public AStarNode(double latestCosts, double costsToEnd, MeshNode node, AStarNode precedent)
{
mLatestCosts = latestCosts;
mCostsToEnd = costsToEnd;
mNode = node;
mPrecedent = precedent;
}
int GetBox ( MeshNode node ) {
if ( count >= arr.Length ) EnsureCapacity ( count+1 );
arr[count] = new BBTreeBox ( node );
count++;
return count-1;
}
static void exportBone(BinaryWriter dest, MeshNode target, Assimp.Scene scene, int boneID)
{
Assimp.Node node = target.node;
exportString(dest, node.Name);
if (node.Parent!=null)
exportString(dest, node.Parent.Name);
else
exportString(dest, "");
Matrix4x4 mat = new Matrix4x4(node.Transform.A1, node.Transform.A2, node.Transform.A3, node.Transform.A4, node.Transform.B1, node.Transform.B2, node.Transform.B3, node.Transform.B4, node.Transform.C1, node.Transform.C2, node.Transform.C3, node.Transform.C4, node.Transform.D1, node.Transform.D2, node.Transform.D3, node.Transform.D4);
mat.Transpose();
exportMatrix(dest, mat);
Bone bone = target.bone;
if (bone != null)
{
mat = new Matrix4x4(bone.OffsetMatrix.A1, bone.OffsetMatrix.A2, bone.OffsetMatrix.A3, bone.OffsetMatrix.A4, bone.OffsetMatrix.B1, bone.OffsetMatrix.B2, bone.OffsetMatrix.B3, bone.OffsetMatrix.B4, bone.OffsetMatrix.C1, bone.OffsetMatrix.C2, bone.OffsetMatrix.C3, bone.OffsetMatrix.C4, bone.OffsetMatrix.D1, bone.OffsetMatrix.D2, bone.OffsetMatrix.D3, bone.OffsetMatrix.D4);
mat.Transpose();
}
else
mat = Matrix4x4.Identity;
exportMatrix(dest, mat);
}
/** Rebuilds the tree using the specified nodes.
* This is faster and gives better quality results compared to calling Insert with all nodes
*/
public void RebuildFrom (MeshNode[] nodes) {
Clear();
if (nodes.Length == 0) {
return;
}
if (nodes.Length == 1) {
GetBox(nodes[0]);
return;
}
// We will use approximately 2N tree nodes
EnsureCapacity(Mathf.CeilToInt (nodes.Length * 2.1f));
// Make a copy of the nodes array since we will be modifying it
var nodeCopies = new MeshNode[nodes.Length];
for (int i = 0; i < nodes.Length; i++) nodeCopies[i] = nodes[i];
RebuildFromInternal(nodeCopies, 0, nodes.Length, false);
}
public BBTreeBox (MeshNode node) {
this.node = node;
var first = node.GetVertex(0);
var min = new Int2(first.x,first.z);
Int2 max = min;
for (int i=1;i<node.GetVertexCount();i++) {
var p = node.GetVertex(i);
min.x = Math.Min (min.x,p.x);
min.y = Math.Min (min.y,p.z);
max.x = Math.Max (max.x,p.x);
max.y = Math.Max (max.y,p.z);
}
rect = new IntRect (min.x,min.y,max.x,max.y);
left = right = -1;
}
static bool NodeIntersectsCircle (MeshNode node, Vector3 p, float radius) {
if (float.IsPositiveInfinity(radius)) return true;
/** \bug Is not correct on the Y axis */
return (p - node.ClosestPointOnNode (p)).sqrMagnitude < radius*radius;
}
/** Calculates the bounding box in XZ space of all nodes between \a from (inclusive) and \a to (exclusive) */
static IntRect NodeBounds (MeshNode[] nodes, int from, int to) {
if (to - from <= 0) throw new ArgumentException();
var first = nodes[from].GetVertex(0);
var min = new Int2(first.x,first.z);
Int2 max = min;
for (int j = from; j < to; j++) {
var node = nodes[j];
var nverts = node.GetVertexCount();
for (int i = 0; i < nverts; i++) {
var p = node.GetVertex(i);
min.x = Math.Min (min.x, p.x);
min.y = Math.Min (min.y, p.z);
max.x = Math.Max (max.x, p.x);
max.y = Math.Max (max.y, p.z);
}
}
return new IntRect (min.x, min.y, max.x, max.y);
}
public void InternalOnPostScan () {
#if !ASTAR_NO_POINT_GRAPH
if ( AstarPath.active.astarData.pointGraph == null ) {
AstarPath.active.astarData.AddGraph ( new PointGraph () );
}
//Get nearest nodes from the first point graph, assuming both start and end transforms are nodes
startNode = AstarPath.active.astarData.pointGraph.AddNode ( new NodeLink3Node(AstarPath.active), (Int3)StartTransform.position );//AstarPath.active.astarData.pointGraph.GetNearest(StartTransform.position).node as PointNode;
startNode.link = this;
endNode = AstarPath.active.astarData.pointGraph.AddNode ( new NodeLink3Node(AstarPath.active), (Int3)EndTransform.position ); //AstarPath.active.astarData.pointGraph.GetNearest(EndTransform.position).node as PointNode;
endNode.link = this;
#else
throw new System.Exception ("Point graphs are not included. Check your A* Optimization settings.");
#endif
connectedNode1 = null;
connectedNode2 = null;
if (startNode == null || endNode == null) {
startNode = null;
endNode = null;
return;
}
postScanCalled = true;
reference[startNode] = this;
reference[endNode] = this;
Apply( true );
}
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 <Vector3> [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 = (Vector3)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 <Vector3>();
}
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), Vector3.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);
}
public void Apply ( bool forceNewCheck ) {
//TODO
//This function assumes that connections from the n1,n2 nodes never need to be removed in the future (e.g because the nodes move or something)
NNConstraint nn = NNConstraint.None;
nn.distanceXZ = true;
int graph = (int)startNode.GraphIndex;
//Search all graphs but the one which start and end nodes are on
nn.graphMask = ~(1 << graph);
bool same = true;
if (true) {
NNInfo n1 = AstarPath.active.GetNearest(StartTransform.position, nn);
same &= n1.node == connectedNode1 && n1.node != null;
connectedNode1 = n1.node as MeshNode;
clamped1 = n1.clampedPosition;
if ( connectedNode1 != null ) Debug.DrawRay ( (Vector3)connectedNode1.position, Vector3.up*5,Color.red);
}
if (true) {
NNInfo n2 = AstarPath.active.GetNearest(EndTransform.position, nn);
same &= n2.node == connectedNode2 && n2.node != null;
connectedNode2 = n2.node as MeshNode;
clamped2 = n2.clampedPosition;
if ( connectedNode2 != null ) Debug.DrawRay ( (Vector3)connectedNode2.position, Vector3.up*5,Color.cyan);
}
if (connectedNode2 == null || connectedNode1 == null) return;
startNode.SetPosition ( (Int3)StartTransform.position );
endNode.SetPosition ( (Int3)EndTransform.position );
if ( same && !forceNewCheck ) return;
RemoveConnections(startNode);
RemoveConnections(endNode);
uint cost = (uint)Mathf.RoundToInt(((Int3)(StartTransform.position-EndTransform.position)).costMagnitude*costFactor);
startNode.AddConnection (endNode, cost);
endNode.AddConnection(startNode, cost);
Int3 dir = connectedNode2.position - connectedNode1.position;
for ( int a=0;a<connectedNode1.GetVertexCount();a++) {
Int3 va1 = connectedNode1.GetVertex ( a );
Int3 va2 = connectedNode1.GetVertex ( (a+1) % connectedNode1.GetVertexCount() );
if ( Int3.DotLong ( (va2-va1).Normal2D (), dir ) > 0 ) continue;
for ( int b=0;b<connectedNode2.GetVertexCount();b++) {
Int3 vb1 = connectedNode2.GetVertex ( b );
Int3 vb2 = connectedNode2.GetVertex ( (b+1) % connectedNode2.GetVertexCount() );
if ( Int3.DotLong ( (vb2-vb1).Normal2D (), dir ) < 0 ) continue;
//Debug.DrawLine ((Vector3)va1, (Vector3)va2, Color.magenta);
//Debug.DrawLine ((Vector3)vb1, (Vector3)vb2, Color.cyan);
//Debug.Break ();
if ( Int3.Angle ( (vb2-vb1), (va2-va1) ) > (170.0/360.0f)*Mathf.PI*2 ) {
float t1 = 0;
float t2 = 1;
t2 = System.Math.Min ( t2, AstarMath.NearestPointFactor ( va1, va2, vb1 ) );
t1 = System.Math.Max ( t1, AstarMath.NearestPointFactor ( va1, va2, vb2 ) );
if ( t2 < t1 ) {
Debug.LogError ("Wait wut!? " + t1 + " " + t2 + " " + va1 + " " + va2 + " " + vb1 + " " + vb2+"\nTODO, fix this error" );
} else {
Vector3 pa = (Vector3)(va2-va1)*t1 + (Vector3)va1;
Vector3 pb = (Vector3)(va2-va1)*t2 + (Vector3)va1;
startNode.portalA = pa;
startNode.portalB = pb;
endNode.portalA = pb;
endNode.portalB = pa;
//Enqueue connections between nodes, or replace old connections if existing
connectedNode1.AddConnection(startNode, (uint)Mathf.RoundToInt (((Int3)(clamped1 - StartTransform.position)).costMagnitude*costFactor));
connectedNode2.AddConnection(endNode, (uint)Mathf.RoundToInt (((Int3)(clamped2 - EndTransform.position)).costMagnitude*costFactor));
startNode.AddConnection(connectedNode1, (uint)Mathf.RoundToInt (((Int3)(clamped1 - StartTransform.position)).costMagnitude*costFactor));
endNode.AddConnection(connectedNode2, (uint)Mathf.RoundToInt (((Int3)(clamped2 - EndTransform.position)).costMagnitude*costFactor));
return;
}
}
}
}
}
public void Apply ( bool forceNewCheck ) {
//TODO
//This function assumes that connections from the n1,n2 nodes never need to be removed in the future (e.g because the nodes move or something)
NNConstraint nn = NNConstraint.None;
int graph = (int)startNode.GraphIndex;
//Search all graphs but the one which start and end nodes are on
nn.graphMask = ~(1 << graph);
startNode.SetPosition ( (Int3)StartTransform.position );
endNode.SetPosition ( (Int3)EndTransform.position );
RemoveConnections(startNode);
RemoveConnections(endNode);
uint cost = (uint)Mathf.RoundToInt(((Int3)(StartTransform.position-EndTransform.position)).costMagnitude*costFactor);
startNode.AddConnection (endNode, cost);
endNode.AddConnection(startNode, cost);
if (connectedNode1 == null || forceNewCheck) {
NNInfo n1 = AstarPath.active.GetNearest(StartTransform.position, nn);
connectedNode1 = n1.node as MeshNode;
clamped1 = n1.clampedPosition;
}
if (connectedNode2 == null || forceNewCheck) {
NNInfo n2 = AstarPath.active.GetNearest(EndTransform.position, nn);
connectedNode2 = n2.node as MeshNode;
clamped2 = n2.clampedPosition;
}
if (connectedNode2 == null || connectedNode1 == null) return;
//Enqueue connections between nodes, or replace old connections if existing
connectedNode1.AddConnection(startNode, (uint)Mathf.RoundToInt (((Int3)(clamped1 - StartTransform.position)).costMagnitude*costFactor));
if ( !oneWay ) connectedNode2.AddConnection(endNode, (uint)Mathf.RoundToInt (((Int3)(clamped2 - EndTransform.position)).costMagnitude*costFactor));
if ( !oneWay ) startNode.AddConnection(connectedNode1, (uint)Mathf.RoundToInt (((Int3)(clamped1 - StartTransform.position)).costMagnitude*costFactor));
endNode.AddConnection(connectedNode2, (uint)Mathf.RoundToInt (((Int3)(clamped2 - EndTransform.position)).costMagnitude*costFactor));
}
// Interpolate between to skeleton animation poses and apply the result to
// the specified MeshNode.
