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);
}
void GetClosestObject()
{
if (_grabables.Count == 0)
{
if (_nearestObject != null)
{
_nearestObject.GetComponent <Outline>().color = 0;
_nearestObject = null;
}
return;
}
_nearestObject = _grabables[0];
for (int i = 0; i < _grabables.Count; i++)
{
float closestDistance = Vector3.Distance(transform.position, _nearestObject.transform.position);
float thisDistance = Vector3.Distance(transform.position, _grabables[i].transform.position);
if (thisDistance < closestDistance)
{
_nearestObject.GetComponent <Outline>().color = 0;
_nearestObject = _grabables[i];
}
}
_nearestObject.GetComponent <Outline>().color = 2;
}
public AvatarRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
// This sample uses for a DebugRenderer for the rendering rigid bodies.
_debugRenderer = new DebugRenderer(GraphicsService, SpriteFont);
// Add a custom game object which controls the camera.
_cameraObject = new CameraObject(Services);
_cameraObject.ResetPose(new Vector3F(0, 1, -3), ConstantsF.Pi, 0);
GameObjectService.Objects.Add(_cameraObject);
// Add some objects which allow the user to interact with the rigid bodies.
_grabObject = new GrabObject(Services);
_ballShooterObject = new BallShooterObject(Services) { Speed = 20 };
GameObjectService.Objects.Add(_grabObject);
GameObjectService.Objects.Add(_ballShooterObject);
// Add some default force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane in the simulation.
Simulation.RigidBodies.Add(new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
MotionType = MotionType.Static
});
// Create a random avatar.
_avatarDescription = AvatarDescription.CreateRandom();
_avatarRenderer = new AvatarRenderer(_avatarDescription);
}
public AvatarRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// This sample uses for a DebugRenderer for the rendering rigid bodies.
_debugRenderer = new DebugRenderer(GraphicsService, SpriteFont);
// Add a custom game object which controls the camera.
_cameraObject = new CameraObject(Services);
_cameraObject.ResetPose(new Vector3F(0, 1, -3), ConstantsF.Pi, 0);
GameObjectService.Objects.Add(_cameraObject);
// Add some objects which allow the user to interact with the rigid bodies.
_grabObject = new GrabObject(Services);
_ballShooterObject = new BallShooterObject(Services)
{
Speed = 20
};
GameObjectService.Objects.Add(_grabObject);
GameObjectService.Objects.Add(_ballShooterObject);
// Add some default force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane in the simulation.
Simulation.RigidBodies.Add(new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
MotionType = MotionType.Static
});
// Create a random avatar.
_avatarDescription = AvatarDescription.CreateRandom();
_avatarRenderer = new AvatarRenderer(_avatarDescription);
}
public RibbonSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
// Load a sphere model.
_modelNode = ContentManager.Load <ModelNode>("Particles/Sphere").Clone();
GraphicsScreen.Scene.Children.Add(_modelNode);
// Add gravity and damping to the physics simulation.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Create a rigid body for the sphere.
_rigidBody = new RigidBody(new SphereShape(0.5f))
{
Pose = new Pose(new Vector3F(-3, 0, 0)),
LinearVelocity = new Vector3F(10, 10, -3f),
};
Simulation.RigidBodies.Add(_rigidBody);
_particleSystem = RibbonEffect.Create(ContentManager);
ParticleSystemService.ParticleSystems.Add(_particleSystem);
_particleSystemNode = new ParticleSystemNode(_particleSystem);
GraphicsScreen.Scene.Children.Add(_particleSystemNode);
}
private void Start()
{
player = GameObject.FindGameObjectWithTag("Player").GetComponent <GrabObject>();
if (GameObject.FindGameObjectWithTag("ItemSpawner") != null)
{
spawner = GameObject.FindGameObjectWithTag("ItemSpawner").GetComponent <SpawnerScript>();
}
}
void Start()
{
if (oceanTrackerObject != null)
{
oceanTracker = oceanTrackerObject.GetComponent <OceanTracker>();
}
character = player.GetComponent <CharacterController>();
grabObject = player.GetComponent <GrabObject>();
}
public void Grab()
{
foreach (GrabObject go in grab_list)
{
if (go.Grab(this))
{
currentlyGrabbedObject = go;
}
}
}
public ReferenceFrameSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.DrawReticle = true;
