/// <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>
/// <param name="scale">A scaling factor to scale the size of the ragdoll.</param>
public static void Create(SkeletonPose skeletonPose, Ragdoll ragdoll, Simulation simulation, float scale)
{
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 * scale, 0.4f * scale, 0.55f * scale), massFrame, material);
ragdoll.BodyOffsets[pelvis] = new Pose(new Vector3F(0, 0, 0));
var backLower = skeleton.GetIndex("Spine");
ragdoll.Bodies[backLower] = new RigidBody(new BoxShape(0.36f * scale, 0.4f * scale, 0.55f * scale), massFrame, material);
ragdoll.BodyOffsets[backLower] = new Pose(new Vector3F(0.18f * scale, 0, 0));
var backUpper = skeleton.GetIndex("Spine2");
ragdoll.Bodies[backUpper] = new RigidBody(new BoxShape(0.5f * scale, 0.4f * scale, 0.65f * scale), massFrame, material);
ragdoll.BodyOffsets[backUpper] = new Pose(new Vector3F(0.25f * scale, 0, 0));
var neck = skeleton.GetIndex("Neck");
ragdoll.Bodies[neck] = new RigidBody(new CapsuleShape(0.12f * scale, 0.3f * scale), massFrame, material);
ragdoll.BodyOffsets[neck] = new Pose(new Vector3F(0.15f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[neck].CollisionObject.Enabled = false;
ragdoll.Bodies[head] = new RigidBody(new SphereShape(0.2f * scale), massFrame, material);
ragdoll.BodyOffsets[head] = new Pose(new Vector3F(0.15f * scale, 0.02f * scale, 0));
var armUpperLeft = skeleton.GetIndex("L_UpperArm");
ragdoll.Bodies[armUpperLeft] = new RigidBody(new CapsuleShape(0.12f * scale, 0.6f * scale), massFrame, material);
ragdoll.BodyOffsets[armUpperLeft] = new Pose(new Vector3F(0.2f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var armLowerLeft = skeleton.GetIndex("L_Forearm");
ragdoll.Bodies[armLowerLeft] = new RigidBody(new CapsuleShape(0.08f * scale, 0.5f * scale), massFrame, material);
ragdoll.BodyOffsets[armLowerLeft] = new Pose(new Vector3F(0.2f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var handLeft = skeleton.GetIndex("L_Hand");
ragdoll.Bodies[handLeft] = new RigidBody(new BoxShape(0.2f * scale, 0.06f * scale, 0.15f * scale), massFrame, material);
ragdoll.BodyOffsets[handLeft] = new Pose(new Vector3F(0.1f * scale, 0, 0));
var armUpperRight = skeleton.GetIndex("R_UpperArm");
ragdoll.Bodies[armUpperRight] = new RigidBody(new CapsuleShape(0.12f * scale, 0.6f * scale), massFrame, material);
ragdoll.BodyOffsets[armUpperRight] = new Pose(new Vector3F(0.2f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var armLowerRight = skeleton.GetIndex("R_Forearm");
ragdoll.Bodies[armLowerRight] = new RigidBody(new CapsuleShape(0.08f * scale, 0.5f * scale), massFrame, material);
ragdoll.BodyOffsets[armLowerRight] = new Pose(new Vector3F(0.2f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var handRight = skeleton.GetIndex("R_Hand");
ragdoll.Bodies[handRight] = new RigidBody(new BoxShape(0.2f * scale, 0.06f * scale, 0.15f * scale), massFrame, material);
ragdoll.BodyOffsets[handRight] = new Pose(new Vector3F(0.1f * scale, 0, 0));
var legUpperLeft = skeleton.GetIndex("L_Thigh1");
ragdoll.Bodies[legUpperLeft] = new RigidBody(new CapsuleShape(0.16f * scale, 0.8f * scale), massFrame, material);
ragdoll.BodyOffsets[legUpperLeft] = new Pose(new Vector3F(0.4f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var legLowerLeft = skeleton.GetIndex("L_Knee2");
ragdoll.Bodies[legLowerLeft] = new RigidBody(new CapsuleShape(0.12f * scale, 0.65f * scale), massFrame, material);