private static void InterpolatePose(MeshNode meshNode, SkeletonPose pose0, SkeletonPose pose1, float w)
{
var skeletonPose = meshNode.SkeletonPose;
SkeletonPoseTraits.Instance.Interpolate(ref pose0, ref pose1, w, ref skeletonPose);
}
public LookAtIKSample(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,
};
AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_meshNode.SkeletonPose);
// Create LookAtIKSolvers for some spine bones, the neck and the head.
_spine1IK = new LookAtIKSolver
{
SkeletonPose = _meshNode.SkeletonPose,
BoneIndex = 3,
// The bone space axis that points in look direction.
Forward = Vector3F.UnitY,
// The bone space axis that points in up direction
Up = Vector3F.UnitX,
// An arbitrary rotation limit.
Limit = ConstantsF.PiOver4,
// We use a weight of 1 for the head, and lower weights for all other bones. Thus, most
// of the looking will be done by the head bone, and the influence on the other bones is
// smaller.
Weight = 0.2f,
// It is important to set the EyeOffsets. If we do not set EyeOffsets, the IK solver
// assumes that the eyes are positioned in the origin of the bone.
// Approximate EyeOffsets are sufficient.
EyeOffset = new Vector3F(0.8f, 0, 0),
};
_spine2IK = new LookAtIKSolver
{
SkeletonPose = _meshNode.SkeletonPose,
BoneIndex = 4,
Forward = Vector3F.UnitY,
Up = Vector3F.UnitX,
Limit = ConstantsF.PiOver4,
Weight = 0.2f,
EyeOffset = new Vector3F(0.64f, 0, 0),
};
_spine3IK = new LookAtIKSolver
{
SkeletonPose = _meshNode.SkeletonPose,
BoneIndex = 5,
Forward = Vector3F.UnitY,
Up = Vector3F.UnitX,
Limit = ConstantsF.PiOver4,
Weight = 0.3f,
EyeOffset = new Vector3F(0.48f, 0, 0),
};
_neckIK = new LookAtIKSolver
{
SkeletonPose = _meshNode.SkeletonPose,
BoneIndex = 6,
Forward = Vector3F.UnitY,
Up = Vector3F.UnitX,
Limit = ConstantsF.PiOver4,
Weight = 0.4f,
EyeOffset = new Vector3F(0.32f, 0, 0),
};
_headIK = new LookAtIKSolver
{
SkeletonPose = _meshNode.SkeletonPose,
BoneIndex = 7,
Forward = Vector3F.UnitY,
Up = Vector3F.UnitX,
EyeOffset = new Vector3F(0.16f, 0.16f, 0),
Weight = 1.0f,
Limit = ConstantsF.PiOver4,
};
}
public override void OnGraphsPostUpdate () {
//if (connectedNode1 != null && connectedNode2 != null) {
if (!AstarPath.active.isScanning) {
if (connectedNode1 != null && connectedNode1.Destroyed) {
connectedNode1 = null;
}
if (connectedNode2 != null && connectedNode2.Destroyed) {
connectedNode2 = null;
}
if (!postScanCalled) {
OnPostScan();
} else {
//OnPostScan will also call this method
/** \todo Can mess up pathfinding, wrap in delegate */
Apply( false );
}
}
}
protected override void OnLoad()
{
var contentManager = _services.GetInstance <ContentManager>();
var scene = _services.GetInstance <IScene>();
_debugRenderer = _services.GetInstance <DebugRenderer>();
// Load materials (*.drmat files) which define the used shaders and material
// properties (e.g. textures, colors, etc.).
var bloodMaterial = contentManager.Load <Material>("Decals/Blood");
var crackMaterial = contentManager.Load <Material>("Decals/Crack");
var bulletHoleMaterial = contentManager.Load <Material>("Decals/BulletHole");
// Decal materials (like materials of meshes) usually have several render passes
// (such as "GBuffer", "Material"). Decal materials without a "Material" pass can
// be used to render only normal maps without color changes:
//crackMaterial.Remove("Material");
// Add some DecalNodes, which define where a material is projected onto the scene.
var bloodDecal0 = new DecalNode(bloodMaterial);
bloodDecal0.NormalThreshold = MathHelper.ToRadians(75);
bloodDecal0.LookAt(new Vector3F(0.7f, 0.6f, 0.7f), new Vector3F(0.7f, 0.6f, 0), new Vector3F(0.1f, 1, 0));
bloodDecal0.Width = 1.1f;
bloodDecal0.Height = 1.1f;
bloodDecal0.Depth = 1;
bloodDecal0.Options = DecalOptions.ProjectOnStatic;
scene.Children.Add(bloodDecal0);
_decals.Add(bloodDecal0);
var bloodDecal1 = new DecalNode(bloodMaterial);
bloodDecal1.LookAt(new Vector3F(0.0f, 0.2f, 1.9f), new Vector3F(0.0f, 0, 1.9f), new Vector3F(1.0f, 0, -0.5f));
bloodDecal1.Width = 1.6f;
bloodDecal1.Height = 1.6f;
bloodDecal1.Depth = 0.5f;
scene.Children.Add(bloodDecal1);
_decals.Add(bloodDecal1);
var crackDecal0 = new DecalNode(crackMaterial);
crackDecal0.NormalThreshold = MathHelper.ToRadians(75);
crackDecal0.LookAt(new Vector3F(-0.7f, 0.7f, 0.7f), new Vector3F(-0.7f, 0.7f, 0), new Vector3F(0.1f, 1, 0));
crackDecal0.Width = 1.75f;
crackDecal0.Height = 1.75f;
crackDecal0.Depth = 0.6f;
crackDecal0.Options = DecalOptions.ProjectOnStatic;
scene.Children.Add(crackDecal0);
_decals.Add(crackDecal0);
var crackDecal1 = crackDecal0.Clone();
var position = new Vector3F(2.0f, 0.2f, 2.0f);
crackDecal1.LookAt(position, position + new Vector3F(0, -1, 0), new Vector3F(-0.8f, 0, 1.0f));
crackDecal1.Width = 2.5f;
crackDecal1.Height = 2.5f;
crackDecal1.Depth = 0.5f;
scene.Children.Add(crackDecal1);
_decals.Add(crackDecal1);
var bulletHole0 = new DecalNode(bulletHoleMaterial);
bulletHole0.NormalThreshold = MathHelper.ToRadians(90);
bulletHole0.LookAt(new Vector3F(0.0f, 0.8f, 0.7f), new Vector3F(0.0f, 0.7f, 0), new Vector3F(0.1f, -1, 0));
bulletHole0.Width = 0.20f;
bulletHole0.Height = 0.20f;
bulletHole0.Depth = 1f;
bulletHole0.DrawOrder = 10; // Draw over other decals.
scene.Children.Add(bulletHole0);
_decals.Add(bulletHole0);
var bulletHole1 = bulletHole0.Clone();
bulletHole1.LookAt(new Vector3F(-0.4f, 0.9f, 0.7f), new Vector3F(-0.4f, 0.9f, 0), new Vector3F(0.1f, 1, 0));
scene.Children.Add(bulletHole1);
_decals.Add(bulletHole1);
var bulletHole2 = bulletHole0.Clone();
bulletHole2.LookAt(new Vector3F(-0.2f, 0.8f, 0.7f), new Vector3F(-0.2f, 0.0f, 0), new Vector3F(0.1f, -1, 0));
scene.Children.Add(bulletHole2);
_decals.Add(bulletHole2);
var bulletHole3 = bulletHole0.Clone();
bulletHole3.LookAt(new Vector3F(3.0f, 1.0f, 2.0f), new Vector3F(3.0f, 1.0f, 1), new Vector3F(0.3f, 1, 0));
scene.Children.Add(bulletHole3);
_decals.Add(bulletHole3);
var bulletHole4 = bulletHole0.Clone();
bulletHole4.LookAt(new Vector3F(2.5f, 0.7f, 2.0f), new Vector3F(3.0f, 0.7f, 1.0f), new Vector3F(-0.1f, -1, 0));
scene.Children.Add(bulletHole4);
_decals.Add(bulletHole4);
var bulletHole5 = bulletHole0.Clone();
bulletHole5.LookAt(new Vector3F(2.7f, 1.2f, 2.0f), new Vector3F(3.0f, 1.2f, 1.0f), new Vector3F(-0.5f, -1, 0));
scene.Children.Add(bulletHole5);
_decals.Add(bulletHole5);
var bulletHole6 = bulletHole0.Clone();
bulletHole6.LookAt(new Vector3F(3.2f, 0.4f, 2.0f), new Vector3F(3.0f, 0.4f, 1), new Vector3F(-0.3f, -0.5f, 0));
scene.Children.Add(bulletHole6);
_decals.Add(bulletHole6);
// Get the first dynamic mesh (the rusty cube) and add a decal as a child.