_grabObject = new GrabObject(Services);
GameObjectService.Objects.Add(_grabObject);
CreateParticleSystem();
}
// Use this for initialization
void Start()
{
grabObject = gameObject.GetComponent <GrabObject>();
foreach (Transform i in GameObject.Find("lures").GetComponentsInChildren <Transform>())
{
lureZones.Add(i);
}
// done populating waypoints
StartCoroutine(CheckInTheZone());
}
private void OnTriggerEnter(Collider other)
{
IForkable forkable = other.GetComponent <IForkable>();
if (MyGrabObject.Grabbed && _grabbedObject == null && forkable != null)
{
other.enabled = false;
_grabbedObject = (GrabObject)forkable;
_grabbedObject.Grab();
}
}
/// <summary>
/// Release the grabbed object
/// </summary>
void ReleaseGrab()
{
_isGrabbing = false;
StartAnimateClose();
if (_grabbedObject == null)
{
return;
}
_grabbedObject.Release(_handMover.Rigidbody.velocity);
_grabbedObject = null;
}
private void Awake()
{
myPlayerControl = GetComponent <PlayerControl>();
charController = GetComponent <CharacterController>();
grabObject = GetComponent <GrabObject>();
// kinemaControl = GetComponent<KinemaControl>();
checkers = myPlayerControl.checkers;
if (!isPlayer)
{
simpleIA = GetComponent <SimpleIA>();
}
}
protected void UpdateActionInput(SixenseInput.Controller controller)
{
Vector3 currentPosition = GetCurrentColliderPosition();
Quaternion currentRotation = GetCurrentColliderRotation();
Velocity();
if (isHoldingObject && !controller.GetButton(SixenseButtons.TRIGGER))
{
Throw();
isHoldingObject = false;
}
if (!isHoldingObject)
{
foreach (GameObject o in GameObject.FindGameObjectsWithTag("Grabbable"))
{
float dist = Vector3.Distance(o.transform.position, currentPosition);
if (dist < minGrabDistance)
{
closestObject = o;
}
}
}
if ((isHoldingObject && controller.GetButton(SixenseButtons.TRIGGER)) ||
(closestObject != null && Vector3.Distance(closestObject.transform.position, currentPosition) < minGrabDistance && controller.GetButton(SixenseButtons.TRIGGER)))
{
if (closestObject.GetComponent <Rigidbody>() && closestObject.GetComponent <Rigidbody>().isKinematic)
{
return;
}
grabObject = closestObject.GetComponent <GrabObject>();
if (grabObject && grabObject.isEnabled)
{
grabObject.SetRigidbodyDetectionCollisions(false);
closestObject.transform.position = currentPosition + closestObject.transform.TransformDirection(grabObject.GetPosition(Hand));
closestObject.transform.rotation = currentRotation * Quaternion.Euler(grabObject.GetRotation(Hand));
}
else
{
closestObject.transform.position = currentPosition;
closestObject.transform.rotation = currentRotation;
}
isHoldingObject = true;
}
}
protected PhysicsSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.ClearBackground = true;
GraphicsScreen.BackgroundColor = Color.White;
GraphicsScreen.DrawReticle = true;
SetCamera(new Vector3F(0, 2, 10), 0, 0);
// Add game objects which implement simple physics interactions.
_grabObject = new GrabObject(Services);
_ballShooterObject = new BallShooterObject(Services);
_explosionObject = new ExplosionObject(Services);
GameObjectService.Objects.Add(_grabObject);
GameObjectService.Objects.Add(_ballShooterObject);
GameObjectService.Objects.Add(_explosionObject);
}
// Throw the held object once player lets go based on hand velocity
// TODO: Take into account weight (1 unit = kilogram) of held object
protected void Throw()
{
if (closestObject.GetComponent <Rigidbody>())
{
grabObject = closestObject.GetComponent <GrabObject>();
float additionalThrowForce = 0;
if (grabObject)
{
additionalThrowForce += grabObject.additionalThrowForce;
grabObject.SetRigidbodyDetectionCollisions(true);
}
closestObject.GetComponent <Rigidbody>().AddForce(handDirection * handVelocity * (throwForce + additionalThrowForce));
}
}
void Grab()
{
_isGrabbing = true;
if (_grabables.Count == 0)
{
StartAnimateOpen(1);
return;
}
_grabbedObject = _nearestObject;
_nearestObject.GetComponent <Outline>().color = 0;
_grabbedObject.Grab();
StartAnimateOpen(0.17f); // eventually base this number on a value in GrabObject
}
private void SpawnRingR()
{
bool isSpawn = HasControllerR() && HasGameObject(m_Ring);
if (!isSpawn)
{
return;
}
if (m_ControllerR.IsGrabDown())
{