ragdoll.BodyOffsets[legLowerLeft] = new Pose(new Vector3F(0.32f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
//var footLeft = skeleton.GetIndex("L_Ankle1");
ragdoll.Bodies[footLeft] = new RigidBody(new BoxShape(0.20f * scale, 0.5f * scale, 0.3f * scale), massFrame, material);
ragdoll.BodyOffsets[footLeft] = new Pose(new Vector3F(0.16f * scale, 0.15f * scale, 0));
var legUpperRight = skeleton.GetIndex("R_Thigh");
ragdoll.Bodies[legUpperRight] = new RigidBody(new CapsuleShape(0.16f * scale, 0.8f * scale), massFrame, material);
ragdoll.BodyOffsets[legUpperRight] = new Pose(new Vector3F(0.4f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var legLowerRight = skeleton.GetIndex("R_Knee");
ragdoll.Bodies[legLowerRight] = new RigidBody(new CapsuleShape(0.12f * scale, 0.65f * scale), massFrame, material);
ragdoll.BodyOffsets[legLowerRight] = new Pose(new Vector3F(0.32f * scale, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
var footRight = skeleton.GetIndex("R_Ankle");
ragdoll.Bodies[footRight] = new RigidBody(new BoxShape(0.20f * scale, 0.5f * scale, 0.3f * scale), massFrame, material);
ragdoll.BodyOffsets[footRight] = new Pose(new Vector3F(0.16f * scale, 0.15f * scale, 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>
/// Creates a <see cref="Ragdoll"/> for an Xbox LIVE Avatar. (Only available on Xbox 360.)
/// </summary>
/// <param name="skeleton">The skeleton of the Xbox LIVE Avatar.</param>
/// <param name="simulation">The simulation.</param>
/// <returns>The avatar ragdoll.</returns>
/// <exception cref="ArgumentNullException">
/// <paramref name="skeleton"/> or <paramref name="simulation"/> is
/// <see langword="null"/>.
/// </exception>
/// <remarks>
/// This method is available only in the Xbox 360 build of the
/// DigitalRune.Physics.Specialized.dll.
/// </remarks>
public static Ragdoll CreateAvatarRagdoll(Skeleton skeleton, Simulation simulation)
{
if (skeleton == null)
{
throw new ArgumentNullException("skeleton");
}
if (simulation == null)
{
throw new ArgumentNullException("simulation");
}
var ragdoll = new Ragdoll();
// The lists ragdoll.Bodies, ragdoll.BodyOffsets and _motors contain one entry per bone - even if there
// is no RigidBody for this bone. - This wastes memory but simplifies the code.
for (int i = 0; i < AvatarRenderer.BoneCount; i++)
{
ragdoll.Bodies.Add(null);
ragdoll.BodyOffsets.Add(Pose.Identity);
ragdoll.Joints.Add(null);
ragdoll.Limits.Add(null);
ragdoll.Motors.Add(null);
}
// ----- Create bodies.
// We use the same mass for all bodies. This is not physically correct but it makes the
// simulation more stable, for several reasons:
// - It is better to avoid large mass differences. Therefore, all limbs have the same mass.
// - Capsule shapes have a low inertia value about their height axis. This causes instability
// and it is better to use larger inertia values.
var massFrame = MassFrame.FromShapeAndMass(new SphereShape(0.2f), Vector3F.One, 4, 0.1f, 1);
// Use standard material.
var material = new UniformMaterial();
// Create rigid bodies for the important bones. The shapes have been manually adapted to
// produce useful results for thin and overweight avatars.
// Without offset, the bodies are centered at the joint. ragdoll.BodyOffsets stores an offset pose
// for each body. Instead, we could use TransformedShape but we can easily handle that
// ourselves.
// The collar bones are special, they use dummy shapes and are only used to connect the
// shoulder bones.