MeshNode meshNode = ((Scene)scene).GetSubtree().OfType <MeshNode>().First(n => !n.IsStatic);
var bulletHole7 = bulletHole0.Clone();
bulletHole7.LookAt(new Vector3F(0, 0, -0.6f), new Vector3F(0, 0, 0), new Vector3F(0, 1, 0));
bulletHole7.Depth = 0.2f;
meshNode.Children = new SceneNodeCollection {
bulletHole7
};
_decals.Add(bulletHole7);
}
public MeshTri(MeshNode a, MeshNode b, MeshNode c)
{
this.a = a;
this.b = b;
this.c = c;
}
/// <summary>
/// Computes the intersection of <see cref="MeshNode"/>s.
/// </summary>
/// <param name="meshNodePairs">
/// A collection of <see cref="MeshNode"/> pairs.The renderer computes the intersection volume
/// of each pair.
/// </param>
/// <param name="color">The diffuse color used for the intersection.</param>
/// <param name="alpha">The opacity of the intersection.</param>
/// <param name="maxConvexity">
/// The maximum convexity of the submeshes. A convex mesh has a convexity of 1. A concave mesh
/// has a convexity greater than 1. Convexity is the number of layers required for depth peeling
/// (= the number of front face layers when looking at the object).
/// </param>
/// <param name="context">The render context.</param>
/// <remarks>
/// <para>
/// This method renders an off-screen image (color and depth) of the intersection volume. This
/// operation destroys the currently set render target and depth/stencil buffer.
/// </para>
/// </remarks>
/// <exception cref="ObjectDisposedException">
/// The <see cref="IntersectionRenderer"/> has already been disposed.
/// </exception>
/// <exception cref="ArgumentNullException">
/// <paramref name="meshNodePairs"/> or <see cref="context"/> is
/// <see langword="null"/>.
/// </exception>
/// <exception cref="ArgumentOutOfRangeException">
/// The convexity must be greater than 0.
/// </exception>
/// <exception cref="GraphicsException">
/// Invalid render context: Graphics service is not set.
/// </exception>
/// <exception cref="GraphicsException">
/// Invalid render context: Wrong graphics device.
/// </exception>
/// <exception cref="GraphicsException">
/// Invalid render context: Scene is not set.
/// </exception>
/// <exception cref="GraphicsException">
/// Invalid render context: Camera node needs to be set in render context.
/// </exception>
public void ComputeIntersection(IEnumerable <Pair <MeshNode> > meshNodePairs,
Vector3 color, float alpha, float maxConvexity, RenderContext context)
{
if (_isDisposed)
{
throw new ObjectDisposedException("IntersectionRenderer has already been disposed.");
}
if (meshNodePairs == null)
{
throw new ArgumentNullException("meshNodePairs");
}
if (maxConvexity < 1)
{
throw new ArgumentOutOfRangeException("maxConvexity", "The max convexity must be greater than 0.");
}
if (context == null)
{
throw new ArgumentNullException("context");
}
if (context.GraphicsService == null)
{
throw new GraphicsException("Invalid render context: Graphics service is not set.");
}
if (_graphicsService != context.GraphicsService)
{
throw new GraphicsException("Invalid render context: Wrong graphics service.");
}
if (context.CameraNode == null)
{
throw new GraphicsException("Camera node needs to be set in render context.");
}
if (context.Scene == null)
{
throw new GraphicsException("A scene needs to be set in the render context.");
}
// Create 2 ordered pairs for each unordered pair.
_pairs.Clear();
foreach (var pair in meshNodePairs)
{
if (pair.First == null || pair.Second == null)
{
continue;
}
// Frustum culling.
if (!context.Scene.HaveContact(pair.First, context.CameraNode))
{
continue;
}
if (!context.Scene.HaveContact(pair.Second, context.CameraNode))
{
continue;
}
_pairs.Add(new Pair <MeshNode, MeshNode>(pair.First, pair.Second));
_pairs.Add(new Pair <MeshNode, MeshNode>(pair.Second, pair.First));
}
var renderTargetPool = _graphicsService.RenderTargetPool;
if (_pairs.Count == 0)
{
renderTargetPool.Recycle(_intersectionImage);
_intersectionImage = null;
return;
}
// Color and alpha are applied in RenderIntersection().
_color = color;
_alpha = alpha;
var graphicsDevice = _graphicsService.GraphicsDevice;
// Save original render states.
var originalBlendState = graphicsDevice.BlendState;
var originalDepthStencilState = graphicsDevice.DepthStencilState;
var originalRasterizerState = graphicsDevice.RasterizerState;
var originalScissorRectangle = graphicsDevice.ScissorRectangle;
// Get offscreen render targets.
var viewport = context.Viewport;
viewport.X = 0;
viewport.Y = 0;
viewport.Width = (int)(viewport.Width / DownsampleFactor);
viewport.Height = (int)(viewport.Height / DownsampleFactor);
var renderTargetFormat = new RenderTargetFormat(viewport.Width, viewport.Height, false, SurfaceFormat.Color, DepthFormat.Depth24Stencil8);
// Try to reuse any existing render targets.
// (Usually they are recycled in RenderIntersection()).
var currentScene = _intersectionImage;
if (currentScene == null || !renderTargetFormat.IsCompatibleWith(currentScene))
{
currentScene.SafeDispose();
currentScene = renderTargetPool.Obtain2D(renderTargetFormat);
}
var lastScene = renderTargetPool.Obtain2D(renderTargetFormat);
// Set shared effect parameters.
var cameraNode = context.CameraNode;
var view = (Matrix)cameraNode.View;
var projection = cameraNode.Camera.Projection;
var near = projection.Near;
var far = projection.Far;
_parameterViewportSize.SetValue(new Vector2(viewport.Width, viewport.Height));
// The DepthEpsilon has to be tuned if depth peeling does not work because
// of numerical problems equality z comparisons.
_parameterCameraParameters.SetValue(new Vector3(near, far - near, 0.0000001f));
_parameterView.SetValue(view);
_parameterProjection.SetValue((Matrix)projection);
var defaultTexture = _graphicsService.GetDefaultTexture2DBlack();
// Handle all pairs.
bool isFirstPass = true;
while (true)
{
// Find a mesh node A and all mesh nodes to which it needs to be clipped.
MeshNode meshNodeA = null;
_partners.Clear();
for (int i = 0; i < _pairs.Count; i++)
{
var pair = _pairs[i];
if (pair.First == null)
{
continue;
}
if (meshNodeA == null)
{
meshNodeA = pair.First;
}
if (pair.First == meshNodeA)
{
_partners.Add(pair.Second);
// Remove this pair.
_pairs[i] = new Pair <MeshNode, MeshNode>();
}
}
// Abort if we have handled all pairs.
if (meshNodeA == null)
{
break;
}
var worldTransformA = (Matrix)(meshNodeA.PoseWorld * Matrix.CreateScale(meshNodeA.ScaleWorld));
if (EnableScissorTest)
{
// Scissor rectangle of A.
var scissorA = GraphicsHelper.GetScissorRectangle(context.CameraNode, viewport, meshNodeA);
// Union of scissor rectangles of partners.
Rectangle partnerRectangle = GraphicsHelper.GetScissorRectangle(context.CameraNode, viewport, _partners[0]);
for (int i = 1; i < _partners.Count; i++)
{
var a = GraphicsHelper.GetScissorRectangle(context.CameraNode, viewport, _partners[i]);
partnerRectangle = Rectangle.Union(partnerRectangle, a);
}
// Use intersection of A and partners.
graphicsDevice.ScissorRectangle = Rectangle.Intersect(scissorA, partnerRectangle);
// We store the union of all scissor rectangles for use in RenderIntersection().
if (isFirstPass)
{
_totalScissorRectangle = graphicsDevice.ScissorRectangle;
}
else
{
_totalScissorRectangle = Rectangle.Union(_totalScissorRectangle, graphicsDevice.ScissorRectangle);
}
}
// Depth peeling of A.
for (int layer = 0; layer < maxConvexity; layer++)
{
// Set and clear render target.
graphicsDevice.SetRenderTarget(currentScene);
graphicsDevice.Clear(new Color(1, 1, 1, 0)); // RGB = "a large depth", A = "empty area"
// Render a depth layer of A.
graphicsDevice.DepthStencilState = DepthStencilStateWriteLess;
graphicsDevice.BlendState = BlendState.Opaque;
graphicsDevice.RasterizerState = EnableScissorTest ? CullCounterClockwiseScissor : RasterizerState.CullCounterClockwise;
_parameterWorld.SetValue(worldTransformA);
_parameterTexture.SetValue((layer == 0) ? defaultTexture : lastScene);
_passPeel.Apply();
foreach (var submesh in meshNodeA.Mesh.Submeshes)
{
submesh.Draw();
}
// Render partners to set stencil.
graphicsDevice.DepthStencilState = DepthStencilStateOnePassStencilFail;
graphicsDevice.BlendState = BlendStateNoWrite;
graphicsDevice.RasterizerState = EnableScissorTest ? CullNoneScissor : RasterizerState.CullNone;
foreach (var partner in _partners)
{
_parameterWorld.SetValue((Matrix)(partner.PoseWorld * Matrix.CreateScale(partner.ScaleWorld)));
_passMark.Apply();
foreach (var submesh in partner.Mesh.Submeshes)
{
submesh.Draw();
}
}
// Clear depth buffer. Leave stencil buffer unchanged.
graphicsDevice.Clear(ClearOptions.DepthBuffer, new Color(0, 1, 0), 1, 0);
// Render A to compute lighting.
graphicsDevice.DepthStencilState = DepthStencilStateStencilNotEqual0;
graphicsDevice.BlendState = BlendState.Opaque;
graphicsDevice.RasterizerState = EnableScissorTest ? CullCounterClockwiseScissor : RasterizerState.CullCounterClockwise;
_parameterWorld.SetValue(worldTransformA);
_passDraw.Apply();
foreach (var submesh in meshNodeA.Mesh.Submeshes)
{
submesh.Draw();
}
// Combine last intersection image with current.
if (!isFirstPass)
{
graphicsDevice.DepthStencilState = DepthStencilState.DepthRead;
graphicsDevice.BlendState = BlendState.Opaque;
graphicsDevice.RasterizerState = EnableScissorTest ? CullNoneScissor : RasterizerState.CullNone;
_parameterTexture.SetValue(lastScene);
_passCombine.Apply();
graphicsDevice.DrawFullScreenQuad();
}
isFirstPass = false;
// ----- Swap render targets.
