public void GetAxisAlignedBoundingBox()
{
Assert.AreEqual(new Aabb(new Vector3F(0, -100, 0), new Vector3F(1000, 0, 1000)),
new HeightField().GetAabb(Pose.Identity));
Assert.AreEqual(new Aabb(new Vector3F(1000, -101, 2000), new Vector3F(1100, 5, 2200)),
_field.GetAabb(Pose.Identity));
Assert.AreEqual(new Aabb(new Vector3F(0, -1, 0), new Vector3F(10, 5, 20)),
new HeightField(0, 0, 10, 20, _samples, 3, 8)
{
Depth = 0
}.GetAabb(Pose.Identity));
// Now with pose.
QuaternionF rotation = QuaternionF.CreateRotationX(0.2f);
Pose pose = new Pose(new Vector3F(1, 1, 1), rotation);
_field.Depth = 0;
var box = new TransformedShape(
new GeometricObject(new BoxShape(100, 6, 200), new Pose(new Vector3F(1050, 2, 2100))));
Assert.IsTrue(Vector3F.AreNumericallyEqual(box.GetAabb(pose).Minimum, _field.GetAabb(pose).Minimum));
_field.Depth = 4;
box = new TransformedShape(
new GeometricObject(new BoxShape(100, 10, 200), new Pose(new Vector3F(1000, 0, 2000))));
Assert.IsTrue(Vector3F.AreNumericallyEqual(box.GetAabb(pose).Minimum + rotation.Rotate(new Vector3F(50, 0, 100)), _field.GetAabb(pose).Minimum));
}
public void CreateRotationX()
{
float angle = 0.3f;
QuaternionF q = QuaternionF.CreateRotation(Vector3F.UnitX, angle);
QuaternionF qx = QuaternionF.CreateRotationX(angle);
Assert.AreEqual(q, qx);
}
public void PropertiesTest()
{
Assert.AreEqual(3, ((CircleShape)cs.ObjectA.Shape).Radius);
Assert.AreEqual(new Vector3F(0, 5, 0), ((LineSegmentShape)cs.ObjectB.Shape).Start);
Assert.AreEqual(new Vector3F(0, -5, 0), ((LineSegmentShape)cs.ObjectB.Shape).End);
Assert.AreEqual(new Pose(new Vector3F(1, 0, 0), QuaternionF.CreateRotationX(ConstantsF.PiOver2)), cs.ObjectA.Pose);
Assert.AreEqual(Pose.Identity, cs.ObjectB.Pose);
}
public void HasRotationTest()
{
var srt = new SrtTransform(new Vector3F(1, 1, 1), QuaternionF.Identity, Vector3F.Zero);
Assert.IsFalse(srt.HasRotation);
srt.Rotation = QuaternionF.CreateRotationX(0.000001f);
Assert.IsFalse(srt.HasRotation);
srt.Rotation = QuaternionF.CreateRotationX(0.1f);
Assert.IsTrue(srt.HasRotation);
}
public void GetAxisAlignedBoundingBox()
{
Assert.AreEqual(new Aabb(), new RectangleShape().GetAabb(Pose.Identity));
Assert.AreEqual(new Aabb(new Vector3F(10, 100, -13), new Vector3F(10, 100, -13)),
new RectangleShape().GetAabb(new Pose(new Vector3F(10, 100, -13),
QuaternionF.CreateRotation(new Vector3F(1, 1, 1), 0.7f))));
Assert.AreEqual(new Aabb(new Vector3F(5, 90, 1000), new Vector3F(15, 110, 1000)),
new RectangleShape(10, 20).GetAabb(new Pose(new Vector3F(10, 100, 1000),
QuaternionF.Identity)));
Assert.AreEqual(new Aabb(new Vector3F(5, 100, 990), new Vector3F(15, 100, 1010)),
new RectangleShape(10, 20).GetAabb(new Pose(new Vector3F(10, 100, 1000),
QuaternionF.CreateRotationX(ConstantsF.PiOver2))));
// TODO: Test complex rotations.
}
public void ResetPose()
{
_currentYaw = _defaultYaw;
_currentPitch = _defaultPitch;
if (IsLoaded)
{
// Also update SceneNode.LastPose - this is required for some effect, like
// object motion blur.
CameraNode.SetLastPose(true);
CameraNode.PoseWorld = new Pose(
_defaultPosition,
QuaternionF.CreateRotationY(_currentYaw) * QuaternionF.CreateRotationX(_currentPitch));
}
}
public void Test1()
{
Pose p = Pose.Identity;
Assert.AreEqual(Matrix44F.Identity, p.ToMatrix44F());
Assert.AreEqual(Matrix33F.Identity, p.Orientation);
Assert.AreEqual(Vector3F.Zero, p.Position);
p.Position = new Vector3F(1, 2, 3);
p.Orientation = Matrix33F.CreateRotation(new Vector3F(3, -4, 9), 0.49f);
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToWorldDirection(Vector3F.UnitX), 0), p * new Vector4F(1, 0, 0, 0)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToWorldDirection(Vector3F.UnitY), 0), p * new Vector4F(0, 1, 0, 0)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToWorldDirection(Vector3F.UnitZ), 0), p * new Vector4F(0, 0, 1, 0)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToWorldPosition(Vector3F.UnitX), 1), p * new Vector4F(1, 0, 0, 1)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToWorldPosition(Vector3F.UnitY), 1), p * new Vector4F(0, 1, 0, 1)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToWorldPosition(Vector3F.UnitZ), 1), p * new Vector4F(0, 0, 1, 1)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToLocalDirection(Vector3F.UnitX), 0), p.Inverse * new Vector4F(1, 0, 0, 0)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToLocalDirection(Vector3F.UnitY), 0), p.Inverse * new Vector4F(0, 1, 0, 0)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToLocalDirection(Vector3F.UnitZ), 0), p.Inverse * new Vector4F(0, 0, 1, 0)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToLocalPosition(Vector3F.UnitX), 1), p.Inverse * new Vector4F(1, 0, 0, 1)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToLocalPosition(Vector3F.UnitY), 1), p.Inverse * new Vector4F(0, 1, 0, 1)));
Assert.IsTrue(Vector4F.AreNumericallyEqual(new Vector4F(p.ToLocalPosition(Vector3F.UnitZ), 1), p.Inverse * new Vector4F(0, 0, 1, 1)));
Pose p2 = Pose.FromMatrix(new Matrix44F(p.Orientation, Vector3F.Zero));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(p.Orientation, p2.Orientation));
Assert.IsTrue(Vector3F.AreNumericallyEqual(p2.Position, Vector3F.Zero));
Matrix44F m = p2;
m.SetColumn(3, new Vector4F(p.Position, 1));
p2 = Pose.FromMatrix(m);
Assert.IsTrue(Matrix33F.AreNumericallyEqual(p.Orientation, p2.Orientation));
Assert.AreEqual(p.Position, p2.Position);
//Assert.IsTrue(Vector3F.AreNumericallyEqual(p.Position, p2.Position));
// Test other constructors.
Assert.AreEqual(Vector3F.Zero, new Pose(QuaternionF.CreateRotationX(0.3f)).Position);
Assert.AreEqual(Matrix33F.CreateRotationX(0.3f), new Pose(Matrix33F.CreateRotationX(0.3f)).Orientation);
Assert.AreEqual(new Vector3F(1, 2, 3), new Pose(new Vector3F(1, 2, 3)).Position);
Assert.AreEqual(Matrix33F.Identity, new Pose(new Vector3F(1, 2, 3)).Orientation);
}
public override void Update(GameTime gameTime)
{
base.Update(gameTime);
float deltaTime = (float)gameTime.ElapsedGameTime.TotalSeconds;
// Change rotation angle.
if (_moveArmDown)
{
_upperArmAngle -= 0.3f * deltaTime;
}
else
{
_upperArmAngle += 0.3f * deltaTime;
}
// Change direction when a certain angle is reached.
if (Math.Abs(_upperArmAngle) > 0.5f)
{
_moveArmDown = !_moveArmDown;
}
// Get the bone index of the upper arm bone.
var skeleton = _meshNode.Mesh.Skeleton;
int upperArmIndex = skeleton.GetIndex("L_UpperArm");
// Define the desired bone transform.