ragdoll.Bodies[(int)AvatarBone.Root] = new RigidBody(new BoxShape(0.22f, 0.16f, 0.16f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.Root] = new Pose(new Vector3F(0, -0.08f, -0.01f), QuaternionF.CreateRotationX(-0.0f));
ragdoll.Bodies[(int)AvatarBone.BackLower] = new RigidBody(new BoxShape(0.22f, 0.16f, 0.16f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.BackLower] = new Pose(new Vector3F(0, 0.08f, -0.01f), QuaternionF.CreateRotationX(-0.0f));
ragdoll.Bodies[(int)AvatarBone.BackUpper] = new RigidBody(new BoxShape(0.22f, 0.16f, 0.16f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.BackUpper] = new Pose(new Vector3F(0, 0.08f, -0.01f), QuaternionF.CreateRotationX(-0.1f));
ragdoll.Bodies[(int)AvatarBone.Neck] = new RigidBody(new CapsuleShape(0.04f, 0.09f), massFrame, material);
ragdoll.Bodies[(int)AvatarBone.Head] = new RigidBody(new SphereShape(0.15f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.Head] = new Pose(new Vector3F(0, 0.1f, 0));
ragdoll.Bodies[(int)AvatarBone.CollarLeft] = new RigidBody(Shape.Empty, massFrame, material);
ragdoll.Bodies[(int)AvatarBone.CollarRight] = new RigidBody(Shape.Empty, massFrame, material);
ragdoll.Bodies[(int)AvatarBone.ShoulderLeft] = new RigidBody(new CapsuleShape(0.04f, 0.25f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ShoulderLeft] = new Pose(new Vector3F(0.08f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.ShoulderRight] = new RigidBody(new CapsuleShape(0.04f, 0.25f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ShoulderRight] = new Pose(new Vector3F(-0.08f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.ElbowLeft] = new RigidBody(new CapsuleShape(0.04f, 0.21f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ElbowLeft] = new Pose(new Vector3F(0.06f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.ElbowRight] = new RigidBody(new CapsuleShape(0.04f, 0.21f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.ElbowRight] = new Pose(new Vector3F(-0.06f, 0, -0.02f), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
ragdoll.Bodies[(int)AvatarBone.WristLeft] = new RigidBody(new BoxShape(0.1f, 0.04f, 0.1f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.WristLeft] = new Pose(new Vector3F(0.06f, -0.02f, -0.01f), QuaternionF.CreateRotationZ(0.0f));
ragdoll.Bodies[(int)AvatarBone.WristRight] = new RigidBody(new BoxShape(0.1f, 0.04f, 0.1f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.WristRight] = new Pose(new Vector3F(-0.06f, -0.02f, -0.01f), QuaternionF.CreateRotationZ(0.0f));
ragdoll.Bodies[(int)AvatarBone.HipLeft] = new RigidBody(new CapsuleShape(0.06f, 0.34f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.HipLeft] = new Pose(new Vector3F(0, -0.14f, -0.02f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.HipRight] = new RigidBody(new CapsuleShape(0.06f, 0.34f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.HipRight] = new Pose(new Vector3F(0, -0.14f, -0.02f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.KneeLeft] = new RigidBody(new CapsuleShape(0.06f, 0.36f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.KneeLeft] = new Pose(new Vector3F(0, -0.18f, -0.04f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.KneeRight] = new RigidBody(new CapsuleShape(0.06f, 0.36f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.KneeRight] = new Pose(new Vector3F(0, -0.18f, -0.04f), QuaternionF.CreateRotationX(0.1f));
ragdoll.Bodies[(int)AvatarBone.AnkleLeft] = new RigidBody(new BoxShape(0.1f, 0.06f, 0.22f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.AnkleLeft] = new Pose(new Vector3F(0, -0.07f, 0.05f), QuaternionF.CreateRotationZ(0));
ragdoll.Bodies[(int)AvatarBone.AnkleRight] = new RigidBody(new BoxShape(0.1f, 0.06f, 0.22f), massFrame, material);
ragdoll.BodyOffsets[(int)AvatarBone.AnkleRight] = new Pose(new Vector3F(0, -0.07f, 0.05f), QuaternionF.CreateRotationZ(0));
// ----- Add joint constraints.
const float jointErrorReduction = 0.2f;
const float jointSoftness = 0.0001f;
AddJoint(ragdoll, skeleton, AvatarBone.Root, AvatarBone.BackLower, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.BackLower, AvatarBone.BackUpper, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.Neck, 0.6f, 0.000001f);
AddJoint(ragdoll, skeleton, AvatarBone.Neck, AvatarBone.Head, 0.6f, 0.000001f);
AddJoint(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.CollarLeft, AvatarBone.ShoulderLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.CollarRight, AvatarBone.ShoulderRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ShoulderLeft, AvatarBone.ElbowLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ShoulderRight, AvatarBone.ElbowRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ElbowLeft, AvatarBone.WristLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.ElbowRight, AvatarBone.WristRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.HipLeft, AvatarBone.KneeLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.HipRight, AvatarBone.KneeRight, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.KneeLeft, AvatarBone.AnkleLeft, jointErrorReduction, jointSoftness);
AddJoint(ragdoll, skeleton, AvatarBone.KneeRight, AvatarBone.AnkleRight, jointErrorReduction, jointSoftness);
// ----- Add constraint limits.
