)pelvisBindPoseAbsoluteInverse; meshNode.PoseWorld = ragdoll.Pose; }
protected override void LoadContent() { // Add a ground plane to the simulation. Simulation.RigidBodies.Add( new RigidBody(new PlaneShape(Vector3F.UnitY, 0)) { MotionType = MotionType.Static }); // Load model. _model = Game.Content.Load<Model>("Dude"); var additionalData = (Dictionary<string, object>)_model.Tag; var skeleton = (Skeleton)additionalData["Skeleton"]; // Create the two skeleton poses. _targetSkeletonPose = SkeletonPose.Create(skeleton); _actualSkeletonPose = SkeletonPose.Create(skeleton); // Animate the _targetSkeletonPose. var animations = (Dictionary<string, SkeletonKeyFrameAnimation>)additionalData["Animations"]; var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First()) { LoopBehavior = LoopBehavior.Cycle, Duration = TimeSpan.MaxValue, }; AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_targetSkeletonPose); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_targetSkeletonPose, _ragdoll, Simulation); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _pose; _ragdoll.UpdateBodiesFromSkeleton(_targetSkeletonPose); // In this sample we use an active ragdoll. We need joints because constraint ragdoll // motors only affect the body rotations. _ragdoll.EnableJoints(); // We disable limits. If limits are enabled, the ragdoll could get unstable if // the animation tries to move a limb beyond an allowed limit. (This happens if // a pose in the animation violates one of our limits.) _ragdoll.DisableLimits(); // Set all motors to constraint motors. Constraint motors are like springs that // rotate the limbs to a target position. foreach (RagdollMotor motor in _ragdoll.Motors) { if (motor != null) { motor.Mode = RagdollMotorMode.Constraint; motor.ConstraintDamping = 10000; motor.ConstraintSpring = 100000; } } _ragdoll.EnableMotors(); // Add rigid bodies and the constraints of the ragdoll to the simulation. _ragdoll.AddToSimulation(Simulation); base.LoadContent(); }
/// <summary> /// Adds a TwistSwingLimit between the specified bones. /// </summary> /// <param name="ragdoll">The ragdoll.</param> /// <param name="parent">The parent bone.</param> /// <param name="child">The child bone.</param> /// <param name="parentAnchorOrientationLocal">The constraint anchor orientation relative to the parent bone.</param> /// <param name="childAnchorOrientationLocal">The constraint anchor orientation relative to the child bone.</param> /// <param name="minimum">The minimum limits (twist/swing/swing).</param> /// <param name="maximum">The maximum limits (twist/swing/swing).</param> private static void AddTwistSwingLimit(Ragdoll ragdoll, int parent, int child, Matrix33F parentAnchorOrientationLocal, Matrix33F childAnchorOrientationLocal, Vector3F minimum, Vector3F maximum) { var childBody = ragdoll.Bodies[child]; var childOffset = ragdoll.BodyOffsets[child]; var parentBody = ragdoll.Bodies[parent]; var parentOffset = ragdoll.BodyOffsets[parent]; var limit = new TwistSwingLimit { BodyA = parentBody, BodyB = childBody, AnchorOrientationALocal = parentOffset.Orientation.Transposed * parentAnchorOrientationLocal, AnchorOrientationBLocal = childOffset.Orientation.Transposed * childAnchorOrientationLocal, Minimum = minimum, Maximum = maximum, ErrorReduction = 0.2f, Softness = 0.001f }; ragdoll.Limits.Add(limit); }