SrtTransform boneTransform = new SrtTransform(QuaternionF.CreateRotationY(_upperArmAngle));
// Set the new bone transform.
var skeletonPose = _meshNode.SkeletonPose;
skeletonPose.SetBoneTransform(upperArmIndex, boneTransform);
// The class SkeletonHelper provides some useful extension methods.
// One is SetBoneRotationAbsolute() which sets the orientation of a bone relative
// to model space.
int handIndex = skeleton.GetIndex("L_Hand");
SkeletonHelper.SetBoneRotationAbsolute(skeletonPose, handIndex, QuaternionF.CreateRotationX(ConstantsF.Pi));
}
public void ResetPose()
{
positionFilter.Reset();
orientationFilter.Reset();
positionFilter.RawValue[0] = _defaultPosition.X;
positionFilter.RawValue[1] = _defaultPosition.Y;
positionFilter.RawValue[2] = _defaultPosition.Z;
orientationFilter.RawValue[0] = _defaultYaw;
orientationFilter.RawValue[1] = _defaultPitch;
if (IsLoaded)
{
// Also update SceneNode.LastPose - this is required for some effect, like
// object motion blur.
CameraNode.SetLastPose(true);
CameraNode.PoseWorld = new Pose(
_defaultPosition,
QuaternionF.CreateRotationY(_defaultYaw) * QuaternionF.CreateRotationX(_defaultPitch));
}
}
// This method shows how to safely compare vectors.
private void CompareVectors()
{
var debugRenderer = GraphicsScreen.DebugRenderer2D;
debugRenderer.DrawText("----- CompareVectors Example:");
// Define a vector.
Vector3F v0 = new Vector3F(1000, 2000, 3000);
// Define a rotation quaternion that rotates 360° around the x axis.
QuaternionF rotation = QuaternionF.CreateRotationX(MathHelper.ToRadians(360));
// Rotate v0.
Vector3F v1 = rotation.Rotate(v0);
// The rotated vector v1 should be identical to v0 because a 360° rotation
// should not change the vector. - But due to numerical errors v0 and v1 are
// not equal.
if (v0 == v1)
{
debugRenderer.DrawText("Vectors are equal.");
}
else
{
debugRenderer.DrawText("Vectors are not equal."); // This message is written.
}
// With Vector3F.AreNumericallyEqual() we can check if two vectors are equal
// when we allow a small numeric tolerance. The tolerance that is applied is
// Numeric.EpsilonF, e.g. 10^-5.
if (Vector3F.AreNumericallyEqual(v0, v1))
{
debugRenderer.DrawText("Vectors are numerically equal.\n"); // This message is written.
}
else
{
debugRenderer.DrawText("Vectors are not numerically equal.\n");
}
}
// OnLoad() is called when the GameObject is added to the IGameObjectService.
protected override void OnLoad()
{
var content = _services.GetInstance <ContentManager>();
_skyboxNode = new SkyboxNode(content.Load <TextureCube>("Sky2"))
{
Color = new Vector3F(SkyExposure),
};
// The ambient light.
var ambientLight = new AmbientLight
{
Color = new Vector3F(0.9f, 0.9f, 1f),
HdrScale = 0.1f,
Intensity = 0.5f,
HemisphericAttenuation = 0.8f,
};
_ambientLightNode = new LightNode(ambientLight)
{
Name = "Ambient",
};
// The main directional light.
var sunlight = new DirectionalLight
{
Color = new Vector3F(1, 0.9607844f, 0.9078432f),
HdrScale = 0.4f,
DiffuseIntensity = 1,
SpecularIntensity = 1,
};
_sunlightNode = new LightNode(sunlight)
{
Name = "Sunlight",
Priority = 10, // This is the most important light.
PoseWorld = new Pose(QuaternionF.CreateRotationY(-1.4f) * QuaternionF.CreateRotationX(-0.6f)),
// This light uses Cascaded Shadow Mapping.
Shadow = new CascadedShadow
{
#if XBOX
PreferredSize = 512,
#else
PreferredSize = 1024,
#endif
Prefer16Bit = true,
}
};
// Add a lens flare for the key light.
var lensFlare = new LensFlare(true)
{
QuerySize = 0.2f, Size = 0.2f, Name = "Sun Flare"
};
var lensFlareTexture = content.Load <Texture2D>("LensFlare/LensFlares");
var circleTexture = new PackedTexture("Circle", lensFlareTexture, new Vector2F(0, 0), new Vector2F(0.25f, 0.5f));
var glowTexture = new PackedTexture("Glow", lensFlareTexture, new Vector2F(0.25f, 0), new Vector2F(0.25f, 0.5f));
var ringTexture = new PackedTexture("Ring", lensFlareTexture, new Vector2F(0.5f, 0), new Vector2F(0.25f, 0.5f));
var haloTexture = new PackedTexture("Halo", lensFlareTexture, new Vector2F(0.75f, 0), new Vector2F(0.25f, 0.5f));
var sunTexture = new PackedTexture("Sun", lensFlareTexture, new Vector2F(0, 0.5f), new Vector2F(0.25f, 0.5f));
var streaksTexture = new PackedTexture("Streaks", lensFlareTexture, new Vector2F(0.25f, 0.5f), new Vector2F(0.25f, 0.5f));
var flareTexture = new PackedTexture("Flare", lensFlareTexture, new Vector2F(0.5f, 0.5f), new Vector2F(0.25f, 0.5f));
lensFlare.Elements.Add(new LensFlareElement(-0.2f, 0.55f, 0.0f, new Color(175, 175, 255, 20), new Vector2F(0.5f, 0.5f), circleTexture));
lensFlare.Elements.Add(new LensFlareElement(0.0f, 0.9f, 0.0f, new Color(255, 255, 255, 255), new Vector2F(0.5f, 0.5f), sunTexture));
lensFlare.Elements.Add(new LensFlareElement(0.0f, 1.8f, 0.0f, new Color(255, 255, 255, 128), new Vector2F(0.5f, 0.5f), streaksTexture));
lensFlare.Elements.Add(new LensFlareElement(0.0f, 2.6f, 0.0f, new Color(255, 255, 200, 64), new Vector2F(0.5f, 0.5f), glowTexture));
lensFlare.Elements.Add(new LensFlareElement(0.5f, 0.12f, 0.0f, new Color(60, 60, 180, 35), new Vector2F(0.5f, 0.5f), circleTexture));
lensFlare.Elements.Add(new LensFlareElement(0.55f, 0.46f, 0.0f, new Color(100, 100, 200, 60), new Vector2F(0.5f, 0.5f), circleTexture));
lensFlare.Elements.Add(new LensFlareElement(0.6f, 0.17f, 0.0f, new Color(120, 120, 220, 40), new Vector2F(0.5f, 0.5f), circleTexture));
lensFlare.Elements.Add(new LensFlareElement(0.85f, 0.2f, 0.0f, new Color(60, 60, 255, 100), new Vector2F(0.5f, 0.5f), ringTexture));
lensFlare.Elements.Add(new LensFlareElement(1.5f, 0.2f, 0.0f, new Color(255, 60, 60, 130), new Vector2F(0.5f, 0.5f), flareTexture));
lensFlare.Elements.Add(new LensFlareElement(0.15f, 0.15f, 0.0f, new Color(255, 60, 60, 90), new Vector2F(0.5f, 0.5f), flareTexture));
lensFlare.Elements.Add(new LensFlareElement(1.3f, 0.6f, 0.0f, new Color(60, 60, 255, 180), new Vector2F(0.5f, 0.5f), haloTexture));
lensFlare.Elements.Add(new LensFlareElement(1.4f, 0.2f, 0.0f, new Color(220, 80, 80, 98), new Vector2F(0.5f, 0.5f), haloTexture));
lensFlare.Elements.Add(new LensFlareElement(1.5f, 0.1f, 0.0f, new Color(220, 80, 80, 85), new Vector2F(0.5f, 0.5f), circleTexture));
lensFlare.Elements.Add(new LensFlareElement(1.6f, 0.5f, 0.0f, new Color(60, 60, 255, 80), new Vector2F(0.5f, 0.5f), haloTexture));
lensFlare.Elements.Add(new LensFlareElement(1.8f, 0.3f, 0.0f, new Color(90, 60, 255, 110), new Vector2F(0.5f, 0.5f), ringTexture));
lensFlare.Elements.Add(new LensFlareElement(1.95f, 0.5f, 0.0f, new Color(60, 60, 255, 120), new Vector2F(0.5f, 0.5f), haloTexture));
lensFlare.Elements.Add(new LensFlareElement(2.0f, 0.15f, 0.0f, new Color(60, 60, 255, 85), new Vector2F(0.5f, 0.5f), circleTexture));
// Add lens flare as a child of the sunlight.