MathHelper.Swap(ref lastScene, ref currentScene);
}
}
// Store final images for RenderIntersection.
_intersectionImage = lastScene;
// Scale scissor rectangle back to full-screen resolution.
if (DownsampleFactor > 1)
{
_totalScissorRectangle.X = (int)(_totalScissorRectangle.X * DownsampleFactor);
_totalScissorRectangle.Y = (int)(_totalScissorRectangle.Y * DownsampleFactor);
_totalScissorRectangle.Width = (int)(_totalScissorRectangle.Width * DownsampleFactor);
_totalScissorRectangle.Height = (int)(_totalScissorRectangle.Height * DownsampleFactor);
}
// Restore original render state.
graphicsDevice.BlendState = originalBlendState ?? BlendState.Opaque;
graphicsDevice.DepthStencilState = originalDepthStencilState ?? DepthStencilState.Default;
graphicsDevice.RasterizerState = originalRasterizerState ?? RasterizerState.CullCounterClockwise;
graphicsDevice.ScissorRectangle = originalScissorRectangle;
renderTargetPool.Recycle(currentScene);
_partners.Clear();
_pairs.Clear();
}
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);
}
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);
}
public MeshNode ConstructMeshTree()
{
// Create the grid
CreateGrid();
// Do the hierarchical clustering on the grid
Dictionary <Vector3, MeshNode> slotClusterAssign = new Dictionary <Vector3, MeshNode>();
int maxClusterSize = 1;
// Assign the slotClusterAssign
foreach (Vector3 key in slots.Keys)
{
slotClusterAssign.Add(key, new MeshNode(slots[key].GetMesh(), key, slots[key].GetOffset()));
}
// Processing queue
Queue <List <Vector3> > clusters = new Queue <List <Vector3> >();
// Add initial clusters to the queue
System.Random rand = new System.Random();
List <Vector3> randomOrder = new List <Vector3>(slotClusterAssign.Keys);
randomOrder.Sort((x, y) => rand.Next(100000));
foreach (Vector3 key in randomOrder)
{
List <Vector3> cluster = new List <Vector3>();
cluster.Add(key);
clusters.Enqueue(cluster);
}
while (maxClusterSize != slots.Count && clusters.Count != 0)
{
// Get the processing position
foreach (Vector3 procPos in clusters.Dequeue())
{
// Get the node behind the key
MeshNode procNode = slotClusterAssign[procPos];
// Get all the positions inside the cluster (this nodes cluster)
HashSet <Vector3> selfClusterPositions = new HashSet <Vector3>(procNode.GetPositions());
// Find the neighboring cluster with the lowest size
int minClusterSize = 1000;
Vector3 minClusterKey = new Vector3(10000f, 10000f, 10000f);
foreach (Vector3 n in basisvectors)
{
// Get a neighbor key
Vector3 candidate = procPos + n;;
// Check if the candidate exists
if (!slots.ContainsKey(candidate))
{
continue;
}
// Check if the candidate is in the same cluster as current node
if (selfClusterPositions.Contains(candidate))
{
continue;
}
// Check the size of the cluster
MeshNode neigh = slotClusterAssign[candidate];
if (neigh.GetSize() < minClusterSize)
{
minClusterSize = neigh.GetSize();
minClusterKey = candidate;
}
}
// No eligable neighbours
if (minClusterSize == 1000)
{
continue;
}
// Now we know the cluster we want to pair with
// Get the node of the cluster
MeshNode clusterNode = slotClusterAssign[minClusterKey];
// Create a new cluster where the children are the current cluster and the neighbor cluster
MeshNode newNode = new MeshNode(clusterNode.GetMesh(), procNode.GetMesh());
newNode.AddChild(clusterNode);
newNode.AddChild(procNode);
// Get all the positions in the new cluster
List <Vector3> clusterPositions = newNode.GetPositions();
// Update the cluster assignment
foreach (Vector3 position in clusterPositions)
{
slotClusterAssign[position] = newNode;
}
// Add the cluster positions to the processing queue
clusters.Enqueue(clusterPositions);
// Get the cluster size
if (newNode.GetSize() > maxClusterSize)
{
maxClusterSize = newNode.GetSize();
// Early exit if task is already finished
if (maxClusterSize == slots.Count)
{
break;
}
}
}
}
// Return the topmost cluster
return(slotClusterAssign[new Vector3(0f, 0f, 0f)]);
}
public frmNetworkInfo(MeshNode node)
{
InitializeComponent();
_node = node;
}
public FacialAnimationSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
_graphicsScreen = new DeferredGraphicsScreen(Services)
{
DrawReticle = false
};
GraphicsService.Screens.Insert(0, _graphicsScreen);
Services.Register(typeof(DebugRenderer), null, _graphicsScreen.DebugRenderer);
Services.Register(typeof(IScene), null, _graphicsScreen.Scene);
// Add a game object which adds some GUI controls for the deferred graphics
// screen to the Options window.
GameObjectService.Objects.Add(new DeferredGraphicsOptionsObject(Services));
// Use a fixed camera.
var projection = new PerspectiveProjection();
projection.SetFieldOfView(
ConstantsF.PiOver4,
GraphicsService.GraphicsDevice.Viewport.AspectRatio,
0.1f,
10);
var cameraNode = new CameraNode(new Camera(projection));
cameraNode.LookAt(new Vector3(0.15f, 0.15f, 0.5f), new Vector3(0.1f, 0.15f, 0), Vector3.Up);
_graphicsScreen.Scene.Children.Add(cameraNode);
_graphicsScreen.ActiveCameraNode = cameraNode;
// Lighting setup:
var keyLight = new LightNode(new Spotlight {
DiffuseIntensity = 0.6f, SpecularIntensity = 0.4f
});
keyLight.LookAt(new Vector3(-2, 2, 2), new Vector3(), Vector3.Up);
_graphicsScreen.Scene.Children.Add(keyLight);
var backLight = new LightNode(new Spotlight {
DiffuseIntensity = 0.3f, SpecularIntensity = 0.3f
});
backLight.LookAt(new Vector3(1, 0.5f, -2), new Vector3(), Vector3.Up);
_graphicsScreen.Scene.Children.Add(backLight);
var fillLight = new LightNode(new AmbientLight {
HemisphericAttenuation = 1, Intensity = 0.1f
});
_graphicsScreen.Scene.Children.Add(fillLight);
// The scene does not have a proper background. That's why the exposure is a
// bit off. --> Reduce the max exposure.
var hdrFilter = _graphicsScreen.PostProcessors.OfType <HdrFilter>().First();
hdrFilter.MaxExposure = 6;
// Load the customized "Sintel" model (original: Durian Open Movie Project - http://www.sintel.org/).
var model = ContentManager.Load <ModelNode>("Sintel/Sintel-Head").Clone();
model.PoseWorld = new Pose(new Vector3(0, 0, 0), Matrix.CreateRotationY(MathHelper.ToRadians(10)) * Matrix.CreateRotationX(-MathHelper.ToRadians(90)));
_graphicsScreen.Scene.Children.Add(model);
// The model consists of a root node and a mesh node.
// ModelNode "Sintel-Head"
// MeshNode "Sintel"
_sintel = (MeshNode)model.Children[0];
// The model contains two skeletal animations:
// - "MOUTH-open" is just a single frame.
// - "Test" is a short animation (250 frames).
// In the Options window, we will add a slider to move the jaw.
// Slider.Value = 0 ... mouth closed (default)
_mouthClosedPose = SkeletonPose.Create(_sintel.Mesh.Skeleton);
// Slider.Value = 1 ... mouth open (copied from the "MOUTH-open" animation)
SkeletonKeyFrameAnimation mouthOpen = _sintel.Mesh.Animations["MOUTH-open"];
_mouthOpenPose = SkeletonPose.Create(_sintel.Mesh.Skeleton);
mouthOpen.GetValue(TimeSpan.Zero, ref _mouthOpenPose, ref _mouthOpenPose, ref _mouthOpenPose);
// Turn the "Test" animation into an endless loop.
_skeletalAnimation = new AnimationClip <SkeletonPose>(_sintel.Mesh.Animations["Test"])
{
Duration = TimeSpan.MaxValue,
LoopBehavior = LoopBehavior.Cycle
};
// Mesh has several morph targets for facial animation, which are imported
// automatically via the content pipeline. Unfortunately, the XNA content
// pipeline cannot import morph target animations automatically.
// In this demo, we will create a morph target animation in code.
