/// <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 child bone.</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 static void Start()
{
RuntimeObject.Init();
RigidBody.Init();
CollisionBody.Init();
CollisionSensor.Init();
TransportSurface.Init();
CollisionMaterial.Init();
HingeJoint.Init();
SlidingJoint.Init();
CylindricalJoint.Init();
FixedJoint.Init();
BallJoint.Init();
AngularLimit.Init();
LinearLimit.Init();
AngularSpring.Init();
LinearSpring.Init();
SpeedControl.Init();
PositionControl.Init();
BreakingConstraint.Init();
GearCoupling.Init();
CamCoupling.Init();
ElecCamCoupling.Init();
PreventCollision.Init();
ChangeMaterial.Init();
ComponentPart.Init();
SourceBehavior.Init();
SinkBehavior.Init();
GraphControl.Init();
ExternalConnection.Init();
SignalAdapter.Init();
Signal.Init();
ProxyObject.Init();
RuntimeParameters.Init();
}
/// <summary>
/// Visualizes the constraints of the ragdoll (for debugging).
/// </summary>
/// <param name="debugRenderer">The debug renderer.</param>
/// <param name="ragdoll">The ragdoll.</param>
/// <param name="scale">
/// A scale factor that determines the size of the drawn elements.
/// </param>
/// <param name="drawOverScene">
/// If set to <see langword="true"/> the object is drawn over the graphics scene (depth-test
/// disabled).
/// </param>
/// <remarks>
/// Currently, only <see cref="TwistSwingLimit" />s and <see cref="AngularLimit" />s are
/// supported.
/// </remarks>
/// <exception cref="ArgumentNullException">
/// <paramref name="debugRenderer" /> or <paramref name="ragdoll" /> is <see langword="null" />.
/// </exception>
public static void DrawConstraints(this DebugRenderer debugRenderer, Ragdoll ragdoll, float scale, bool drawOverScene)
{
if (debugRenderer == null)
{
throw new ArgumentNullException("debugRenderer");
}
if (ragdoll == null)
{
throw new ArgumentNullException("ragdoll");
}
// 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(debugRenderer, joint, twistSwingLimit, scale, drawOverScene);
continue;
}
AngularLimit angularLimit = limit as AngularLimit;
if (angularLimit != null)
{
DrawAngularLimit(debugRenderer, joint, angularLimit, scale, drawOverScene);
continue;
}
}
}
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;
}
/// <summary>
/// Visualizes the <see cref="AngularLimit"/> of a <see cref="BallJoint"/>.
/// </summary>
/// <param name="debugRenderer">The debug renderer.</param>
/// <param name="joint">The joint.</param>
/// <param name="limit">The limit.</param>
/// <param name="scale">
/// A scale factor that determines the size of the drawn elements.
/// </param>
/// <param name="drawOverScene">
/// If set to <see langword="true"/> the object is drawn over the graphics scene (depth-test
/// disabled).
/// </param>
/// <exception cref="ArgumentNullException">
/// <paramref name="debugRenderer" />, <paramref name="joint" />, or <paramref name="limit" />
/// is <see langword="null" />.
/// </exception>
public static void DrawAngularLimit(this DebugRenderer debugRenderer, BallJoint joint, AngularLimit limit, float scale, bool drawOverScene)
{
if (debugRenderer == null)
{
throw new ArgumentNullException("debugRenderer");
}
if (joint == null)
{
throw new ArgumentNullException("joint");
}
if (limit == null)
{
throw new ArgumentNullException("limit");
}
Vector3 jointPosition = joint.BodyA.Pose.ToWorldPosition(joint.AnchorPositionALocal);
// A transformation that converts from constraint anchor space to world space.
Pose constraintToWorld = limit.BodyA.Pose * new Pose(limit.AnchorOrientationALocal);
// Draw an arc for each rotation axis.
DrawArc(debugRenderer, constraintToWorld, jointPosition, Vector3.UnitX, Vector3.UnitY, limit.Minimum.X, limit.Maximum.X, scale, Color.Red, drawOverScene);
DrawArc(debugRenderer, constraintToWorld, jointPosition, Vector3.UnitY, Vector3.UnitX, limit.Minimum.Y, limit.Maximum.Y, scale, Color.Green, drawOverScene);
DrawArc(debugRenderer, constraintToWorld, jointPosition, Vector3.UnitZ, Vector3.UnitX, limit.Minimum.Z, limit.Maximum.Z, scale, Color.Blue, drawOverScene);
}
public void Connect(string strName, out AngularLimit item)
{
ExAddProperty(this.m_pSelf, strName, 4, 0x69dc);
item = null;
}
public void Connect(string strName, out AngularLimit item)
{
item = RuntimeObject.FromPtr(ExGetProperty(this.m_pSelf, strName, 4, 0x69dc)) as AngularLimit;
}