var lensFlareNode = new LensFlareNode(lensFlare);
_sunlightNode.Children = new SceneNodeCollection();
_sunlightNode.Children.Add(lensFlareNode);
// Add scene nodes to scene graph.
var scene = _services.GetInstance <IScene>();
scene.Children.Add(_skyboxNode);
scene.Children.Add(_ambientLightNode);
scene.Children.Add(_sunlightNode);
}
public void TransformedShapeNonuniformScaleWithRotationNotSupported()
{
var s = new TransformedShape(new GeometricObject(new BoxShape(3, 2, 1), new Vector3F(0.7f, 0.8f, 0.9f), new Pose(new Vector3F(-1, 7, 4), QuaternionF.CreateRotationX(1))));
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(2, 2.1f, 2.8f), 1, true, 0.001f, 10, out m0, out com0, out i0);
}
//--------------------------------------------------------------
#region Methods
//--------------------------------------------------------------
protected override void OnLoad()
{
// Add rigid bodies to simulation.
var simulation = _services.GetInstance <Simulation>();
// We use a random number generator with a custom seed.
RandomHelper.Random = new Random(123);
// ----- Add a ground plane.
AddBody(simulation, "GroundPlane", Pose.Identity, new PlaneShape(Vector3F.UnitY, 0), MotionType.Static);
// ----- Create a small flying sphere.
AddBody(simulation, "Sphere", new Pose(new Vector3F(0, 1f, 0)), new SphereShape(0.2f), MotionType.Static);
// ----- Create small walls at the level boundary.
AddBody(simulation, "WallLeft", new Pose(new Vector3F(-30, 1, 0)), new BoxShape(0.3f, 2, 60), MotionType.Static);
AddBody(simulation, "WallRight", new Pose(new Vector3F(30, 1, 0)), new BoxShape(0.3f, 2, 60), MotionType.Static);
AddBody(simulation, "WallFront", new Pose(new Vector3F(0, 1, -30)), new BoxShape(60, 2, 0.3f), MotionType.Static);
AddBody(simulation, "WallBack", new Pose(new Vector3F(0, 1, 30)), new BoxShape(60, 2, 0.3f), MotionType.Static);
// ----- Create a few bigger objects.
// We position the boxes so that we have a few corners we can run into. Character controllers
// should be stable when the user runs into corners.
AddBody(simulation, "House0", new Pose(new Vector3F(10, 1, -10)), new BoxShape(8, 2, 8f), MotionType.Static);
AddBody(simulation, "House1", new Pose(new Vector3F(13, 1, -4)), new BoxShape(2, 2, 4), MotionType.Static);
AddBody(simulation, "House2", new Pose(new Vector3F(10, 2, -15), Matrix33F.CreateRotationY(-0.3f)), new BoxShape(8, 4, 2), MotionType.Static);
// ----- Create stairs with increasing step height.
// Each step is a box. With this object we can test if our character can climb up
// stairs. The character controller has a step height limit. Increasing step heights
// let us test if the step height limit works.
float startHeight = 0;
const float stepDepth = 1f;
for (int i = 0; i < 10; i++)
{
float stepHeight = 0.1f + i * 0.05f;
Vector3F position = new Vector3F(0, startHeight + stepHeight / 2, -2 - i * stepDepth);
AddBody(simulation, "Step" + i, new Pose(position), new BoxShape(2, stepHeight, stepDepth), MotionType.Static);
startHeight += stepHeight;
}
// ----- V obstacle to test if we get stuck.
AddBody(simulation, "V0", new Pose(new Vector3F(-5.5f, 0, 10), QuaternionF.CreateRotationZ(0.2f)), new BoxShape(1f, 2f, 2), MotionType.Static);
AddBody(simulation, "V1", new Pose(new Vector3F(-4, 0, 10), QuaternionF.CreateRotationZ(-0.2f)), new BoxShape(1f, 2f, 2), MotionType.Static);
// ----- Create a height field.
// Terrain that is uneven is best modeled with a height field. Height fields are faster
// than general triangle meshes.
// The height direction is the y direction.
// The height field lies in the x/z plane.
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
// Create arbitrary height values.
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
if (x == 0 || z == 0 || x == 19 || z == 19)
{
// Set this boundary elements to a low height, so that the height field is connected
// to the ground.
samples[z * numberOfSamplesX + x] = -1;
}
else
{
// A sine/cosine function that creates some interesting waves.
samples[z * numberOfSamplesX + x] = 1.0f + (float)(Math.Cos(z / 2f) * Math.Sin(x / 2f) * 1.0f);
}
}
}
var heightField = new HeightField(0, 0, 20, 20, samples, numberOfSamplesX, numberOfSamplesZ);
AddBody(simulation, "HeightField", new Pose(new Vector3F(10, 0, 10)), heightField, MotionType.Static);
// ----- Create rubble on the floor (small random objects on the floor).
// Our character should be able to move over small bumps on the ground.
for (int i = 0; i < 50; i++)
{
Vector3F position = new Vector3F(RandomHelper.Random.NextFloat(-5, 5), 0, RandomHelper.Random.NextFloat(10, 20));
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
Vector3F size = RandomHelper.Random.NextVector3F(0.05f, 0.8f);
AddBody(simulation, "Stone" + i, new Pose(position, orientation), new BoxShape(size), MotionType.Static);
}
// ----- Create some slopes to see how our character performs on/under sloped surfaces.
// Here we can test how the character controller behaves if the head touches an inclined
// ceiling.
AddBody(simulation, "SlopeGround", new Pose(new Vector3F(-2, 1.8f, -12), QuaternionF.CreateRotationX(0.4f)), new BoxShape(2, 0.5f, 10), MotionType.Static);
AddBody(simulation, "SlopeRoof", new Pose(new Vector3F(-2, 5.6f, -12), QuaternionF.CreateRotationX(-0.4f)), new BoxShape(2, 0.5f, 10), MotionType.Static);
// Create slopes with increasing tilt angles.
// The character controller has a slope limit. Only flat slopes should be climbable.
// Movement between slopes should be smooth.
Vector3F slopePosition = new Vector3F(-17, -0.25f, 6);
BoxShape slopeShape = new BoxShape(8, 0.5f, 5);
for (int i = 1; i < 8; i++)
{
Matrix33F oldRotation = Matrix33F.CreateRotationX((i - 1) * MathHelper.ToRadians(10));
Matrix33F rotation = Matrix33F.CreateRotationX(i * MathHelper.ToRadians(10));
slopePosition += (oldRotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2
+ (rotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2;
AddBody(simulation, "Slope" + i, new Pose(slopePosition, rotation), slopeShape, MotionType.Static);
}
// Create slopes with decreasing tilt angles.
slopePosition = new Vector3F(-8, -2, 5);
slopeShape = new BoxShape(8f, 0.5f, 5);
for (int i = 1; i < 8; i++)
{
Matrix33F oldRotation = Matrix33F.CreateRotationX(MathHelper.ToRadians(40) - (i - 1) * MathHelper.ToRadians(10));
Matrix33F rotation = Matrix33F.CreateRotationX(MathHelper.ToRadians(40) - i * MathHelper.ToRadians(10));
slopePosition += (oldRotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2
+ (rotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2;
Vector3F position = slopePosition - rotation * new Vector3F(0, slopeShape.WidthY / 2, 0);
AddBody(simulation, "Slope2" + i, new Pose(position, rotation), slopeShape, MotionType.Static);
}
// ----- Create a slope with a wall on one side.