_morphingAnimation = CreateMorphingAnimation();
CreateGuiControls();
}
/** Exports the INavmesh graph to a file */
public void ExportToFile(NavGraph target)
{
INavmesh graph = (INavmesh)target;
if (graph == null)
{
return;
}
Int3[] vertices = graph.vertices;
if (vertices == null || target.nodes == null)
{
if (EditorUtility.DisplayDialog("Scan graph before exporting?", "The graph does not contain any mesh data. Do you want to scan it?", "Ok", "Cancel"))
{
AstarPath.MenuScan();
}
else
{
return;
}
}
vertices = graph.vertices;
if (vertices == null || target.nodes == null)
{
Debug.LogError("Graph still does not contain any nodes or vertices. Canceling");
return;
}
string path = EditorUtility.SaveFilePanel("Export .obj", "", "navmesh.obj", "obj");
if (path == "")
{
return;
}
//Generate .obj
System.Text.StringBuilder sb = new System.Text.StringBuilder();
string name = System.IO.Path.GetFileNameWithoutExtension(path);
sb.Append("g ").Append(name).AppendLine();
//Write vertices
for (int i = 0; i < vertices.Length; i++)
{
Vector3 v = (Vector3)vertices[i];
sb.Append(string.Format("v {0} {1} {2}\n", -v.x, v.y, v.z));
}
//Define single texture coordinate to zero
sb.Append("vt 0\n");
//Write triangles
for (int i = 0; i < target.nodes.Length; i++)
{
MeshNode node = target.nodes[i] as MeshNode;
if (node == null)
{
Debug.LogError("Node could not be casted to MeshNode. Node was null or no MeshNode");
return;
}
sb.Append(string.Format("f {0}/0 {1}/0 {2}/0\n", node.v1 + 1, node.v2 + 1, node.v3 + 1));
}
string obj = sb.ToString();
using (System.IO.StreamWriter sw = new System.IO.StreamWriter(path))
{
sw.Write(obj);
}
}
public void InternalOnPostScan () {
if ( EndTransform == null || StartTransform == null ) return;
#if !ASTAR_NO_POINT_GRAPH
if ( AstarPath.active.astarData.pointGraph == null ) {
AstarPath.active.astarData.AddGraph ( new PointGraph () );
}
#endif
if ( startNode != null) {
NodeLink2 tmp;
if (reference.TryGetValue (startNode, out tmp) && tmp == this) reference.Remove (startNode);
}
if ( endNode != null) {
NodeLink2 tmp;
if (reference.TryGetValue (endNode, out tmp) && tmp == this) reference.Remove (endNode);
}
#if !ASTAR_NO_POINT_GRAPH
//Get nearest nodes from the first point graph, assuming both start and end transforms are nodes
startNode = AstarPath.active.astarData.pointGraph.AddNode ( (Int3)StartTransform.position );//AstarPath.active.astarData.pointGraph.GetNearest(StartTransform.position).node as PointNode;
endNode = AstarPath.active.astarData.pointGraph.AddNode ( (Int3)EndTransform.position ); //AstarPath.active.astarData.pointGraph.GetNearest(EndTransform.position).node as PointNode;
#else
throw new System.Exception ("Point graph is not included. Check your A* optimization settings.");
#endif
connectedNode1 = null;
connectedNode2 = null;
if (startNode == null || endNode == null) {
startNode = null;
endNode = null;
return;
}
postScanCalled = true;
reference[startNode] = this;
reference[endNode] = this;
Apply( true );
}
public ParallaxMappingSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
_graphicsScreen = new DeferredGraphicsScreen(Services);
_graphicsScreen.DrawReticle = true;
GraphicsService.Screens.Insert(0, _graphicsScreen);
GameObjectService.Objects.Add(new DeferredGraphicsOptionsObject(Services));
Services.Register(typeof(DebugRenderer), null, _graphicsScreen.DebugRenderer);
Services.Register(typeof(IScene), null, _graphicsScreen.Scene);
// Add gravity and damping to the physics Simulation.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a custom game object which controls the camera.
var cameraGameObject = new CameraObject(Services);
GameObjectService.Objects.Add(cameraGameObject);
_graphicsScreen.ActiveCameraNode = cameraGameObject.CameraNode;
GameObjectService.Objects.Add(new GrabObject(Services));
GameObjectService.Objects.Add(new ObjectCreatorObject(Services));
GameObjectService.Objects.Add(new DynamicSkyObject(Services, false, false, true));
GameObjectService.Objects.Add(new DynamicObject(Services, 1));
GameObjectService.Objects.Add(new DynamicObject(Services, 1));
GameObjectService.Objects.Add(new DynamicObject(Services, 1));
GameObjectService.Objects.Add(new DynamicObject(Services, 2));
GameObjectService.Objects.Add(new DynamicObject(Services, 2));
GameObjectService.Objects.Add(new DynamicObject(Services, 2));
// Add a few palm trees.
Random random = new Random(12345);
for (int i = 0; i < 10; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-3, -8), 0, random.NextFloat(0, -5));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
float scale = random.NextFloat(0.5f, 1.2f);
GameObjectService.Objects.Add(new StaticObject(Services, "PalmTree/palm_tree", scale, new Pose(position, orientation)));
}
// Load ground model which uses normal mapping.
var modelNode = ContentManager.Load <ModelNode>("Parallax/Ground");
_meshNode = modelNode.Children.OfType <MeshNode>().First().Clone();
_meshNode.ScaleLocal = new Vector3F(0.1f);
_meshNode.IsStatic = true;
Debug.Assert(_meshNode.Mesh.Materials.Count == 1, "Mesh should have only one material.");
// Load materials with normal mapping, parallax mapping and parallax occlusion mapping.
_normalMaterial = ContentManager.Load <Material>("Parallax/Normal").Clone();
_parallaxMappingMaterial = ContentManager.Load <Material>("Parallax/PM").Clone();
_parallaxOcclusionMappingMaterial = ContentManager.Load <Material>("Parallax/POM").Clone();
// Get default values from materials.
var parameterBindings = _parallaxOcclusionMappingMaterial["Material"].ParameterBindings;
_heightScale = ((ConstParameterBinding <float>)parameterBindings["HeightScale"]).Value;
_heightBias = ((ConstParameterBinding <float>)parameterBindings["HeightBias"]).Value;
_lodThreshold = ((ConstParameterBinding <int>)parameterBindings["LodThreshold"]).Value;
_maxSamples = ((ConstParameterBinding <int>)parameterBindings["MaxSamples"]).Value;
_shadowStrength = ((ConstParameterBinding <float>)parameterBindings["ShadowStrength"]).Value;
// Start test with POM material.
_currentMaterialIndex = 2;
UpdateMesh();
// Add nodes to scene graph.
_graphicsScreen.Scene.Children.Add(_meshNode);
// Create rigid body for ground plane.
Simulation.RigidBodies.Add(new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
MotionType = MotionType.Static,
});
}
public static Vector3 GetNextTarget(Path path, Vector3 currPosition, float offset, float pickNextWaypointMargin)
{
if (path.error)
{
return currPosition;
}
Int3 currentPosition = (Int3)currPosition;
int startIndex = 0;
int endIndex = path.path.Length;
//Int3 pos = (Int3)currentPosition;
//int minDist = -1;
//int minNode = -1;
INavmesh navmeshGraph = AstarData.GetGraph(path.path[0]) as INavmesh;
if (navmeshGraph == null)
{
Debug.LogError("Couldn't cast graph to the appropriate type (graph isn't a Navmesh type graph, it doesn't implement the INavmesh interface)");
return currPosition;///Apply (path,start,end, startIndex, endIndex, graph);
}
Int3[] vertices = navmeshGraph.vertices;
//float minDist2 = -1;
//int minNode2 = -1;
//Debug.Log (meshPath.Length + " "+path.Length +" "+startIndex+" "+endIndex);
/*for (int i=startIndex;i< endIndex;i++) {
MeshNode node = path.path[i] as MeshNode;
if (node == null) {
Debug.LogWarning ("Path could not be casted to Mesh Nodes");
return currentPosition;//return base.Apply (path,start,end, startIndex, endIndex, graph);
}
//if (Polygon.TriangleArea2 (vertices[node.v1],vertices[node.v2],currentPosition) >= 0 || Polygon.TriangleArea2 (vertices[node.v2],vertices[node.v3],currentPosition) >= 0 || Polygon.TriangleArea2 (vertices[node.v3],vertices[node.v1],currentPosition) >= 0) {
if (!Polygon.IsClockwise (vertices[node.v1],vertices[node.v2],pos) || !Polygon.IsClockwise (vertices[node.v2],vertices[node.v3],pos) || !Polygon.IsClockwise (vertices[node.v3],vertices[node.v1],pos)) {
if (minDist == -1) {
float dist2 = (node.position-pos).sqrMagnitude;
if (minDist2 == -1 || dist2 < minDist2) {
minDist2 = dist2;
minNode2 = i;
}
}
continue;
}
Debug.DrawLine (vertices[node.v1],vertices[node.v2],Color.blue);
Debug.DrawLine (vertices[node.v2],vertices[node.v3],Color.blue);
Debug.DrawLine (vertices[node.v3],vertices[node.v1],Color.blue);
int dist = node.position.y-pos.y;
if (minDist == -1 || dist < minDist) {
minDist = dist;
minNode = i;
}
}*/
MeshNode lastNode = path.path[endIndex - 1] as MeshNode;
if (lastNode == null)
{
Debug.LogWarning("Path could not be casted to Mesh Nodes");
return currentPosition;//return base.Apply (path,start,end, startIndex, endIndex, graph);
}
PathNNConstraint constraint = PathNNConstraint.Default;
constraint.SetStart(lastNode);
NNInfo nninfo = NavMeshGraph.GetNearestForce(path.path, vertices, currPosition, constraint);
currentPosition = nninfo.clampedPosition;