// We use TwistSwingLimits to define an allowed twist and swing cone for the joints.
// Exceptions are the back and knees, where we use AngularLimits to create hinges.
// (We could also create a hinge with a TwistSwingLimit where the twist axis is the hinge
// axis and no swing is allowed - but AngularLimits create more stable hinges.)
// Another exception are the collar bones joint. We use AngularLimits to disallow any
// rotations.
AddAngularLimit(ragdoll, skeleton, AvatarBone.Root, AvatarBone.BackLower,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackLower).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackLower).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(-0.3f, 0, 0), new Vector3F(0.3f, 0, 0));
AddAngularLimit(ragdoll, skeleton, AvatarBone.BackLower, AvatarBone.BackUpper,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackUpper).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.BackUpper).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(-0.3f, 0, 0), new Vector3F(0.4f, 0, 0));
var rotationZ90Degrees = Matrix33F.CreateRotationZ(ConstantsF.PiOver2);
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.Neck, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.3f, -0.3f), new Vector3F(+0.1f, +0.3f, +0.3f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.Neck, AvatarBone.Head, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.6f, -0.6f), new Vector3F(+0.1f, +0.6f, +0.6f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarLeft,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarLeft).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarLeft).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0), new Vector3F(0));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.BackUpper, AvatarBone.CollarRight,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarRight).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.CollarRight).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0), new Vector3F(0));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.CollarLeft, AvatarBone.ShoulderLeft, Matrix33F.Identity, Matrix33F.CreateRotationY(0.7f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.CollarRight, AvatarBone.ShoulderRight, Matrix33F.Identity, Matrix33F.CreateRotationY(-0.7f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ShoulderLeft, AvatarBone.ElbowLeft, Matrix33F.Identity, Matrix33F.CreateRotationY(1.2f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ShoulderRight, AvatarBone.ElbowRight, Matrix33F.Identity, Matrix33F.CreateRotationY(-1.2f), new Vector3F(-0.7f, -1.2f, -1.2f), new Vector3F(+0.7f, +1.2f, +1.2f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ElbowLeft, AvatarBone.WristLeft, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.7f, -0.7f, -0.7f), new Vector3F(+0.7f, +0.7f, +0.7f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.ElbowRight, AvatarBone.WristRight, Matrix33F.Identity, Matrix33F.Identity, new Vector3F(-0.7f, -0.7f, -0.7f), new Vector3F(+0.7f, +0.7f, +0.7f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipLeft, rotationZ90Degrees, Matrix33F.CreateRotationX(-1.2f) * Matrix33F.CreateRotationZ(ConstantsF.PiOver2 + 0.2f), new Vector3F(-0.1f, -1.5f, -0.7f), new Vector3F(+0.1f, +1.5f, +0.7f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.Root, AvatarBone.HipRight, rotationZ90Degrees, Matrix33F.CreateRotationX(-1.2f) * Matrix33F.CreateRotationZ(ConstantsF.PiOver2 - 0.2f), new Vector3F(-0.1f, -1.5f, -0.7f), new Vector3F(+0.1f, +1.5f, +0.7f));
AddAngularLimit(ragdoll, skeleton, AvatarBone.HipLeft, AvatarBone.KneeLeft,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeLeft).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeLeft).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0, 0, 0), new Vector3F(2.2f, 0, 0));
AddAngularLimit(ragdoll, skeleton, AvatarBone.HipRight, AvatarBone.KneeRight,
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeRight).Rotation.Conjugated.ToRotationMatrix33(),
skeleton.GetBindPoseAbsoluteInverse((int)AvatarBone.KneeRight).Rotation.Conjugated.ToRotationMatrix33(),
new Vector3F(0, 0, 0), new Vector3F(2.2f, 0, 0));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.KneeLeft, AvatarBone.AnkleLeft, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.7f, -0.3f), new Vector3F(+0.1f, +0.7f, +0.3f));
AddTwistSwingLimit(ragdoll, skeleton, AvatarBone.KneeRight, AvatarBone.AnkleRight, rotationZ90Degrees, rotationZ90Degrees, new Vector3F(-0.1f, -0.7f, -0.3f), new Vector3F(+0.1f, +0.7f, +0.3f));
// ----- Add motors
// We use QuaternionMotors to create forces that rotate the bones into desired poses.