// This objects let's us test how the character controller behaves while falling and
// sliding along a vertical wall. (Run up the slope and then jump down while moving into
// the wall.)
AddBody(simulation, "LongSlope", new Pose(new Vector3F(-24, 3, -10), Matrix33F.CreateRotationX(0.4f)), new BoxShape(4, 5f, 30), MotionType.Static);
AddBody(simulation, "LongSlopeWall", new Pose(new Vector3F(-26, 5, -10)), new BoxShape(0.5f, 10f, 25), MotionType.Static);
// ----- Create a trigger object that represents a ladder.
var ladder = AddBody(simulation, "Ladder", new Pose(new Vector3F(-25.7f, 5, 0)), new BoxShape(0.5f, 10f, 1), MotionType.Static);
ladder.CollisionObject.Type = CollisionObjectType.Trigger;
// ----- Create a mesh object to test walking on triangle meshes.
// Normally, the mesh would be loaded from a file. Here, we make a composite shape and
// let DigitalRune Geometry compute a mesh for it. Then we throw away the composite
// shape and use only the mesh. (We do this to test triangle meshes. Using the composite
// shape instead of the triangle mesh would be a lot faster.)
CompositeShape compositeShape = new CompositeShape();
compositeShape.Children.Add(new GeometricObject(heightField, Pose.Identity));
compositeShape.Children.Add(new GeometricObject(new CylinderShape(1, 2), new Pose(new Vector3F(10, 1, 10))));
compositeShape.Children.Add(new GeometricObject(new SphereShape(3), new Pose(new Vector3F(15, 0, 15))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(4, 4, 3), new Pose(new Vector3F(15, 1.5f, 5))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(4, 4, 3), new Pose(new Vector3F(15, 1.5f, 0))));
ITriangleMesh mesh = compositeShape.GetMesh(0.01f, 3);
TriangleMeshShape meshShape = new TriangleMeshShape(mesh);
// Collision detection speed for triangle meshes can be improved by using a spatial
// partition. Here, we assign an AabbTree to the triangle mesh shape. The tree is
// built automatically when needed and it stores triangle indices (therefore the generic
// parameter of the AabbTree is int).
meshShape.Partition = new AabbTree <int>()
{
// The tree is automatically built using a mixed top-down/bottom-up approach. Bottom-up
// building is slower but produces better trees. If the tree building takes too long,
// we can lower the BottomUpBuildThreshold (default is 128).
BottomUpBuildThreshold = 0,
};
// Contact welding creates smoother contact normals - but it costs a bit of performance.
meshShape.EnableContactWelding = true;
AddBody(simulation, "Mesh", new Pose(new Vector3F(-30, 0, 10)), meshShape, MotionType.Static);
// ----- Create a seesaw.
var seesawBase = AddBody(simulation, "SeesawBase", new Pose(new Vector3F(5, 0.5f, 0)), new BoxShape(0.2f, 1, 1), MotionType.Static);
var seesaw = AddBody(simulation, "Seesaw", new Pose(new Vector3F(5, 1.05f, 0)), new BoxShape(5, 0.1f, 1), MotionType.Dynamic);
// Attach the seesaw to the base using a hinge joint.
simulation.Constraints.Add(new HingeJoint
{
BodyA = seesaw,
BodyB = seesawBase,
AnchorPoseALocal = new Pose(new Vector3F(0, 0, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
AnchorPoseBLocal = new Pose(new Vector3F(0, 0.5f, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
CollisionEnabled = false,
});
// ----- A platform that is moving up/down.
_elevator = AddBody(simulation, "Elevator", new Pose(new Vector3F(5, -1f, 5)), new BoxShape(3, 1f, 3), MotionType.Kinematic);
_elevator.LinearVelocity = new Vector3F(2, 2, 0);
// ----- A platform that is moving sideways.
_pusher = AddBody(simulation, "Pusher", new Pose(new Vector3F(15, 0.5f, 0)), new BoxShape(3, 1f, 3), MotionType.Kinematic);
_pusher.LinearVelocity = new Vector3F(0, 0, 2);
// ----- Create conveyor belt with two static boxes on the sides.
AddBody(simulation, "ConveyorSide0", new Pose(new Vector3F(19, 0.25f, 0)), new BoxShape(0.8f, 0.5f, 8f), MotionType.Static);
AddBody(simulation, "ConveyorSide1", new Pose(new Vector3F(21, 0.25f, 0)), new BoxShape(0.8f, 0.5f, 8f), MotionType.Static);
// The conveyor belt is a simple box with a special material.
var conveyorBelt = AddBody(simulation, "ConveyorBelt", new Pose(new Vector3F(20, 0.25f, 0)), new BoxShape(1f, 0.51f, 8f), MotionType.Static);
UniformMaterial materialWithSurfaceMotion = new UniformMaterial("ConveyorBelt", true) // Important: The second parameter enables the surface
{ // motion. It has to be set to true in the constructor!
SurfaceMotion = new Vector3F(0, 0, 1), // The surface motion relative to the object.
};
conveyorBelt.Material = materialWithSurfaceMotion;
// ----- Distribute a few dynamic spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-15, 15);
position.Y = 20;
AddBody(simulation, "Sphere" + i, new Pose(position), sphereShape, MotionType.Dynamic);
}
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-15, 15);
position.Y = 20;
AddBody(simulation, "Box" + i, new Pose(position), boxShape, MotionType.Dynamic);
}
}
public void CompressSrtKeyFrameAnimation()
{
var random = new Random(12345);
float scaleThreshold = 0.1f;
float rotationThreshold = 2; // [°]
float translationThreshold = 0.2f;
var srtKeyFrameAnimation = new SrtKeyFrameAnimation();
// Define a view important keyframes.
var time0 = TimeSpan.FromTicks(100000);
var value0 = new SrtTransform(Vector3F.One, QuaternionF.Identity, Vector3F.Zero);
var time1 = TimeSpan.FromTicks(200000);
var value1 = new SrtTransform(new Vector3F(2, 2, 2), QuaternionF.CreateRotationX(MathHelper.ToRadians(10)), new Vector3F(1, 1, 1));
var time2 = TimeSpan.FromTicks(400000);
var value2 = new SrtTransform(new Vector3F(-1, -1, -1), QuaternionF.CreateRotationX(MathHelper.ToRadians(80)), new Vector3F(10, 10, 10));
var time3 = TimeSpan.FromTicks(500000);
var value3 = new SrtTransform(new Vector3F(3, 3, 3), QuaternionF.CreateRotationX(MathHelper.ToRadians(-10)), new Vector3F(-2, -2, -2));
srtKeyFrameAnimation.KeyFrames.Add(new KeyFrame <SrtTransform>(time0, value0));
srtKeyFrameAnimation.KeyFrames.Add(new KeyFrame <SrtTransform>(time1, value1));
srtKeyFrameAnimation.KeyFrames.Add(new KeyFrame <SrtTransform>(time2, value2));
srtKeyFrameAnimation.KeyFrames.Add(new KeyFrame <SrtTransform>(time3, value3));
// Add random keyframes within tolerance.