public override void Update(GameTime gameTime) { if (_avatarPose == null) { if (_avatarRenderer.State == AvatarRendererState.Ready) { _avatarPose = new AvatarPose(_avatarRenderer); // Create a ragdoll for the avatar. _ragdoll = Ragdoll.CreateAvatarRagdoll(_avatarPose, Simulation); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _pose; _ragdoll.UpdateBodiesFromSkeleton(_avatarPose.SkeletonPose); // In this sample we use a passive ragdoll where we need joints to hold the // limbs together and limits to control the angular movement. _ragdoll.EnableJoints(); _ragdoll.EnableLimits(); // Set all motors to constraint motors that only use damping. This adds a damping // effect to all ragdoll limbs. foreach (RagdollMotor motor in _ragdoll.Motors) { if (motor != null) { motor.Mode = RagdollMotorMode.Constraint; motor.ConstraintDamping = 5; motor.ConstraintSpring = 0; } } _ragdoll.EnableMotors(); // Add rigid bodies and the constraints of the ragdoll to the simulation. _ragdoll.AddToSimulation(Simulation); } } else { // Copy skeleton pose from ragdoll. _ragdoll.UpdateSkeletonFromBodies(_avatarPose.SkeletonPose); } // Render rigid bodies. _debugRenderer.Clear(); foreach (var body in Simulation.RigidBodies) if (!(body.Shape is EmptyShape)) // Do not draw dummy bodies which might be used by the ragdoll. _debugRenderer.DrawObject(body, Color.Black, true, false); }
private void InitializeModel() { // Load dude model including the skeleton. _model = Game.Content.Load<Model>("Dude"); var additionalData = (Dictionary<string, object>)_model.Tag; var ragdollSkeleton = (DRSkeleton)additionalData["Skeleton"]; _skeletonPose = SkeletonPose.Create(ragdollSkeleton); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_skeletonPose, _ragdoll, Simulation, 0.57f); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.UpdateBodiesFromSkeleton(_skeletonPose); // Disable sleeping. foreach (var body in _ragdoll.Bodies) { if (body != null) body.CanSleep = false; } // The pelvis bone (index 1) is updated directly from the Kinect hip center. _ragdoll.Bodies[1].MotionType = MotionType.Kinematic; // In this sample we use a passive ragdoll where we need joints to hold the // limbs together and limits to restrict angular movement. _ragdoll.EnableJoints(); _ragdoll.EnableLimits(); // Set all motors to constraint motors that only use damping. This adds a damping // effect to all ragdoll limbs. foreach (RagdollMotor motor in _ragdoll.Motors) { if (motor != null) { motor.Mode = RagdollMotorMode.Constraint; motor.ConstraintDamping = 100; motor.ConstraintSpring = 0; } } _ragdoll.EnableMotors(); // Add rigid bodies and the constraints of the ragdoll to the simulation. _ragdoll.AddToSimulation(Simulation); }
protected override void LoadContent() { // Load model and start animation. _model = Game.Content.Load<Model>("Dude"); var additionalData = (Dictionary<string, object>)_model.Tag; var skeleton = (Skeleton)additionalData["Skeleton"]; _skeletonPose = SkeletonPose.Create(skeleton); var animations = (Dictionary<string, SkeletonKeyFrameAnimation>)additionalData["Animations"]; var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First()) { LoopBehavior = LoopBehavior.Cycle, Duration = TimeSpan.MaxValue, }; AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_skeletonPose); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_skeletonPose, _ragdoll, Simulation); // Set the world space pose of the whole ragdoll. _ragdoll.Pose = _pose; // And copy the bone poses of the current skeleton pose. _ragdoll.UpdateBodiesFromSkeleton(_skeletonPose); foreach(var body in _ragdoll.Bodies) { if (body != null) { // Set all bodies to kinematic - they should not be affected by forces. body.MotionType = MotionType.Kinematic; // Disable collision response. body.CollisionResponseEnabled = false; } } // In this sample, we do not need joints, limits or motors. _ragdoll.DisableJoints(); _ragdoll.DisableLimits(); _ragdoll.DisableMotors(); // Add ragdoll rigid bodies to the simulation. _ragdoll.AddToSimulation(Simulation); base.LoadContent(); }
/// <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; }
