private void PopulateWorld()
{
AddSky();
AddGround();
HumanoidEntity Humanoid = CreateHumanoid("humanoid", new Vector3(0, 0, 0));
Humanoid.Rotation = new xna.Vector3(0, 0, 0);
SimulationEngine.GlobalInstancePort.Insert(Humanoid);
// insertrod();
}
HumanoidEntity CreateHumanoid(string name, Vector3 initialPosition)
{
Dictionary <string, VisualEntity> humanoidShapes = new Dictionary <string, VisualEntity>();
string prefix = name + "_";
foreach (HumanoidShapeDescriptor desc in ShapeDescriptors)
{
Shape newShape = null;
newShape = new BoxShape(new BoxShapeProperties(
desc.Name + " Shape", (float)desc.mass, new Pose(), new Vector3((float)desc.xSize, (float)desc.ySize, (float)desc.zSize)));
// newShape = new ConvexMeshShape(new ConvexMeshShapeProperties(desc.Name + "Shape", desc.mesh));
SingleShapeEntity shapeEntity = null;
/*
* SimplifiedConvexMeshEnvironmentEntity shapeEntity = null;
* if (desc.Name == _parentName)
* {
* shapeEntity = new HumanoidEntity(newShape, new Vector3(
* (float)desc.xPosition + initialPosition.X,
* (float)desc.yPosition + initialPosition.Y,
* (float)desc.zPosition + initialPosition.Z),desc.mesh);
* }
* else
* {
* shapeEntity = new SegmentEntity(newShape, new Vector3(
* (float)desc.xPosition + initialPosition.X,
* (float)desc.yPosition + initialPosition.Y,
* (float)desc.zPosition + initialPosition.Z),desc.mesh);
* }
*/
if (desc.Name == _parentName)
{
shapeEntity = new HumanoidEntity(newShape, new Vector3(
(float)desc.xPosition + initialPosition.X,
(float)desc.yPosition + initialPosition.Y,
(float)desc.zPosition + initialPosition.Z));
}
else
{
shapeEntity = new SegmentEntity(newShape, new Vector3(
(float)desc.xPosition + initialPosition.X,
(float)desc.yPosition + initialPosition.Y,
(float)desc.zPosition + initialPosition.Z));
}
shapeEntity.State.Name = prefix + desc.Name;
shapeEntity.State.Pose.Orientation = UIMath.EulerToQuaternion(new xna.Vector3((float)desc.xRotation, (float)desc.yRotation, (float)desc.zRotation));
if (!string.IsNullOrEmpty(desc.mesh))
{
shapeEntity.State.Assets.Mesh = desc.mesh;
}
shapeEntity.MeshScale = new Vector3(.001f, .001f, .001f);
shapeEntity.MeshRotation = new Vector3(desc.xRotation, desc.yRotation, desc.zRotation);
shapeEntity.Flags = VisualEntityProperties.DoCompletePhysicsShapeUpdate;
// shapeEntity.State.Flags |= EntitySimulationModifiers.Kinematic;
humanoidShapes.Add(shapeEntity.State.Name, shapeEntity);
}
// now set up the Parent/Child relationships
foreach (ParentChild rel in Relationships)
{
string Dof = rel.Dof;
JointAngularProperties angular = new JointAngularProperties();
if (Dof == "Twist")
{
angular.TwistMode = JointDOFMode.Free;
angular.TwistDrive = new JointDriveProperties(JointDriveMode.Position, new SpringProperties(500000, 1000, 0), 1000000);
// angular.TwistDrive.Mode = JointDriveMode.Velocity;
}
if (Dof == "Swing1")
{
angular.Swing1Mode = JointDOFMode.Free;
angular.SwingDrive = new JointDriveProperties(JointDriveMode.Position, new SpringProperties(500000, 1000, 0), 1000000);
//angular.SwingDrive.Mode = JointDriveMode.Velocity;
}
if (Dof == "Swing2")
{
angular.Swing2Mode = JointDOFMode.Free;
angular.SwingDrive = new JointDriveProperties(JointDriveMode.Position, new SpringProperties(500000, 1000, 0), 1000000);
// angular.SwingDrive.Mode = JointDriveMode.Velocity;
}
EntityJointConnector[] connectors = new EntityJointConnector[]
{
new EntityJointConnector(humanoidShapes[prefix + rel.Child], rel.ChildNormal, rel.ChildAxis, rel.ChildConnect),
new EntityJointConnector(humanoidShapes[prefix + rel.Parent], rel.ParentNormal, rel.ParentAxis, rel.ParentConnect)
};
SegmentEntity child = (SegmentEntity)humanoidShapes[prefix + rel.Child];
child.CustomJoint = new Joint();
child.CustomJoint.State = new JointProperties(angular, connectors);
child.CustomJoint.State.Name = rel.JointName;
child.Flags = VisualEntityProperties.DoCompletePhysicsShapeUpdate;
humanoidShapes[prefix + rel.Parent].InsertEntityGlobal(humanoidShapes[prefix + rel.Child]);
}
HumanoidEntity retValue = (HumanoidEntity)humanoidShapes[prefix + _parentName];
// retValue.State.MassDensity.CenterOfMass = new Pose(new Vector3(0.05f,1.05f,0), new Quaternion(0,0,0,1));
retValue.State.Flags = EntitySimulationModifiers.Kinematic;
retValue.State.Name = name;
return(retValue);
}