InsertRandomKeyFrames(random, srtKeyFrameAnimation, time0, time1, scaleThreshold, rotationThreshold, translationThreshold);
InsertRandomKeyFrames(random, srtKeyFrameAnimation, time1, time2, scaleThreshold, rotationThreshold, translationThreshold);
InsertRandomKeyFrames(random, srtKeyFrameAnimation, time2, time3, scaleThreshold, rotationThreshold, translationThreshold);
// ---- Compress animation with tolerance.
var srtAnimation = AnimationHelper.Compress(srtKeyFrameAnimation, scaleThreshold, rotationThreshold, translationThreshold);
Assert.IsNotNull(srtAnimation);
Assert.AreEqual(srtKeyFrameAnimation.GetTotalDuration(), srtAnimation.GetTotalDuration());
Assert.IsNotNull(srtAnimation.Scale);
Assert.AreEqual(4, ((KeyFrameAnimation <Vector3F>)srtAnimation.Scale).KeyFrames.Count);
Assert.AreEqual(4, ((KeyFrameAnimation <QuaternionF>)srtAnimation.Rotation).KeyFrames.Count);
Assert.AreEqual(4, ((KeyFrameAnimation <Vector3F>)srtAnimation.Translation).KeyFrames.Count);
var defaultSource = SrtTransform.Identity;
var defaultTarget = SrtTransform.Identity;
var result = new SrtTransform();
srtAnimation.GetValue(time0, ref defaultSource, ref defaultTarget, ref result);
Assert.AreEqual(value0, result);
srtAnimation.GetValue(time1, ref defaultSource, ref defaultTarget, ref result);
Assert.AreEqual(value1, result);
srtAnimation.GetValue(time2, ref defaultSource, ref defaultTarget, ref result);
Assert.AreEqual(value2, result);
srtAnimation.GetValue(time3, ref defaultSource, ref defaultTarget, ref result);
Assert.AreEqual(value3, result);
// Take a view samples.
const int numberOfSamples = 10;
long tickIncrement = (time3 - time0).Ticks / (numberOfSamples + 1);
for (int i = 0; i < numberOfSamples; i++)
{
var time = TimeSpan.FromTicks(time0.Ticks + (i + 1) * tickIncrement);
var valueRef = new SrtTransform();
srtKeyFrameAnimation.GetValue(time, ref defaultSource, ref defaultTarget, ref valueRef);
var valueNew = new SrtTransform();
srtAnimation.GetValue(time, ref defaultSource, ref defaultTarget, ref valueNew);
Assert.IsTrue((valueRef.Scale - valueNew.Scale).Length <= scaleThreshold);
Assert.IsTrue(QuaternionF.GetAngle(valueRef.Rotation, valueNew.Rotation) <= MathHelper.ToRadians(rotationThreshold));
Assert.IsTrue((valueRef.Translation - valueNew.Translation).Length <= translationThreshold);
}
// ----- Compress animation with zero tolerance.
srtAnimation = AnimationHelper.Compress(srtKeyFrameAnimation, 0, 0, 0);
Assert.IsNotNull(srtAnimation);
Assert.AreEqual(srtKeyFrameAnimation.GetTotalDuration(), srtAnimation.GetTotalDuration());
Assert.IsNotNull(srtAnimation.Scale);
Assert.AreEqual(srtKeyFrameAnimation.KeyFrames.Count, ((KeyFrameAnimation <Vector3F>)srtAnimation.Scale).KeyFrames.Count);
Assert.AreEqual(srtKeyFrameAnimation.KeyFrames.Count, ((KeyFrameAnimation <QuaternionF>)srtAnimation.Rotation).KeyFrames.Count);
Assert.AreEqual(srtKeyFrameAnimation.KeyFrames.Count, ((KeyFrameAnimation <Vector3F>)srtAnimation.Translation).KeyFrames.Count);
// Take a view samples.
for (int i = 0; i < numberOfSamples; i++)
{
var time = TimeSpan.FromTicks(time0.Ticks + (i + 1) * tickIncrement);
var valueRef = new SrtTransform();
srtKeyFrameAnimation.GetValue(time, ref defaultSource, ref defaultTarget, ref valueRef);
var valueNew = new SrtTransform();
srtAnimation.GetValue(time, ref defaultSource, ref defaultTarget, ref valueNew);
Assert.IsTrue(SrtTransform.AreNumericallyEqual(valueRef, valueNew));
}
}
/// <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);
}
public static void Load(CollisionDomain collisionDomain)
{
// Create a box for the ground.
AddObject("Ground", new Pose(new Vector3F(0, -5, 0)), new BoxShape(60, 10, 60), collisionDomain);
// Create a small flying sphere to visualize the approx. head height. - This is just
// for debugging so that we have a feeling for heights.
AddObject("Sphere", new Pose(new Vector3F(0, 1.5f, 0)), new SphereShape(0.2f), collisionDomain);
// Create small walls at the level boundary.
AddObject("WallLeft", new Pose(new Vector3F(-30, 1, 0)), new BoxShape(0.3f, 2, 60), collisionDomain);
AddObject("WallRight", new Pose(new Vector3F(30, 1, 0)), new BoxShape(0.3f, 2, 60), collisionDomain);
AddObject("WallFront", new Pose(new Vector3F(0, 1, -30)), new BoxShape(60, 2, 0.3f), collisionDomain);
AddObject("WallBack", new Pose(new Vector3F(0, 1, 30)), new BoxShape(60, 2, 0.3f), collisionDomain);
// Create a few bigger objects.
// We position the boxes so that we have a few corners we can run into. Character controllers
// should be stable when the user runs into corners.
AddObject("House0", new Pose(new Vector3F(10, 1, -10)), new BoxShape(8, 2, 8f), collisionDomain);
AddObject("House1", new Pose(new Vector3F(13, 1, -4)), new BoxShape(2, 2, 4), collisionDomain);
AddObject("House2", new Pose(new Vector3F(10, 2, -15), Matrix33F.CreateRotationY(-0.3f)), new BoxShape(8, 4, 2), collisionDomain);
//
// Create stairs with increasing step height.
//
// Each step is a box. With this object we can test if our character can climb up
// stairs. The character controller has a step height limit. Increasing step heights
// let us test if the step height limit works.
float startHeight = 0;
const float stepDepth = 1f;
for (int i = 0; i < 10; i++)
{
float stepHeight = 0.1f + i * 0.05f;
Pose pose = new Pose(new Vector3F(0, startHeight + stepHeight / 2, -2 - i * stepDepth));
BoxShape shape = new BoxShape(2, stepHeight, stepDepth);
AddObject("Step" + i, pose, shape, collisionDomain);
startHeight += stepHeight;
}
//
// Create a height field.
//
// Terrain that is uneven is best modeled with a height field. Height fields are faster
// than general triangle meshes.
// The height direction is the y direction.
// The height field lies in the x/z plane.
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
// Create arbitrary height values.
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
if (x == 0 || z == 0 || x == 19 || z == 19)
{
// Set this boundary elements to a low height, so that the height field is connected
// to the ground.
samples[z * numberOfSamplesX + x] = -1;
}
else
{
// A sine/cosine function that creates some interesting waves.
samples[z * numberOfSamplesX + x] = 1.0f + (float)(Math.Cos(z / 2f) * Math.Sin(x / 2f) * 1.0f);
}
}
}
var heightField = new HeightField(0, 0, 20, 20, samples, numberOfSamplesX, numberOfSamplesZ);
AddObject("Heightfield", new Pose(new Vector3F(10, 0, 10)), heightField, collisionDomain);
// Create rubble on the floor (small random objects on the floor).
// Our character should be able to move over small bumps on the ground.
for (int i = 0; i < 50; i++)
{
Pose pose = new Pose(
new Vector3F(RandomHelper.Random.NextFloat(-5, 5), 0, RandomHelper.Random.NextFloat(10, 20)),
RandomHelper.Random.NextQuaternionF());
BoxShape shape = new BoxShape(RandomHelper.Random.NextVector3F(0.05f, 0.8f));
AddObject("Stone" + i, pose, shape, collisionDomain);
}
// Create some slopes to see how our character performs on/under sloped surfaces.
// Here we can test how the character controller behaves if the head touches an inclined
// ceiling.
AddObject("SlopeGround", new Pose(new Vector3F(-2, 1.8f, -12), QuaternionF.CreateRotationX(0.4f)), new BoxShape(2, 0.5f, 10), collisionDomain);
AddObject("SlopeRoof", new Pose(new Vector3F(-2, 5.6f, -12), QuaternionF.CreateRotationX(-0.4f)), new BoxShape(2, 0.5f, 10), collisionDomain);
// Slopes with different tilt angles.