Vector3 pos = m_ControllerR.GetTransform().position;
Quaternion rot = m_ControllerR.GetTransform().rotation;
GrabObject lasso = Instantiate(m_Ring, pos, rot).GetComponent <GrabObject>();
lasso.AttachController(m_ControllerObjectR);
}
}
void AssignInstructions(GrabObject targetObject)
{
if (objectNameLabel)
{
objectNameLabel.text = targetObject.ObjectName;
}
if (objectInstructionsLabel)
{
if (grabObject)
{
objectInstructionsLabel.text = targetObject.ObjectInstructions;
}
else
{
objectInstructionsLabel.text = "Grip Trigger to grab";
}
}
}
private void Start()
{
localRotation = flashlightRoot.localRotation;
localPosition = flashlightRoot.localPosition;
skeletons = new OVRSkeleton[2];
hands = new OVRHand[2];
externalController = GetComponent <GrabObject>();
if (externalController)
{
externalController.GrabbedObjectDelegate += Grab;
externalController.ReleasedObjectDelegate += Release;
}
if (GetComponent <Flashlight>())
{
GetComponent <Flashlight>().EnableFlashlight(false);
}
}
private void Update()
{
if (_grabbedObject != null)
{
if (_grabbedObject.gameObject == null)
{
_grabbedObject = null;
return;
}
_grabbedObject.transform.position = transform.position;
if (!MyGrabObject.Grabbed)
{
_grabbedObject.Release(Vector3.zero);
_grabbedObject = null;
_grabbedObject.gameObject.layer = GrabObject.GRABBEDLAYER;
_grabbedObject.GetComponent <Collider>().enabled = true;
}
}
}
public void Release(bool is_left)
{
if (currentlyGrabbedObject)
{
Vector3 vel, ang_vel;
if (is_left)
{
vel = SteamVR_Input._default.inActions.Pose.GetVelocity(SteamVR_Input_Sources.LeftHand);
ang_vel = SteamVR_Input._default.inActions.Pose.GetAngularVelocity(SteamVR_Input_Sources.LeftHand);
}
else
{
vel = SteamVR_Input._default.inActions.Pose.GetVelocity(SteamVR_Input_Sources.RightHand);
ang_vel = SteamVR_Input._default.inActions.Pose.GetAngularVelocity(SteamVR_Input_Sources.RightHand);
}
currentlyGrabbedObject.Release(vel, ang_vel);
}
currentlyGrabbedObject = null;
}
void OnTriggerStay(Collider col)
{
GrabObject g = col.GetComponent <GrabObject>();
if (g)
{
Debug.Log(g.name + " is inside");
if (g.grab && (!GetComponent <FixedJoint>()))
{
Debug.Log("fixed joint added");
grabbed = true;
FixedJoint Joint = gameObject.AddComponent <FixedJoint>();
Joint.connectedBody = g.GetComponent <Rigidbody>();
Joint.breakForce = 1000;
}
if (!g.grab && GetComponent <FixedJoint>())
{
grabbed = false;
Debug.Log("fixed joint destroyd");
Destroy(GetComponent <FixedJoint>());
}
}
}
// Update is called once per frame
void Update()
{
if (Controller.GetHairTriggerUp())
{
if (currently_grabbing != null)
{
currently_grabbing.release();
currently_grabbing = null;
}
}
if (Controller.GetHairTriggerDown())
{
foreach (GrabObject grabo in grab_list)
{
if (grabo.grab_try_the_waters())
{
grabo.grab(gameObject);
currently_grabbing = grabo;
break;
}
}
}
}
public AdvancedAvatarRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
// This sample uses for a DebugRenderer to draw text and rigid bodies.
_debugRenderer = new DebugRenderer(GraphicsService, SpriteFont)
{
DefaultColor = Color.Black,
DefaultTextPosition = new Vector2F(10),
};
// Add a custom game object which controls the camera.
_cameraObject = new CameraObject(Services);
_cameraObject.ResetPose(new Vector3(0, 1, -3), ConstantsF.Pi, 0);
GameObjectService.Objects.Add(_cameraObject);
// Add some objects which allow the user to interact with the rigid bodies.
_grabObject = new GrabObject(Services);
_ballShooterObject = new BallShooterObject(Services)
{
Speed = 20
};
GameObjectService.Objects.Add(_grabObject);
GameObjectService.Objects.Add(_ballShooterObject);
// Add some default force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Create a random avatar.
_avatarDescription = AvatarDescription.CreateRandom();
_avatarRenderer = new AvatarRenderer(_avatarDescription);
// Use the "Wave" animation preset.
var avatarAnimation = new AvatarAnimation(AvatarAnimationPreset.Wave);
_expressionAnimation = new AnimationClip <AvatarExpression>(new WrappedAvatarExpressionAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
_skeletonAnimation = new AnimationClip <SkeletonPose>(new WrappedAvatarSkeletonAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
// Add a ground plane in the simulation.
