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,
};
}
protected override void LoadContent()
{
// Load model and start a looping animation.
_model = Game.Content.Load<Model>("Dude");
var additionalData = (Dictionary<string, object>)_model.Tag;
var skeleton = (Skeleton)additionalData["Skeleton"];
_skeletonPose = SkeletonPose.Create(skeleton);
var animations = (Dictionary<string, SkeletonKeyFrameAnimation>)additionalData["Animations"];
var loopingAnimation = new AnimationClip<SkeletonPose>(animations.Values.First())
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_skeletonPose);
// Create LookAtIKSolvers for some spine bones, the neck and the head.
_spine1IK = new LookAtIKSolver
{
SkeletonPose = _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 = _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 = _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 = _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 = _skeletonPose,
BoneIndex = 7,
Forward = Vector3F.UnitY,
Up = Vector3F.UnitX,
EyeOffset = new Vector3F(0.16f, 0.16f, 0),
Weight = 1.0f,
Limit = ConstantsF.PiOver4,
};
base.LoadContent();
}