// The character controller has a slope limit. Only flat slopes should be climbable.
for (int i = 0; i < 10; i++)
{
float stepHeight = 0.1f + i * 0.1f;
Pose pose = new Pose(
new Vector3F(-10, i * 0.5f, -i * 2),
Matrix33F.CreateRotationX(MathHelper.ToRadians(10) + i * MathHelper.ToRadians(10)));
BoxShape shape = new BoxShape(8 * (1 - i * 0.1f), 0.5f, 30);
AddObject("Slope" + i, pose, shape, collisionDomain);
startHeight += stepHeight;
}
// Create a slope with a wall on one side.
// This objects let's us test how the character controller behaves while falling and
// sliding along a vertical wall. (Run up the slope and then jump down while moving into
// the wall.)
AddObject("LongSlope", new Pose(new Vector3F(-20, 3, -10), Matrix33F.CreateRotationX(0.4f)), new BoxShape(4, 5f, 30), collisionDomain);
AddObject("LongSlopeWall", new Pose(new Vector3F(-22, 5, -10)), new BoxShape(0.5f, 10f, 25), collisionDomain);
// Create a mesh object to test walking on triangle meshes.
// Normally, the mesh would be loaded from a file. Here, we make a composite shape and
// let DigitalRune Geometry compute a mesh for it. Then we throw away the composite
// shape and use only the mesh. - We do this to test triangle meshes. Using the composite
// shape instead of the triangle mesh would be a lot faster.
CompositeShape compositeShape = new CompositeShape();
compositeShape.Children.Add(new GeometricObject(heightField, Pose.Identity));
compositeShape.Children.Add(new GeometricObject(new CylinderShape(1, 2), new Pose(new Vector3F(10, 1, 10))));
compositeShape.Children.Add(new GeometricObject(new SphereShape(3), new Pose(new Vector3F(15, 0, 15))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(1, 2, 3), new Pose(new Vector3F(15, 0, 5))));
ITriangleMesh mesh = compositeShape.GetMesh(0.01f, 3);
TriangleMeshShape meshShape = new TriangleMeshShape(mesh);
// Collision detection speed for triangle meshes can be improved by using a spatial
// partition. Here, we assign an AabbTree to the triangle mesh shape. The tree is
// built automatically when needed and it stores triangle indices (therefore the generic
// parameter of the AabbTree is int).
meshShape.Partition = new AabbTree <int>()
{
// The tree is automatically built using a mixed top-down/bottom-up approach. Bottom-up
// building is slower but produces better trees. If the tree building takes too long,
// we can lower the BottomUpBuildThreshold (default is 128).
BottomUpBuildThreshold = 0,
};
AddObject("Mesh", new Pose(new Vector3F(-30, 0, 10)), meshShape, collisionDomain);
}
public void SetUp()
{
child0 = new GeometricObject(new CircleShape(3), new Pose(new Vector3F(), QuaternionF.CreateRotationX(ConstantsF.PiOver2)));
child1 = new GeometricObject(new LineSegmentShape(new Vector3F(0, 5, 0), new Vector3F(0, -5, 0)), Pose.Identity);
cs = new MinkowskiSumShape
{
ObjectA = child0,
ObjectB = child1
};
}
public void Constructor()
{
Assert.AreEqual(Vector3F.Zero, ((PointShape) new MinkowskiDifferenceShape().ObjectA.Shape).Position);
Assert.AreEqual(Vector3F.Zero, ((PointShape) new MinkowskiDifferenceShape().ObjectB.Shape).Position);
Assert.AreEqual(Pose.Identity, new MinkowskiDifferenceShape().ObjectA.Pose);
Assert.AreEqual(Pose.Identity, new MinkowskiDifferenceShape().ObjectB.Pose);
var m = new MinkowskiDifferenceShape(
new GeometricObject(new CircleShape(3), new Pose(new Vector3F(1, 0, 0), QuaternionF.CreateRotationX(ConstantsF.PiOver2))),
new GeometricObject(new LineSegmentShape(new Vector3F(0, 5, 0), new Vector3F(0, -5, 0)), Pose.Identity));
Assert.AreEqual(new Vector3F(1, 0, 0), m.ObjectA.Pose.Position);
Assert.AreEqual(new Vector3F(0, 0, 0), m.ObjectB.Pose.Position);
}
public void SetUp()
{
cs = new MinkowskiDifferenceShape();
cs.ObjectA = new GeometricObject(new CircleShape(3), new Pose(new Vector3F(1, 0, 0), QuaternionF.CreateRotationX(ConstantsF.PiOver2)));
cs.ObjectB = new GeometricObject(new LineSegmentShape(new Vector3F(0, 5, 0), new Vector3F(0, -5, 0)), Pose.Identity);
}
private bool _drawDebugInfo; // true if the collision shapes should be drawn for debugging.
public ContentPipelineSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.ClearBackground = true;
GraphicsScreen.BackgroundColor = Color.CornflowerBlue;
SetCamera(new Vector3F(0, 1, 10), 0, 0);
// Initialize collision detection.
// Note: The physics Simulation also has a collision domain (Simulation.CollisionDomain)
// which we could use and which is updated together with the Simulation in
// SampleGame.cs. But in this example we create our own CollisionDomain for demonstration
// purposes.
_collisionDomain = new CollisionDomain(new CollisionDetection());
// Register CollisionDomain in service container.
Services.Register(typeof(CollisionDomain), null, _collisionDomain);
// Add game objects which manage graphics models and their collision representations.
_saucerObject = new SaucerObject(Services)
{
Name = "Saucer"
};
_shipObjectA = new ShipObject(Services)
{
Name = "ShipA"
};
_shipObjectB = new ShipObject(Services)
{
Name = "ShipB"
};
GameObjectService.Objects.Add(_saucerObject);
GameObjectService.Objects.Add(_shipObjectA);
GameObjectService.Objects.Add(_shipObjectB);
// Position the second ship right of the first ship with an arbitrary rotation.
_shipObjectB.Pose = new Pose(new Vector3F(2, 0, 0), QuaternionF.CreateRotationY(0.7f) * QuaternionF.CreateRotationX(1.2f));
// Position the saucer left of the first ship with an arbitrary rotation.
_saucerObject.Pose = new Pose(new Vector3F(-2.5f, 0, 0), QuaternionF.CreateRotationY(0.2f) * QuaternionF.CreateRotationX(0.4f));
}
// Handle character-related input and move the character.
private void ControlCharacter(float deltaTime)
{
// Compute new orientation from mouse movement.
float deltaYaw = -InputService.MousePositionDelta.X;
_yaw += deltaYaw * deltaTime * 0.1f;
float deltaPitch = -InputService.MousePositionDelta.Y;
_pitch += deltaPitch * deltaTime * 0.1f;
// Limit the pitch angle.
_pitch = MathHelper.Clamp(_pitch, -ConstantsF.PiOver2, ConstantsF.PiOver2);
// Compute new orientation of the camera.
QuaternionF cameraOrientation = QuaternionF.CreateRotationY(_yaw) * QuaternionF.CreateRotationX(_pitch);
// Create velocity from WASD keys.
// TODO: Diagonal movement is faster ;-). Fix this.
Vector3F velocityVector = Vector3F.Zero;
if (Keyboard.GetState().IsKeyDown(Keys.W))
{
velocityVector.Z--;
}
if (Keyboard.GetState().IsKeyDown(Keys.S))
{
velocityVector.Z++;
}
if (Keyboard.GetState().IsKeyDown(Keys.A))
{
velocityVector.X--;
}
if (Keyboard.GetState().IsKeyDown(Keys.D))
{
velocityVector.X++;
}
velocityVector *= 10 * deltaTime;
// Velocity vector is currently in view space. -z is the forward direction.