protected override void LoadContent() { // Add a ground plane to the simulation. Simulation.RigidBodies.Add( new RigidBody(new PlaneShape(Vector3F.UnitY, 0)) { MotionType = MotionType.Static }); // Load model and start animation. _model = Game.Content.Load<Model>("Dude"); var additionalData = (Dictionary<string, object>)_model.Tag; var skeleton = (Skeleton)additionalData["Skeleton"]; _skeletonPose = SkeletonPose.Create(skeleton); var animations = (Dictionary<string, SkeletonKeyFrameAnimation>)additionalData["Animations"]; var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First()) { LoopBehavior = LoopBehavior.Cycle, Duration = TimeSpan.MaxValue, }; var animationController = AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_skeletonPose); animationController.UpdateAndApply(); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_skeletonPose, _ragdoll, Simulation); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _pose; _ragdoll.UpdateBodiesFromSkeleton(_skeletonPose); // Set all bodies to kinematic - they should not be affected by forces. foreach (var body in _ragdoll.Bodies) { if (body != null) { body.MotionType = MotionType.Kinematic; } } // Set all motors to velocity motors. Velocity motors change RigidBody.LinearVelocity // RigidBody.AngularVelocity to move the rigid bodies. foreach (RagdollMotor motor in _ragdoll.Motors) { if (motor != null) { motor.Mode = RagdollMotorMode.Velocity; } } _ragdoll.EnableMotors(); // In this sample, we do not need joints or limits. _ragdoll.DisableJoints(); _ragdoll.DisableLimits(); // Add ragdoll rigid bodies to the simulation. _ragdoll.AddToSimulation(Simulation); base.LoadContent(); }
public override void Update(GameTime gameTime) { if (_avatarPose == null) { if (_avatarRenderer.State == AvatarRendererState.Ready) { _avatarPose = new AvatarPose(_avatarRenderer); _targetPose = SkeletonPose.Create(_avatarPose.SkeletonPose.Skeleton); // Create a ragdoll for the avatar. _ragdoll = Ragdoll.CreateAvatarRagdoll(_avatarPose, Simulation); // Set the world space pose of the whole ragdoll. And copy the bone poses // of the current skeleton pose. _ragdoll.Pose = _pose; _ragdoll.UpdateBodiesFromSkeleton(_avatarPose.SkeletonPose); // To simplify collision checks, we need a simple way to determine whether // a rigid body belongs to the ragdoll. // --> Set RigidBody.UserData = _ragdoll. // (Alternatively we could also set specific names for the rigid bodies, // or we could assign the collision objects to a certain collision group.) foreach (var body in _ragdoll.Bodies) if (body != null) body.UserData = _ragdoll; // Add rigid bodies and constraints to the simulation. _ragdoll.AddToSimulation(Simulation); // Start by playing the key frame animation. SwitchMode(RagdollMode.Mode1); // The facial expression can be applied directly to the _avatarPose. _animationController0 = AnimationService.StartAnimation(_expressionAnimation, _avatarPose); // The skeletal animation is applied to the _targetPose. The _targetPose // is used to drive the ragdoll. (See end of method.) _animationController1 = AnimationService.StartAnimation(_skeletonAnimation, (IAnimatableProperty<SkeletonPose>)_targetPose); } return; } if (InputService.IsPressed(Buttons.A, false, LogicalPlayerIndex.One)) SwitchMode(RagdollMode.Mode1); else if (InputService.IsPressed(Buttons.B, false, LogicalPlayerIndex.One)) SwitchMode(RagdollMode.Mode2); else if (InputService.IsPressed(Buttons.X, false, LogicalPlayerIndex.One)) SwitchMode(RagdollMode.Mode3); else if (InputService.IsPressed(Buttons.Y, false, LogicalPlayerIndex.One)) SwitchMode(RagdollMode.Mode4); if (_mode == RagdollMode.Mode1 || _mode == RagdollMode.Mode2) { // The ragdoll plays a certain animation. Check whether the character was // hit by a ball. foreach (var contactConstraint in Simulation.ContactConstraints) { if (contactConstraint.BodyA.UserData == _ragdoll && contactConstraint.BodyB.Name.StartsWith("Ball") || contactConstraint.BodyB.UserData == _ragdoll && contactConstraint.BodyA.Name.StartsWith("Ball")) { // Switch to the "Passive Ragdoll" mode and let the character collapse. SwitchMode(RagdollMode.Mode3); // Hint: You can read contactConstraint.LinearConstraintImpulse.Length