/*for (int i=startIndex;i< endIndex;i++) {
if (nninfo.node == path.path[i]) {
minNode = i;
}
}*/
//Node minNode = nninfo.node;
/*startIndex = minNode;
if (startIndex == -1) {
startIndex = minNode2;
currentPosition = path.path[minNode2].position;
}
if (startIndex == -1) {
Debug.Log ("Couldn't find current node");
return currentPosition;
}*/
MeshNode[] meshPath = new MeshNode[endIndex - startIndex];
for (int i = startIndex; i < endIndex; i++)
{
meshPath[i - startIndex] = path.path[i] as MeshNode;
}
//return Vector3.zero;
//Vector3[] vertices = null;
if (leftFunnel == null || leftFunnel.Length < meshPath.Length + 1)
{
leftFunnel = new Int3[meshPath.Length + 1];
}
if (rightFunnel == null || rightFunnel.Length < meshPath.Length + 1)
{
rightFunnel = new Int3[meshPath.Length + 1];
}
int leftFunnelLength = meshPath.Length + 1;
//int rightFunnelLength = meshPath.Length+1;
leftFunnel[0] = currentPosition;
rightFunnel[0] = currentPosition;
leftFunnel[meshPath.Length] = path.endPoint;
rightFunnel[meshPath.Length] = path.endPoint;
int lastLeftIndex = -1;
int lastRightIndex = -1;
for (int i = 0; i < meshPath.Length - 1; i++)
{
//Find the connection between the nodes
MeshNode n1 = meshPath[i];
MeshNode n2 = meshPath[i + 1];
bool foundFirst = false;
int first = -1;
int second = -1;
for (int x = 0; x < 3; x++)
{
//Vector3 vertice1 = vertices[n1.vertices[x]];
//n1[x] gets the vertice index for vertex number 'x' in the node. Equal to n1.GetVertexIndex (x)
int vertice1 = n1[x];
for (int y = 0; y < 3; y++)
{
//Vector3 vertice2 = vertices[n2.vertices[y]];
int vertice2 = n2[y];
if (vertice1 == vertice2)
{
if (foundFirst)
{
second = vertice2;
break;
}
else
{
first = vertice2;
foundFirst = true;
}
}
}
}
//Debug.DrawLine ((Vector3)vertices[first]+Vector3.up*0.1F,(Vector3)vertices[second]+Vector3.up*0.1F,Color.cyan);
//Debug.Log (first+" "+second);
if (first == lastLeftIndex)
{
leftFunnel[i + 1] = vertices[first];
rightFunnel[i + 1] = vertices[second];
lastLeftIndex = first;
lastRightIndex = second;
}
else if (first == lastRightIndex)
{
leftFunnel[i + 1] = vertices[second];
rightFunnel[i + 1] = vertices[first];
lastLeftIndex = second;
lastRightIndex = first;
}
else if (second == lastLeftIndex)
{
leftFunnel[i + 1] = vertices[second];
rightFunnel[i + 1] = vertices[first];
lastLeftIndex = second;
lastRightIndex = first;
}
else
{
leftFunnel[i + 1] = vertices[first];
rightFunnel[i + 1] = vertices[second];
lastLeftIndex = first;
lastRightIndex = second;
}
}
//Switch the arrays so the right funnel really is on the right side (and vice versa)
if (!Polygon.IsClockwise(currentPosition, leftFunnel[1], rightFunnel[1]))
{
Int3[] tmp = leftFunnel;
leftFunnel = rightFunnel;
rightFunnel = tmp;
}
for (int i = 1; i < leftFunnelLength - 1; i++)
{
//float unitWidth = 2;
Int3 normal = (rightFunnel[i] - leftFunnel[i]);
float magn = normal.worldMagnitude;
normal /= magn;
normal *= Mathf.Clamp(offset, 0, (magn / 2F));
leftFunnel[i] += normal;
rightFunnel[i] -= normal;
//Debug.DrawLine (rightFunnel[i],leftFunnel[i],Color.blue);
}
/*for (int i=0;i<path.Length-1;i++) {
Debug.DrawLine (path[i].position,path[i+1].position,Color.blue);
}*/
/*for (int i=0;i<leftFunnel.Length-1;i++) {
Debug.DrawLine (leftFunnel[i],leftFunnel[i+1],Color.red);
Debug.DrawLine (rightFunnel[i],rightFunnel[i+1],Color.magenta);
}*/
if (tmpList == null)
{
tmpList = new List<Vector3>(3);
}
List<Vector3> funnelPath = tmpList;
funnelPath.Clear();
funnelPath.Add(currentPosition);
Int3 portalApex = currentPosition;
Int3 portalLeft = leftFunnel[0];
Int3 portalRight = rightFunnel[0];
int apexIndex = 0;
int rightIndex = 0;
int leftIndex = 0;
//yield return 0;
for (int i = 1; i < leftFunnelLength; i++)
{
Int3 left = leftFunnel[i];
Int3 right = rightFunnel[i];
/*Debug.DrawLine (portalApex,portalLeft,Color.red);
Debug.DrawLine (portalApex,portalRight,Color.yellow);
Debug.DrawLine (portalApex,left,Color.cyan);
Debug.DrawLine (portalApex,right,Color.cyan);*/
if (Polygon.TriangleArea2(portalApex, portalRight, right) >= 0)
{
if (portalApex == portalRight || Polygon.TriangleArea2(portalApex, portalLeft, right) <= 0)
{
portalRight = right;
rightIndex = i;
}
else
{
funnelPath.Add((Vector3)portalLeft);
//if (funnelPath.Count > 3)
//break;
portalApex = portalLeft;
apexIndex = leftIndex;
portalLeft = portalApex;
portalRight = portalApex;
leftIndex = apexIndex;
rightIndex = apexIndex;
i = apexIndex;
//yield return 0;
continue;
}
}
if (Polygon.TriangleArea2(portalApex, portalLeft, left) <= 0)
{
if (portalApex == portalLeft || Polygon.TriangleArea2(portalApex, portalRight, left) >= 0)
{
portalLeft = left;
leftIndex = i;
}
else
{
funnelPath.Add((Vector3)portalRight);
//if (funnelPath.Count > 3)
//break;
portalApex = portalRight;
apexIndex = rightIndex;
portalLeft = portalApex;
portalRight = portalApex;
leftIndex = apexIndex;
rightIndex = apexIndex;
i = apexIndex;
//yield return 0;
continue;
}
}
//yield return 0;
}
//yield return 0;
funnelPath.Add(path.endPoint);
Vector3[] p = funnelPath.ToArray();
if (p.Length <= 1)
{
return currentPosition;
}
for (int i = 1; i < p.Length - 1; i++)
{
Vector3 closest = Mathfx.NearestPointStrict(p[i], p[i + 1], currentPosition);
if ((closest - (Vector3)currentPosition).sqrMagnitude < pickNextWaypointMargin * pickNextWaypointMargin)
{
continue;
}
else
{
return p[i];
}
}
return p[p.Length - 1];
}
public FurSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
_graphicsScreen = new DeferredGraphicsScreen(Services);
_graphicsScreen.DrawReticle = true;
GraphicsService.Screens.Insert(0, _graphicsScreen);
Services.Register(typeof(DebugRenderer), null, _graphicsScreen.DebugRenderer);
Services.Register(typeof(IScene), null, _graphicsScreen.Scene);
// Add gravity and damping to the physics Simulation.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a custom game object which controls the camera.
var cameraGameObject = new CameraObject(Services);
GameObjectService.Objects.Add(cameraGameObject);
_graphicsScreen.ActiveCameraNode = cameraGameObject.CameraNode;
// More standard objects.
GameObjectService.Objects.Add(new GrabObject(Services));
GameObjectService.Objects.Add(new ObjectCreatorObject(Services));
GameObjectService.Objects.Add(new StaticSkyObject(Services));
GameObjectService.Objects.Add(new GroundObject(Services));
// Tell the engine how to interpret effect parameters with the name or semantic "FurDisplacement".
// We could add our own effect interpreter instance, as it is done in the CloudQuadSample.
// Or, we add the parameter description to the standard DefaultEffectInterpreter instance:
var defaultEffectInterpreter = GraphicsService.EffectInterpreters.OfType <DefaultEffectInterpreter>().First();
// If the effect parameter name or semantic in the .fx file is called "FurDisplacement", then
// return an EffectParameterDescription. The hint "PerInstance" tells the engine that this
// parameter needs to be updated for each scene node.
defaultEffectInterpreter.ParameterDescriptions.Add(
"FurDisplacement",
(parameter, i) => new EffectParameterDescription(parameter, "FurDisplacement", i, EffectParameterHint.PerInstance));
// Tell the engine how to create an effect parameter binding for "FurDisplacement".
// We could add our own effect binder instance, as it is done in the CloudQuadSample.
// Or, we add the parameter description to the standard DefaultEffectBinder instance:
var defaultEffectBinder = GraphicsService.EffectBinders.OfType <DefaultEffectBinder>().First();
// If the effect parameter represents "FurDisplacement", then create a DelegateParameterBinding
// for the parameter. When an object is rendered using this effect the method ComputeFurDisplacement
// is called to update the value of the effect parameter.
defaultEffectBinder.Vector3Bindings.Add(
"FurDisplacement",
(effect, parameter, data) => new DelegateParameterBinding <Vector3>(effect, parameter, ComputeFurDisplacement));
// Load model. (When the model and its effects are loaded, the engine will
// check for the FurDisplacement parameter and create the appropriate parameter binding.)
_meshNode = (MeshNode)ContentManager.Load <ModelNode>("Fur/FurBall").Children[0].Clone();
_rigidBody = new RigidBody(new SphereShape(0.5f));
// Store a reference to the rigid body in SceneNode.UserData.
_meshNode.UserData = _rigidBody;
// Set a random pose.
_rigidBody.Pose = new Pose(new Vector3(0, 1, 0), RandomHelper.Random.NextQuaternion());
_meshNode.PoseWorld = _rigidBody.Pose;
// Add rigid body to physics simulation and model to scene.
Simulation.RigidBodies.Add(_rigidBody);
_graphicsScreen.Scene.Children.Add(_meshNode);
}
/// <summary>
/// Exports the model.
/// </summary>
/// <param name="model">
/// The model.
/// </param>
/// <param name="transform">
/// The transform.
