public TwoJointIKSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
var modelNode = ContentManager.Load<ModelNode>("Dude/Dude");
_meshNode = modelNode.GetSubtree().OfType<MeshNode>().First().Clone();
_meshNode.PoseLocal = new Pose(new Vector3F(0, 0, 0));
SampleHelper.EnablePerPixelLighting(_meshNode);
GraphicsScreen.Scene.Children.Add(_meshNode);
// Create the IK solver. The TwoJointIkSolver is usually used for arms and legs.
// it modifies two bones and supports limits for the second bone.
_ikSolver = new TwoJointIKSolver
{
SkeletonPose = _meshNode.SkeletonPose,
// The chain starts at the upper leg.
RootBoneIndex = 54,
// The second bone modified bone is the lower leg.
HingeBoneIndex = 55,
// The chain ends at the foot bone.
TipBoneIndex = 56,
// The direction of the hinge axis (in bone space).
HingeAxis = -Vector3F.UnitZ,
// The hinge limits.
MinHingeAngle = 0,
MaxHingeAngle = ConstantsF.PiOver2,
// The offset from the ankle to the bottom of the foot.
TipOffset = new Vector3F(0.23f, 0, 0),
};
}
protected override void LoadContent()
{
_model = Game.Content.Load<Model>("Dude");
var additionalData = (Dictionary<string, object>)_model.Tag;
var skeleton = (Skeleton)additionalData["Skeleton"];
_skeletonPose = SkeletonPose.Create(skeleton);
// Create the IK solver. The TwoJointIkSolver is usually used for arms and legs.
// it modifies two bones and supports limits for the second bone.
_ikSolver = new TwoJointIKSolver
{
SkeletonPose = _skeletonPose,
// The chain starts at the upper leg.
RootBoneIndex = 54,
// The second bone modified bone is the lower leg.
HingeBoneIndex = 55,
// The chain ends at the foot bone.
TipBoneIndex = 56,
// The direction of the hinge axis (in bone space).
HingeAxis = -Vector3F.UnitZ,
// The hinge limits.
MinHingeAngle = 0,
MaxHingeAngle = ConstantsF.PiOver2,
// The offset from the ankle to the bottom of the foot.
TipOffset = new Vector3F(0.23f, 0, 0),
};
base.LoadContent();
}