// We have to convert this vector to world space by rotating it.
velocityVector = QuaternionF.CreateRotationY(_yaw).Rotate(velocityVector);
// New compute desired character controller position in world space:
Vector3F targetPosition = _character.Position + velocityVector;
// Check if user wants to jump.
bool jump = Keyboard.GetState().IsKeyDown(Keys.Space);
// Call character controller to compute a new valid position. The character
// controller slides along obstacles, handles stepping up/down, etc.
_character.Move(targetPosition, deltaTime, jump);
// ----- Set view matrix for graphics.
// For third person we move the eye position back, behind the body (+z direction is
// the "back" direction).
Vector3F thirdPersonDistance = cameraOrientation.Rotate(new Vector3F(0, 0, 6));
// Compute camera pose (= position + orientation).
_cameraNode.PoseWorld = new Pose
{
Position = _character.Position // Floor position of character
+ new Vector3F(0, 1.6f, 0) // + Eye height
+ thirdPersonDistance,
Orientation = cameraOrientation.ToRotationMatrix33()
};
}
// OnUpdate() is called once per frame.
protected override void OnUpdate(TimeSpan deltaTime)
{
// Mouse centering (controlled by the MenuComponent) is disabled if the game
// is inactive or if the GUI is active. In these cases, we do not want to move
// the player.
if (!_inputService.EnableMouseCentering)
{
return;
}
if (!IsEnabled)
{
return;
}
float deltaTimeF = (float)deltaTime.TotalSeconds;
// Compute new orientation from mouse movement, gamepad and touch.
Vector2F mousePositionDelta = _inputService.MousePositionDelta;
GamePadState gamePadState = _inputService.GetGamePadState(LogicalPlayerIndex.One);
Vector2F touchDelta = Vector2F.Zero;
#if MONOGAME || WINDOWS_PHONE
foreach (var gesture in _inputService.Gestures)
{
if (gesture.GestureType == GestureType.FreeDrag)
{
touchDelta += (Vector2F)gesture.Delta;
// If we have touch input, we ignore the mouse movement
mousePositionDelta = Vector2F.Zero;
}
}
#endif
#if WINDOWS_PHONE || IOS
// On Windows Phone touch input also sets the mouse input. --> Ignore mouse data.
mousePositionDelta = Vector2F.Zero;
#endif
float deltaYaw = -mousePositionDelta.X - touchDelta.X - gamePadState.ThumbSticks.Right.X * ThumbStickFactor;
_currentYaw += deltaYaw * deltaTimeF * AngularVelocityMagnitude;
float deltaPitch = -mousePositionDelta.Y - touchDelta.Y + gamePadState.ThumbSticks.Right.Y * ThumbStickFactor;
_currentPitch += deltaPitch * deltaTimeF * AngularVelocityMagnitude;
// Limit the pitch angle to +/- 90°.
_currentPitch = MathHelper.Clamp(_currentPitch, -ConstantsF.PiOver2, ConstantsF.PiOver2);
// Reset camera position if <Home> or <Right Stick> is pressed.
if (_inputService.IsPressed(Keys.Home, false) ||
_inputService.IsPressed(Buttons.RightStick, false, LogicalPlayerIndex.One))
{
ResetPose();
}
// Compute new orientation of the camera.
QuaternionF orientation = QuaternionF.CreateRotationY(_currentYaw) * QuaternionF.CreateRotationX(_currentPitch);
// Create velocity from <W>, <A>, <S>, <D> and <R>, <F> keys.
// <R> or DPad up is used to move up ("rise").
// <F> or DPad down is used to move down ("fall").
Vector3F velocity = Vector3F.Zero;
KeyboardState keyboardState = _inputService.KeyboardState;
if (keyboardState.IsKeyDown(Keys.W))
{
velocity.Z--;
}
if (keyboardState.IsKeyDown(Keys.S))
{
velocity.Z++;
}
if (keyboardState.IsKeyDown(Keys.A))
{
velocity.X--;
}
if (keyboardState.IsKeyDown(Keys.D))
{
velocity.X++;
}
if (keyboardState.IsKeyDown(Keys.R) || gamePadState.DPad.Up == ButtonState.Pressed)
{
velocity.Y++;
}
if (keyboardState.IsKeyDown(Keys.F) || gamePadState.DPad.Down == ButtonState.Pressed)
{
velocity.Y--;
}
// Add velocity from gamepad sticks.
velocity.X += gamePadState.ThumbSticks.Left.X;
velocity.Z -= gamePadState.ThumbSticks.Left.Y;
// Rotate the velocity vector from view space to world space.
velocity = orientation.Rotate(velocity);
if (keyboardState.IsKeyDown(Keys.LeftShift))
{
velocity *= SpeedBoost;
}
// Multiply the velocity by time to get the translation for this frame.
Vector3F translation = velocity * LinearVelocityMagnitude * deltaTimeF;
// Update SceneNode.LastPoseWorld - this is required for some effects, like
// camera motion blur.
CameraNode.LastPoseWorld = CameraNode.PoseWorld;
// Set the new camera pose.
CameraNode.PoseWorld = new Pose(
CameraNode.PoseWorld.Position + translation,
orientation);
}
public void SetUp()
{
child0 = new GeometricObject(new CircleShape(3), new Pose(new Vector3F(0, 5, 0), QuaternionF.CreateRotationX(ConstantsF.PiOver2)));
child1 = new GeometricObject(new CircleShape(3), new Pose(new Vector3F(0, -5, 0), QuaternionF.CreateRotationX(ConstantsF.PiOver2)));
cs = new ConvexHullOfShapes();
cs.Children.Add(child0);
cs.Children.Add(child1);
}
//--------------------------------------------------------------
#region Creation & Cleanup
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="Spotlight"/> class.
/// </summary>
public Spotlight()
{
Color = Vector3F.One;
DiffuseIntensity = 1;
SpecularIntensity = 1;
HdrScale = 1;
_falloffAngle = 20.0f * ConstantsF.Pi / 180;
Shape = new TransformedShape(new GeometricObject(new ConeShape((float)Math.Tan(MathHelper.ToRadians(30)) * 5, 5), new Pose(new Vector3F(0, 0, -5), QuaternionF.CreateRotationX(ConstantsF.PiOver2))));
Attenuation = 2;
}
protected override void OnUpdate(TimeSpan deltaTime)
{
// Mouse centering (controlled by the MenuComponent) is disabled if the game
// is inactive or if the GUI is active. In these cases, we do not want to move
// the player.
if (!_inputService.EnableMouseCentering)
{
return;
}
float deltaTimeF = (float)deltaTime.TotalSeconds;
// ----- Hulk Mode
// Toggle "Hulk" mode if <H> or <X> (gamepad) is pressed.
if (_inputService.IsPressed(Keys.H, false) || _inputService.IsPressed(Buttons.X, false, LogicalPlayerIndex.One))
{
ToggleHulk();
}
// ----- Crouching
if (_inputService.IsPressed(Keys.LeftShift, false) || _inputService.IsPressed(Buttons.RightTrigger, false, LogicalPlayerIndex.One))
{
Crouch();
}
else if (!_inputService.IsDown(Keys.LeftShift) && !_inputService.IsDown(Buttons.RightTrigger, LogicalPlayerIndex.One) && CharacterController.Height <= 1)
{
StandUp();
}
// ----- Update orientation
// Update _yaw and _pitch.
UpdateOrientation(deltaTimeF);
// Compute the new orientation of the camera.
QuaternionF orientation = QuaternionF.CreateRotationY(_yaw) * QuaternionF.CreateRotationX(_pitch);
// ----- Compute translation
// Create velocity from <W>, <A>, <S>, <D> and gamepad sticks.
Vector3F moveDirection = Vector3F.Zero;
if (Keyboard.GetState().IsKeyDown(Keys.W))
{
moveDirection.Z--;
}
if (Keyboard.GetState().IsKeyDown(Keys.S))
{
moveDirection.Z++;
}
if (Keyboard.GetState().IsKeyDown(Keys.A))
{
moveDirection.X--;
}
if (Keyboard.GetState().IsKeyDown(Keys.D))
{
moveDirection.X++;
}
GamePadState gamePadState = _inputService.GetGamePadState(LogicalPlayerIndex.One);
moveDirection.X += gamePadState.ThumbSticks.Left.X;
moveDirection.Z -= gamePadState.ThumbSticks.Left.Y;
// Rotate the velocity vector from view space to world space.
moveDirection = orientation.Rotate(moveDirection);
// Add velocity from <R>, <F> keys.