// This can be used for damping, spring or animating the ragdoll.
AddMotor(ragdoll, (AvatarBone)(-1), AvatarBone.Root);
AddMotor(ragdoll, AvatarBone.Root, AvatarBone.BackLower);
AddMotor(ragdoll, AvatarBone.BackLower, AvatarBone.BackUpper);
AddMotor(ragdoll, AvatarBone.BackUpper, AvatarBone.Neck);
AddMotor(ragdoll, AvatarBone.Neck, AvatarBone.Head);
AddMotor(ragdoll, AvatarBone.BackUpper, AvatarBone.CollarLeft);
AddMotor(ragdoll, AvatarBone.BackUpper, AvatarBone.CollarRight);
AddMotor(ragdoll, AvatarBone.CollarLeft, AvatarBone.ShoulderLeft);
AddMotor(ragdoll, AvatarBone.CollarRight, AvatarBone.ShoulderRight);
AddMotor(ragdoll, AvatarBone.ShoulderLeft, AvatarBone.ElbowLeft);
AddMotor(ragdoll, AvatarBone.ShoulderRight, AvatarBone.ElbowRight);
AddMotor(ragdoll, AvatarBone.ElbowLeft, AvatarBone.WristLeft);
AddMotor(ragdoll, AvatarBone.ElbowRight, AvatarBone.WristRight);
AddMotor(ragdoll, AvatarBone.Root, AvatarBone.HipLeft);
AddMotor(ragdoll, AvatarBone.Root, AvatarBone.HipRight);
AddMotor(ragdoll, AvatarBone.HipLeft, AvatarBone.KneeLeft);
AddMotor(ragdoll, AvatarBone.HipRight, AvatarBone.KneeRight);
AddMotor(ragdoll, AvatarBone.KneeLeft, AvatarBone.AnkleLeft);
AddMotor(ragdoll, AvatarBone.KneeRight, AvatarBone.AnkleRight);
// ----- Set collision filters.
// Collisions between connected bones have been disabled with Constraint.CollisionEnabled
// = false in the joints. We need to disable a few other collisions.
// Following bodies do not collide with anything. They are only used to connect other
// bones.
ragdoll.Bodies[(int)AvatarBone.Neck].CollisionObject.Enabled = false;
ragdoll.Bodies[(int)AvatarBone.CollarLeft].CollisionObject.Enabled = false;
ragdoll.Bodies[(int)AvatarBone.CollarRight].CollisionObject.Enabled = false;
// We disable filters for following body pairs because they are usually penetrating each
// other, which needs to be ignored.
var filter = simulation.CollisionDomain.CollisionDetection.CollisionFilter as CollisionFilter;
if (filter != null)
{
filter.Set(ragdoll.Bodies[(int)AvatarBone.BackUpper].CollisionObject, ragdoll.Bodies[(int)AvatarBone.ShoulderLeft].CollisionObject, false);
filter.Set(ragdoll.Bodies[(int)AvatarBone.BackUpper].CollisionObject, ragdoll.Bodies[(int)AvatarBone.ShoulderRight].CollisionObject, false);
}
return(ragdoll);
}
public ConstraintVehicleObject(IServiceLocator services)
{
Name = "Vehicle";
_services = services;
_inputService = services.GetInstance <IInputService>();
_simulation = services.GetInstance <Simulation>();
// Load models for rendering.
var contentManager = services.GetInstance <ContentManager>();
_vehicleModelNode = contentManager.Load <ModelNode>("Car/Car").Clone();
_wheelModelNodes = new ModelNode[4];
_wheelModelNodes[0] = contentManager.Load <ModelNode>("Car/Wheel").Clone();
_wheelModelNodes[1] = _wheelModelNodes[0].Clone();
_wheelModelNodes[2] = _wheelModelNodes[0].Clone();
_wheelModelNodes[3] = _wheelModelNodes[0].Clone();
// Add wheels under the car model node.