to // determine the strength of the impact. } } } switch (_mode) { case RagdollMode.Mode1: // In mode 1 we update the rigid bodies directly. _ragdoll.UpdateBodiesFromSkeleton(_targetPose); break; case RagdollMode.Mode2: // Compute how much time the simulation will advance in the next Update(). TimeSpan nextSimulationTimeStep; int numberOfSubTimeSteps; Simulation.GetNextTimeStep(gameTime.ElapsedGameTime, out nextSimulationTimeStep, out numberOfSubTimeSteps); // In mode 2 velocity motors update the rigid bodies. _ragdoll.DriveToPose(_targetPose, (float)nextSimulationTimeStep.TotalSeconds); break; case RagdollMode.Mode3: // In mode 3 we don't have to update the rigid bodies. break; case RagdollMode.Mode4: // In mode 4 constraint motors control the joints of the ragdoll. // (The second parameter is only required for velocity motors.) _ragdoll.DriveToPose(_targetPose, 0); break; } // Copy the skeleton pose. (_avatarPose stores the skeleton pose which is // being rendered.) _ragdoll.UpdateSkeletonFromBodies(_avatarPose.SkeletonPose); _debugRenderer.Clear(); _debugRenderer.DrawText("\n"); _debugRenderer.DrawText(_statusMessage); // Render rigid bodies. foreach (var body in Simulation.RigidBodies) if (!(body.Shape is EmptyShape)) // Do not draw dummy bodies which might be used by the ragdoll. _debugRenderer.DrawObject(body, Color.Black, true, false); }
public IKPhysicsSample(Microsoft.Xna.Framework.Game game) : base(game) { GraphicsScreen.DrawReticle = true; // Add game objects which allows to grab rigid bodies. _grabObject = new GrabObject(Services); GameObjectService.Objects.Add(_grabObject); // Add Dude model. var modelNode = ContentManager.Load<ModelNode>("Dude/Dude"); _meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone(); _meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0)); SampleHelper.EnablePerPixelLighting(_meshNode); GraphicsScreen.Scene.Children.Add(_meshNode); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_meshNode.SkeletonPose, _ragdoll, Simulation, 0.571f); // Set the initial world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _meshNode.PoseWorld; _ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose); // Enable constraints (joints and limits, no motors) _ragdoll.EnableJoints(); _ragdoll.EnableLimits(); _ragdoll.DisableMotors(); foreach (var body in _ragdoll.Bodies) { if (body != null) { // Disable rigid body sleeping. (If we leave it enabled, the simulation might // disable slow bodies before they reach their IK goal.) body.CanSleep = false; // Disable collisions response. body.CollisionResponseEnabled = false; } } // Add rigid bodies and the constraints of the ragdoll to the simulation. _ragdoll.AddToSimulation(Simulation); // Disable all force effects (default gravity and damping). Simulation.ForceEffects.Clear(); // Create constraints which hold selected bodies at their current position // relative to the world. // To constrain the position + orientation, we use a FixedJoint. foreach (var boneName in new[] { "Pelvis" }) { var ragdollBody = _ragdoll.Bodies[_meshNode.SkeletonPose.Skeleton.GetIndex(boneName)]; var ikJoint = new FixedJoint { AnchorPoseALocal = ragdollBody.Pose, BodyA = Simulation.World, AnchorPoseBLocal = Pose.Identity, BodyB = ragdollBody, CollisionEnabled = false, MaxForce = 1000, }; _ikJoints.Add(ikJoint); Simulation.Constraints.Add(ikJoint); } // To constrain only the position, we use a BallJoint. foreach(var boneName in new[] { "L_Hand", "R_Hand", "L_Ankle1", "R_Ankle" }) { var ragdollBody = _ragdoll.Bodies[_meshNode.SkeletonPose.Skeleton.GetIndex(boneName)]; var ikJoint = new BallJoint { AnchorPositionALocal = ragdollBody.Pose.Position, BodyA = Simulation.World, AnchorPositionBLocal = Vector3F.Zero, BodyB = ragdollBody, CollisionEnabled = false, MaxForce = 1000, }; _ikJoints.Add(ikJoint); Simulation.Constraints.Add(ikJoint); } }