// <R> or DPad up is used to move up ("rise").
// <F> or DPad down is used to move down ("fall").
if (Keyboard.GetState().IsKeyDown(Keys.R) || gamePadState.DPad.Up == ButtonState.Pressed)
{
moveDirection.Y++;
}
if (Keyboard.GetState().IsKeyDown(Keys.F) || gamePadState.DPad.Down == ButtonState.Pressed)
{
moveDirection.Y--;
}
// ----- Climbing
bool hasLadderContact = HasLadderContact();
bool hasLedgeContact = HasLedgeContact();
CharacterController.IsClimbing = hasLadderContact || hasLedgeContact;
// When the character is walking (gravity > 0) it cannot walk up/down - only on a ladder.
if (CharacterController.Gravity != 0 && !hasLadderContact)
{
moveDirection.Y = 0;
}
// ----- Moving
moveDirection.TryNormalize();
Vector3F moveVelocity = moveDirection * LinearVelocityMagnitude;
// ----- Jumping
if ((_inputService.IsPressed(Keys.Space, false) || _inputService.IsPressed(Buttons.A, false, LogicalPlayerIndex.One)) &&
(CharacterController.HasGroundContact || CharacterController.IsClimbing))
{
// Jump button was newly pressed and the character has support to start the jump.
_timeSinceLastJump = 0;
}
float jumpVelocity = 0;
if ((_inputService.IsDown(Keys.Space) || _inputService.IsDown(Buttons.A, LogicalPlayerIndex.One)))
{
// Jump button is still down.
if (_timeSinceLastJump + deltaTimeF <= DynamicJumpTime)
{
// The DynamicJumpTime has not been exceeded.
// Set a jump velocity to make the jump higher.
jumpVelocity = JumpVelocity;
}
else if (_timeSinceLastJump <= DynamicJumpTime)
{
// The jump time exceeds DynamicJumpTime in this time step.
// _timeSinceLastJump <= DynamicJumpTime
// _timeSinceLastJump + deltaTime > DynamicJumpTime
// In order to achieve exact, reproducible jump heights we need to split
// the time step:
float deltaTime0 = DynamicJumpTime - _timeSinceLastJump;
float deltaTime1 = deltaTimeF - deltaTime0;
// The first part of the movement is a jump with active jump velocity.
jumpVelocity = JumpVelocity;
_timeSinceLastJump += deltaTime0;
CharacterController.Move(moveVelocity, jumpVelocity, deltaTime0);
// The second part of the movement is a jump without jump velocity.
jumpVelocity = 0;
deltaTimeF = deltaTime1;
}
}
_timeSinceLastJump += deltaTimeF;
// ----- Move the character.
CharacterController.Move(moveVelocity, jumpVelocity, deltaTimeF);
// Draw character controller capsule.
// The character controller is also transparent The hulk is green, of course.
var color = _isHulk ? Color.DarkGreen : Color.Gray;
color.A = 128;
_debugRenderer.DrawObject(CharacterController.Body, color, false, false);
}
// OnUpdate() is called once per frame.
protected override void OnUpdate(TimeSpan deltaTime)
{
#if !WINDOWS_PHONE
// Mouse centering (controlled by the MenuComponent) is disabled if the game
// is inactive or if the GUI is active. In these cases, we do not want to move
// the player.
if (!_inputService.EnableMouseCentering)
{
return;
}
#endif
if (!IsEnabled)
{
return;
}
float deltaTimeF = (float)deltaTime.TotalSeconds;
// Compute new orientation from mouse movement and gamepad.
Vector2F mousePositionDelta = _inputService.MousePositionDelta;
#if !WINDOWS_PHONE
GamePadState gamePadState = _inputService.GetGamePadState(LogicalPlayerIndex.One);
float deltaYaw = -mousePositionDelta.X - gamePadState.ThumbSticks.Right.X * ThumbStickFactor;
_currentYaw += deltaYaw * deltaTimeF * AngularVelocityMagnitude;
float deltaPitch = -mousePositionDelta.Y + gamePadState.ThumbSticks.Right.Y * ThumbStickFactor;
_currentPitch += deltaPitch * deltaTimeF * AngularVelocityMagnitude;
// Limit the pitch angle to +/- 90°.
_currentPitch = MathHelper.Clamp(_currentPitch, -ConstantsF.PiOver2, ConstantsF.PiOver2);
// Reset camera position if <Home> or <Right Stick> is pressed.
if (_inputService.IsPressed(Keys.Home, false) ||
_inputService.IsPressed(Buttons.RightStick, false, LogicalPlayerIndex.One))
{
ResetPose();
}
// Compute new orientation of the camera.
QuaternionF orientation = QuaternionF.CreateRotationY(_currentYaw) * QuaternionF.CreateRotationX(_currentPitch);
// Create velocity from <W>, <A>, <S>, <D> and <R>, <F> keys.
// <R> or DPad up is used to move up ("rise").
// <F> or DPad down is used to move down ("fall").
Vector3F velocity = Vector3F.Zero;
KeyboardState keyboardState = _inputService.KeyboardState;
if (keyboardState.IsKeyDown(Keys.W))
{
velocity.Z--;
}
if (keyboardState.IsKeyDown(Keys.S))
{
velocity.Z++;
}
if (keyboardState.IsKeyDown(Keys.A))
{
velocity.X--;
}
if (keyboardState.IsKeyDown(Keys.D))
{
velocity.X++;
}
if (keyboardState.IsKeyDown(Keys.R) || gamePadState.DPad.Up == ButtonState.Pressed)
{
velocity.Y++;
}
if (keyboardState.IsKeyDown(Keys.F) || gamePadState.DPad.Down == ButtonState.Pressed)
{
velocity.Y--;
}
// Add velocity from gamepad sticks.
velocity.X += gamePadState.ThumbSticks.Left.X;
velocity.Z -= gamePadState.ThumbSticks.Left.Y;
// Rotate the velocity vector from view space to world space.
velocity = orientation.Rotate(velocity);
if (keyboardState.IsKeyDown(Keys.LeftShift))
{
velocity *= SpeedBoost;
}
// Multiply the velocity by time to get the translation for this frame.
Vector3F translation = velocity * LinearVelocityMagnitude * deltaTimeF;
// Update SceneNode.LastPoseWorld - this is required for some effects, like
// camera motion blur.
CameraNode.LastPoseWorld = CameraNode.PoseWorld;
// Set the new camera pose.
CameraNode.PoseWorld = new Pose(
CameraNode.PoseWorld.Position + translation,
orientation);
#else
// Only handle mouse movement is mouse button was down the last frame.
if (!_inputService.IsPressed(MouseButtons.Left, false))
{
float deltaYaw = -mousePositionDelta.X;
_currentYaw += deltaYaw * deltaTimeF * AngularVelocityMagnitude;
float deltaPitch = -mousePositionDelta.Y;
_currentPitch += deltaPitch * deltaTimeF * AngularVelocityMagnitude;
// Limit the pitch angle.
_currentPitch = MathHelper.Clamp(_currentPitch, -1, 1);
// Compute new orientation of the camera.
QuaternionF orientation = QuaternionF.CreateRotationY(_currentYaw) * QuaternionF.CreateRotationX(_currentPitch);
var radius = CameraNode.PoseWorld.Position.Length;
// Update SceneNode.LastPoseWorld - this is required for some effects, like
// camera motion blur.
CameraNode.LastPoseWorld = CameraNode.PoseWorld;
// Set the new camera pose.
CameraNode.PoseWorld = new Pose(orientation.Rotate(new Vector3F(0, 0, radius)), orientation);
}
#endif
}