_vehicleModelNode.Children.Add(_wheelModelNodes[0]);
_vehicleModelNode.Children.Add(_wheelModelNodes[1]);
_vehicleModelNode.Children.Add(_wheelModelNodes[2]);
_vehicleModelNode.Children.Add(_wheelModelNodes[3]);
// ----- Create the chassis of the car.
// The Vehicle needs a rigid body that represents the chassis. This can be any shape (e.g.
// a simple BoxShape). In this example we will build a convex polyhedron from the car model.
// 1. Extract the vertices from the car model.
// The car model has ~10,000 vertices. It consists of a MeshNode for the glass
// parts and a MeshNode "Car" for the chassis.
var meshNode = _vehicleModelNode.GetDescendants()
.OfType <MeshNode>()
.First(mn => mn.Name == "Car");
var mesh = MeshHelper.ToTriangleMesh(meshNode.Mesh);
// Apply the transformation of the mesh node.
mesh.Transform(meshNode.PoseWorld * Matrix.CreateScale(meshNode.ScaleWorld));
// 2. (Optional) Create simplified convex hull from mesh.
// We could also skip this step and directly create a convex polyhedron from the mesh using
// var chassisShape = new ConvexPolyhedron(mesh.Vertices);
// However, the convex polyhedron would still have 500-600 vertices.
// We can reduce the number of vertices by using the GeometryHelper.
// Create a convex hull for mesh with max. 64 vertices. Additional, shrink the hull by 4 cm.
var convexHull = GeometryHelper.CreateConvexHull(mesh.Vertices, 64, -0.04f);
// 3. Create convex polyhedron shape using the vertices of the convex hull.
var chassisShape = new ConvexPolyhedron(convexHull.Vertices.Select(v => v.Position));
// (Note: Building convex hulls and convex polyhedra are time-consuming. To save loading time
// we should build the shape in the XNA content pipeline. See other DigitalRune Physics
// Samples.)
// The mass properties of the car. We use a mass of 800 kg.
var mass = MassFrame.FromShapeAndMass(chassisShape, Vector3.One, 800, 0.1f, 1);
// Trick: We artificially modify the center of mass of the rigid body. Lowering the center
// of mass makes the car more stable against rolling in tight curves.
// We could also modify mass.Inertia for other effects.
var pose = mass.Pose;
pose.Position.Y -= 0.5f; // Lower the center of mass.
pose.Position.Z = -0.5f; // The center should be below the driver.
// (Note: The car model is not exactly centered.)
mass.Pose = pose;
// Material for the chassis.
var material = new UniformMaterial
{
Restitution = 0.1f,
StaticFriction = 0.2f,
DynamicFriction = 0.2f
};
var chassis = new RigidBody(chassisShape, mass, material)
{
Pose = new Pose(new Vector3(0, 2, 0)), // Start position
UserData = "NoDraw", // (Remove this line to render the collision model.)
};
// ----- Create the vehicle.
Vehicle = new ConstraintVehicle(_simulation, chassis);
// Add 4 wheels.
Vehicle.Wheels.Add(new ConstraintWheel {
Offset = new Vector3(-0.9f, 0.6f, -2.0f), Radius = 0.36f, SuspensionRestLength = 0.55f, MinSuspensionLength = 0.25f, Friction = 2
}); // Front left
Vehicle.Wheels.Add(new ConstraintWheel {
Offset = new Vector3(0.9f, 0.6f, -2.0f), Radius = 0.36f, SuspensionRestLength = 0.55f, MinSuspensionLength = 0.25f, Friction = 2
}); // Front right
Vehicle.Wheels.Add(new ConstraintWheel {
Offset = new Vector3(-0.9f, 0.6f, 0.98f), Radius = 0.36f, SuspensionRestLength = 0.55f, MinSuspensionLength = 0.25f, Friction = 1.8f
}); // Back left
Vehicle.Wheels.Add(new ConstraintWheel {
Offset = new Vector3(0.9f, 0.6f, 0.98f), Radius = 0.36f, SuspensionRestLength = 0.55f, MinSuspensionLength = 0.25f, Friction = 1.8f
}); // Back right
// Vehicles are disabled per default. This way we can create the vehicle and the simulation
// objects are only added when needed.
Vehicle.Enabled = false;
}
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);
}