/// </param>
protected virtual void ExportModel(MeshNode model, Transform3D transform)
{
}
public void RemoveEdgesWithSibling(MeshNode sibling)
{
int index = TargetNodes.IndexOf(sibling);
if (index > -1)
{
if (index < TargetEdges.Count)
RemoveEdge(TargetEdges[index]);
TargetNodes.Remove(sibling);
}
}
int RebuildFromInternal (MeshNode[] nodes, int from, int to, bool odd) {
if (to - from <= 0) throw new ArgumentException();
if (to - from == 1) {
return GetBox(nodes[from]);
}
var rect = NodeBounds(nodes, from, to);
int box = GetBox(rect);
// Performance optimization for a common case
if (to - from == 2) {
arr[box].left = GetBox(nodes[from]);
arr[box].right = GetBox(nodes[from+1]);
return box;
}
int mx;
if (odd) {
// X
int divider = (rect.xmin + rect.xmax)/2;
mx = SplitByX (nodes, from, to, divider);
} else {
// Y/Z
int divider = (rect.ymin + rect.ymax)/2;
mx = SplitByZ (nodes, from, to, divider);
}
if (mx == from || mx == to) {
// All nodes were on one side of the divider
// Try to split along the other axis
if (!odd) {
// X
int divider = (rect.xmin + rect.xmax)/2;
mx = SplitByX (nodes, from, to, divider);
} else {
// Y/Z
int divider = (rect.ymin + rect.ymax)/2;
mx = SplitByZ (nodes, from, to, divider);
}
if (mx == from || mx == to) {
// All nodes were on one side of the divider
// Just pick one half
mx = (from+to)/2;
}
}
arr[box].left = RebuildFromInternal(nodes, from, mx, !odd);
arr[box].right = RebuildFromInternal(nodes, mx, to, !odd);
return box;
}
// OnLoad() is called when the GameObject is added to the IGameObjectService.
protected override void OnLoad()
{
var graphicsService = _services.GetInstance <IGraphicsService>();
var gameObjectService = _services.GetInstance <IGameObjectService>();
// Check if the game object manager has another ProceduralObject instance.
var otherProceduralObject = gameObjectService.Objects
.OfType <ProceduralObject>()
.FirstOrDefault(o => o != this);
Mesh mesh;
if (otherProceduralObject != null)
{
// This ProceduralObject is not the first. We re-use rigid body data and
// the mesh from the existing instance.
var otherBody = otherProceduralObject._rigidBody;
_rigidBody = new RigidBody(otherBody.Shape, otherBody.MassFrame, otherBody.Material);
mesh = otherProceduralObject._meshNode.Mesh;
}
else
{
// This is the first ProceduralObject instance. We create a new rigid body
// and a new mesh.
var shape = new MinkowskiSumShape(new GeometricObject(new SphereShape(0.05f)), new GeometricObject(new BoxShape(0.5f, 0.5f, 0.5f)));
_rigidBody = new RigidBody(shape);
// Create a DigitalRune.Geometry.Meshes.TriangleMesh from the RigidBody's
// shape and convert this to a DigitalRune.Graphics.Mesh.
var triangleMesh = _rigidBody.Shape.GetMesh(0.01f, 4);
mesh = new Mesh {
Name = "ProceduralObject"
};
var submesh = CreateSubmeshWithTexCoords(graphicsService.GraphicsDevice, triangleMesh, MathHelper.ToRadians(70));
mesh.Submeshes.Add(submesh);
// Next, we need a material. We can load a predefined material (*.drmat file)
// with the content manager.
//var material = content.Load<Material>("Default");
// Alternatively, we can load some effects and build the material here:
Material material = new Material();
// We need an EffectBinding for each render pass.
// The "Default" pass uses a BasicEffectBinding (which is an EffectBinding
// for the XNA BasicEffect).
// Note: The "Default" pass is not used by the DeferredLightingScreen, so
// we could ignore this pass in this sample project.
BasicEffectBinding defaultEffectBinding = new BasicEffectBinding(graphicsService, null)
{
LightingEnabled = true,
TextureEnabled = true,
VertexColorEnabled = false
};
defaultEffectBinding.Set("Texture", graphicsService.GetDefaultTexture2DWhite());
defaultEffectBinding.Set("DiffuseColor", new Vector3(1, 1, 1));
defaultEffectBinding.Set("SpecularColor", new Vector3(1, 1, 1));
defaultEffectBinding.Set("SpecularPower", 100f);
material.Add("Default", defaultEffectBinding);
// EffectBinding for the "ShadowMap" pass.
// Note: EffectBindings which are used in a Material must be marked with
// the EffectParameterHint Material.
var content = _services.GetInstance <ContentManager>();
EffectBinding shadowMapEffectBinding = new EffectBinding(
graphicsService,
content.Load <Effect>("DigitalRune\\Materials\\ShadowMap"),
null,
EffectParameterHint.Material);
material.Add("ShadowMap", shadowMapEffectBinding);
// EffectBinding for the "GBuffer" pass.
EffectBinding gBufferEffectBinding = new EffectBinding(
graphicsService,
content.Load <Effect>("DigitalRune\\Materials\\GBuffer"),
null,
EffectParameterHint.Material);
gBufferEffectBinding.Set("SpecularPower", 100f);
material.Add("GBuffer", gBufferEffectBinding);
// EffectBinding for the "Material" pass.
EffectBinding materialEffectBinding = new EffectBinding(
graphicsService,
content.Load <Effect>("DigitalRune\\Materials\\Material"),
null,
EffectParameterHint.Material);
materialEffectBinding.Set("DiffuseTexture", graphicsService.GetDefaultTexture2DWhite());
materialEffectBinding.Set("DiffuseColor", new Vector3(1, 1, 1));
materialEffectBinding.Set("SpecularColor", new Vector3(1, 1, 1));
material.Add("Material", materialEffectBinding);
// Assign this material to the submesh.
submesh.SetMaterial(material);
}
// Create a scene graph node for the mesh.
_meshNode = new MeshNode(mesh);
// Set a random pose.
var randomPosition = new Vector3F(
RandomHelper.Random.NextFloat(-10, 10),
RandomHelper.Random.NextFloat(2, 5),
RandomHelper.Random.NextFloat(-20, 0));
_rigidBody.Pose = new Pose(randomPosition, RandomHelper.Random.NextQuaternionF());
_meshNode.PoseWorld = _rigidBody.Pose;
// Add mesh node to scene graph.
var scene = _services.GetInstance <IScene>();
scene.Children.Add(_meshNode);
// Add rigid body to the physics simulation.
var simulation = _services.GetInstance <Simulation>();
simulation.RigidBodies.Add(_rigidBody);
}
/** Inserts a mesh node in the tree */
public void Insert (MeshNode node) {
int boxi = GetBox (node);
// Was set to root
if (boxi == 0) {
return;
}
BBTreeBox box = arr[boxi];
//int depth = 0;
int c = 0;
while (true) {
BBTreeBox cb = arr[c];
cb.rect = ExpandToContain (cb.rect,box.rect);
if (cb.node != null) {
//Is Leaf
cb.left = boxi;
int box2 = GetBox (cb.node);
//BBTreeBox box2 = new BBTreeBox (this,c.node);
//Console.WriteLine ("Inserted "+box.node+", rect "+box.rect.ToString ());
cb.right = box2;
cb.node = null;
//cb.depth++;
//c.rect = c.rect.
arr[c] = cb;
//Debug.Log (depth);
return;
} else {
//depth++;
//cb.depth++;
arr[c] = cb;
int e1 = ExpansionRequired (arr[cb.left].rect,box.rect);// * arr[cb.left].depth;
int e2 = ExpansionRequired (arr[cb.right].rect,box.rect);// * arr[cb.left].depth;
//Choose the rect requiring the least expansion to contain box.rect
if (e1 < e2) {
c = cb.left;
} else if (e2 < e1) {
c = cb.right;
} else {
//Equal, Choose the one with the smallest area
c = RectArea (arr[cb.left].rect) < RectArea (arr[cb.right].rect) ? cb.left : cb.right;
}
}
}
}
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);
}
}
public BBTreeBox (IntRect rect) {
node = null;
this.rect = rect;
left = right = -1;
}
/** Applies constrained movement from \a startPos to \a endPos.
* The result is stored in \a clampedPos.
* Returns the new current node */
public Node ClampAlongNavmesh(Vector3 startPos, Node startNode, Vector3 endPos, out Vector3 clampedPos)
{
clampedPos = endPos;
Stack <Node> stack = tmpStack; // Tiny stack
List <Node> closed = tmpClosed; // Tiny closed list
stack.Clear();
closed.Clear();
Vector3 bestPos, p;
float bestDist = float.PositiveInfinity;
float d;
Node bestRef = null;
// Search constraint
Vector3 searchPos = (startPos + endPos) / 2;
float searchRadius = Mathfx.MagnitudeXZ(startPos, endPos) / 2;
// Init
bestPos = startPos;
stack.Push(startNode);
closed.Add(startNode); // Self ref, start maker.
INavmesh graph = AstarData.GetGraph(startNode) as INavmesh;
if (graph == null)
{
//Debug.LogError ("Null graph, or the graph was no NavMeshGraph");
return(startNode);
}
while (stack.Count > 0)
{
// Pop front.
Node cur = stack.Pop();
MeshNode poly = cur as MeshNode;
// If target is inside the poly, stop search.
if (NavMeshGraph.ContainsPoint(poly, endPos, graph.vertices))
{
bestRef = cur;
bestPos = endPos;
break;
}
// Follow edges or keep track of nearest point on blocking edge.
for (int i = 0, j = 2; i < 3; j = i++)
{
int sp = poly.GetVertexIndex(j);
int sq = poly.GetVertexIndex(i);
bool blocking = true;
MeshNode conn = null;
for (int q = 0; q < cur.connections.Length; q++)
{
conn = cur.connections[q] as MeshNode;
if (conn == null)
{
continue;
}
for (int i2 = 0, j2 = 2; i2 < 3; j2 = i2++)
{
int sp2 = conn.GetVertexIndex(j2);
int sq2 = conn.GetVertexIndex(i2);
if ((sp2 == sp && sq2 == sq) || (sp2 == sq && sq2 == sp))
{
blocking = false;
break;
}
}
if (!blocking)
{
break;
}
}
//Node neiRef = poly->nei[j];
if (blocking)
{
// Blocked edge, calc distance.
p = Mathfx.NearestPointStrictXZ((Vector3)graph.vertices[sp], (Vector3)graph.vertices[sq], endPos);
d = Mathfx.MagnitudeXZ(p, endPos);
if (d < bestDist)
{
// Update nearest distance.
bestPos = p;
bestDist = d;
bestRef = cur;
}
}
else
{
// Skip already visited.
if (closed.Contains(conn))
{
continue;
}
// Store to closed with parent for trace back.
closed.Add(conn);
// Non-blocked edge, follow if within search radius.
p = Mathfx.NearestPointStrictXZ((Vector3)graph.vertices[sp], (Vector3)graph.vertices[sq], searchPos);
d = Mathfx.MagnitudeXZ(p, searchPos);
if (d <= searchRadius)
{
stack.Push(conn);
}
}
}
}
// Trace back and store visited polygons.
