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);
}
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;
}
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;
}
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;
}
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();
}
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;
}
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;
}
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);
}
}