/* followVisited(bestRef,visited,closed);
* // Store best movement position.*/
clampedPos = bestPos;
// Return number of visited polys.
return(bestRef); //visited.size();
}
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);
}
// Creates a test scene with a lot of randomly placed objects.
internal static void CreateScene(ServiceContainer services, ContentManager content, DeferredGraphicsScreen graphicsScreen)
{
var gameObjectService = services.GetInstance <IGameObjectService>();
var graphicsService = services.GetInstance <IGraphicsService>();
gameObjectService.Objects.Add(new DynamicSkyObject(services, true, false, true)
{
EnableAmbientLight = false, // Disable ambient light of sky to make shadows more visible.
EnableCloudShadows = false
});
gameObjectService.Objects.Add(new GroundObject(services));
gameObjectService.Objects.Add(new DynamicObject(services, 1));
gameObjectService.Objects.Add(new DynamicObject(services, 2));
gameObjectService.Objects.Add(new DynamicObject(services, 3));
gameObjectService.Objects.Add(new DynamicObject(services, 5));
gameObjectService.Objects.Add(new DynamicObject(services, 6));
gameObjectService.Objects.Add(new DynamicObject(services, 7));
gameObjectService.Objects.Add(new ObjectCreatorObject(services));
gameObjectService.Objects.Add(new LavaBallsObject(services));
var random = new Random();
// Spheres
var sphereMesh = SampleHelper.CreateMesh(content, graphicsService, new SphereShape(1));
for (int i = 0; i < 100; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-100, 100), random.NextFloat(0, 3), random.NextFloat(-100, 100));
float scale = random.NextFloat(0.5f, 3f);
var meshNode = new MeshNode(sphereMesh)
{
PoseLocal = new Pose(position),
ScaleLocal = new Vector3F(scale),
IsStatic = true,
};
graphicsScreen.Scene.Children.Add(meshNode);
}
// Boxes
var boxMesh = SampleHelper.CreateMesh(content, graphicsService, new BoxShape(1, 1, 1));
for (int i = 0; i < 100; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-100, 100), random.NextFloat(0, 3), random.NextFloat(-100, 100));
QuaternionF orientation = random.NextQuaternionF();
Vector3F scale = random.NextVector3F(0.1f, 4f);
var meshNode = new MeshNode(boxMesh)
{
PoseLocal = new Pose(position, orientation),
ScaleLocal = scale,
IsStatic = true,
};
graphicsScreen.Scene.Children.Add(meshNode);
}
// Height field with smooth hills.
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
if (x == 0 || z == 0 || x == 19 || z == 19)
{
// Set this boundary elements to a low height, so that the height field is connected
// to the ground.
samples[z * numberOfSamplesX + x] = -1;
}
else
{
// A sine/cosine function that creates some interesting waves.
samples[z * numberOfSamplesX + x] = 1 + (float)(Math.Cos(z / 2f) * Math.Sin(x / 2f) * 1);
}
}
}
var heightField = new HeightField(0, 0, 20, 20, samples, numberOfSamplesX, numberOfSamplesZ);
var heightFieldMesh = SampleHelper.CreateMesh(content, graphicsService, heightField);
var heightFieldMeshNode = new MeshNode(heightFieldMesh)
{
PoseLocal = new Pose(new Vector3F(20, 0, -20)),
ScaleLocal = new Vector3F(1, 2, 1),
IsStatic = true,
};
graphicsScreen.Scene.Children.Add(heightFieldMeshNode);
// Dudes.
for (int i = 0; i < 10; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-20, 20), 0, random.NextFloat(-20, 20));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
gameObjectService.Objects.Add(new DudeObject(services)
{
Pose = new Pose(position, orientation)
});
}
// Palm trees.
for (int i = 0; i < 100; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-80, 80), 0, random.NextFloat(-100, 100));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
float scale = random.NextFloat(0.5f, 1.2f);
gameObjectService.Objects.Add(new StaticObject(services, "PalmTree/palm_tree", scale, new Pose(position, orientation)));
}
// Rocks
for (int i = 0; i < 100; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-80, 80), 1, random.NextFloat(-100, 100));
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
float scale = random.NextFloat(0.5f, 1.2f);
gameObjectService.Objects.Add(new StaticObject(services, "Rock/rock_05", scale, new Pose(position, orientation)));
}
// Grass
for (int i = 0; i < 100; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-20, 20), 0, random.NextFloat(-20, 20));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
float scale = random.NextFloat(0.5f, 1.2f);
gameObjectService.Objects.Add(new StaticObject(services, "Grass/Grass", scale, new Pose(position, orientation)));
}
// More plants
for (int i = 0; i < 100; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-20, 20), 0, random.NextFloat(-20, 20));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
float scale = random.NextFloat(0.5f, 1.2f);
gameObjectService.Objects.Add(new StaticObject(services, "Parviflora/Parviflora", scale, new Pose(position, orientation)));
}
// "Skyscrapers"
for (int i = 0; i < 20; i++)
{
Vector3F position = new Vector3F(random.NextFloat(90, 100), 0, random.NextFloat(-100, 100));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
Vector3F scale = new Vector3F(random.NextFloat(6, 20), random.NextFloat(10, 100), random.NextFloat(6, 20));
var meshNode = new MeshNode(boxMesh)
{
PoseLocal = new Pose(position, orientation),
ScaleLocal = scale,
IsStatic = true,
UserFlags = 1, // Mark the distant huge objects. Used in render callbacks in the CompositeShadowSample.
};
graphicsScreen.Scene.Children.Add(meshNode);
}
// "Hills"
for (int i = 0; i < 20; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-90, -100), 0, random.NextFloat(-100, 100));
Vector3F scale = new Vector3F(random.NextFloat(10, 20), random.NextFloat(10, 30), random.NextFloat(10, 20));
var meshNode = new MeshNode(sphereMesh)
{
PoseLocal = new Pose(position),
ScaleLocal = scale,
IsStatic = true,
UserFlags = 1, // Mark the distant huge objects. Used in render callbacks in the CompositeShadowSample.
};
graphicsScreen.Scene.Children.Add(meshNode);
}
}
static int SplitByX (MeshNode[] nodes, int from, int to, int divider) {
int mx = to;
for (int i = from; i < mx; i++) {
if (nodes[i].position.x > divider) {
// swap with mx
mx--;
var tmp = nodes[mx];
nodes[mx] = nodes[i];
nodes[i] = tmp;
i--;
}
}
return mx;
}
static void Main(string[] args)
{
if (args != null && args.Length > 0)
{
ParseArguments(args, out _Ip, out _Port, out _PeerIpPorts);
_IpPort = _Ip + ":" + _Port;
}
else
{
_IpPort = InputString("Local IP:port:", "127.0.0.1:8000", false);
ParseIpPort(_IpPort, out _Ip, out _Port);
}
_Settings = new MeshSettings();
_Settings.AcceptInvalidCertificates = true;
_Settings.AutomaticReconnect = true;
_Settings.MutuallyAuthenticate = false;
_Settings.PresharedKey = null;
_Settings.StreamBufferSize = 65536;
_Settings.ReconnectIntervalMs = 1000;
_Mesh = new MeshNode(_Ip, _Port);
_Mesh.PeerConnected += PeerConnected;
_Mesh.PeerDisconnected += PeerDisconnected;
_Mesh.MessageReceived += MessageReceived;
_Mesh.SyncMessageReceived = SyncMessageReceived;
// _Mesh.Logger = Logger;
_Mesh.Start();
if (_PeerIpPorts != null && _PeerIpPorts.Count > 0)
{
Console.Write("Adding peers: ");
foreach (string curr in _PeerIpPorts)
{
Console.Write(curr + " ");
_Mesh.Add(new MeshPeer(curr, false));
}
Console.WriteLine("");
}
while (_RunForever)
{
string userInput = InputString("WatsonMesh [? for help] >", null, false);
List <MeshPeer> peers;
switch (userInput)
{
case "?":
Menu();
break;
case "q":
case "quit":
_RunForever = false;
break;
case "c":
case "cls":
Console.Clear();
break;
case "list":
peers = _Mesh.GetPeers();
if (peers != null && peers.Count > 0)
{
Console.WriteLine("Configured peers: " + peers.Count);
foreach (MeshPeer curr in peers)
{
Console.WriteLine(" " + curr.ToString());
}
}
else
{
Console.WriteLine("None");
}
break;
case "failed":
peers = _Mesh.GetDisconnectedPeers();
if (peers != null && peers.Count > 0)
{
Console.WriteLine("Failed peers: " + peers.Count);
foreach (MeshPeer currPeer in peers)
{
Console.WriteLine(" " + currPeer.ToString());
}
}
else
{
Console.WriteLine("None");
}
break;
case "send":
Send();
break;
case "send md":
SendMetadata();
break;
case "sendsync":
SendSync();
break;
case "sendsync md":
SendSyncMetadata();
break;
case "bcast":
Broadcast();
break;
case "add":
_Mesh.Add(
new MeshPeer(
InputString("IP:port:", "127.0.0.1:8000", false),
false));
break;
case "del":
_Mesh.Remove(
new MeshPeer(
InputString("IP:port:", "127.0.0.1:8000", false),
false));
break;
case "health":
Console.WriteLine("Healthy: " + _Mesh.IsHealthy);
break;
case "nodehealth":
Console.WriteLine(
_Mesh.IsServerConnected(
InputString("IP:Port", "127.0.0.1:8000", false)));
break;
}
}
}