Simulation.RigidBodies.Add(new RigidBody(new PlaneShape(Vector3.UnitY, 0))
{
MotionType = MotionType.Static
});
// Distribute a few dynamic spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.3f);
for (int i = 0; i < 10; i++)
{
Vector3 position = RandomHelper.Random.NextVector3(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(sphereShape)
{
Pose = new Pose(position)
});
}
BoxShape boxShape = new BoxShape(0.6f, 0.6f, 0.6f);
for (int i = 0; i < 10; i++)
{
Vector3 position = RandomHelper.Random.NextVector3(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(boxShape)
{
Pose = new Pose(position)
});
}
}
public AdvancedAvatarRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
// This sample uses for a DebugRenderer to draw text and rigid bodies.
_debugRenderer = new DebugRenderer(GraphicsService, SpriteFont)
{
DefaultColor = Color.Black,
DefaultTextPosition = new Vector2F(10),
};
// Add a custom game object which controls the camera.
_cameraObject = new CameraObject(Services);
_cameraObject.ResetPose(new Vector3F(0, 1, -3), ConstantsF.Pi, 0);
GameObjectService.Objects.Add(_cameraObject);
// Add some objects which allow the user to interact with the rigid bodies.
_grabObject = new GrabObject(Services);
_ballShooterObject = new BallShooterObject(Services) { Speed = 20 };
GameObjectService.Objects.Add(_grabObject);
GameObjectService.Objects.Add(_ballShooterObject);
// Add some default force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Create a random avatar.
_avatarDescription = AvatarDescription.CreateRandom();
_avatarRenderer = new AvatarRenderer(_avatarDescription);
// Use the "Wave" animation preset.
var avatarAnimation = new AvatarAnimation(AvatarAnimationPreset.Wave);
_expressionAnimation = new AnimationClip<AvatarExpression>(new WrappedAvatarExpressionAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
_skeletonAnimation = new AnimationClip<SkeletonPose>(new WrappedAvatarSkeletonAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
// Add a ground plane in the simulation.
Simulation.RigidBodies.Add(new RigidBody(new PlaneShape(Vector3F.UnitY, 0)) { MotionType = MotionType.Static });
// Distribute a few dynamic spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.3f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(sphereShape) { Pose = new Pose(position) });
}
BoxShape boxShape = new BoxShape(0.6f, 0.6f, 0.6f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(boxShape) { Pose = new Pose(position) });
}
}
private void Update()
{
switch (_holdingObject)
{
case true:
var currentMousePosition = headCamera.ScreenToWorldPoint(Input.mousePosition);
currentMousePosition.z = 2.0f;
_mouseTracker.transform.position = currentMousePosition;
if (Input.GetMouseButtonUp(1))
{
RaycastHit hit;
if (Physics.Raycast(currentMousePosition, Vector3.back, out hit, 5, _roomMask))
{
var room = hit.point;
room.y = hit.transform.position.y - 1.2f;
room.z = 0;
_grabbedObject.transform.position = room;
}
else
_grabbedObject.transform.position = _oldPositionOfPickup;
_grabbedObject.Drop();
_grabbedObject = null;
_holdingObject = false;
_canGrab = true;
}
else
{
_grabbedObject.transform.position =
Vector3.Slerp(_grabbedObject.transform.position,
_mouseTracker.transform.position +
new Vector3(0, -1.2f, 0), Time.deltaTime * 15.0f);
}
break;
case false:
if (Input.GetMouseButtonDown(0))
{
RaycastHit rayHit;
var hit = Physics.Raycast(headCamera.ScreenPointToRay(Input.mousePosition), out rayHit, 50.0f,
_roomMask);
if (hit && rayHit.collider.tag == "Room")
{
var position = rayHit.collider.transform.position;
position.z = 1;
position.y -= 1;
blobBank.ActivateWorker(position);
}
}
else if (Input.GetMouseButtonDown(1))
{
if (_canGrab == false) break;
RaycastHit rayHit;
var hit = Physics.Raycast(headCamera.ScreenPointToRay(Input.mousePosition), out rayHit, 50.0f,
_workerMask);
if (hit && rayHit.collider.tag == "Worker")
{
var worker = rayHit.transform.GetComponent<Worker>();
_oldPositionOfPickup = worker.transform.position;
worker.PickUp();
_grabbedObject = worker;
_holdingObject = true;
}
}
break;
}
}
private void Awake()
{
anim = GetComponent <Animator>();
grabObject = GetComponent <GrabObject>();
}
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 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);
}
/// <summary>
/// This function is called when the object becomes enabled and active.
/// </summary>
protected virtual void OnEnable()
{
instance = (GrabObject)target;
}
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 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);
}
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);
}
void Start()
{
_handMover = transform.parent.GetComponent <HandMover>();
_nearestObject = null;
}
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);
}
// Use this for initialization
void Start()
{
isDestroy = false;
grab = GetComponent <GrabObject> ();
//gameObject.GetComponent<Rigidbody> ().useGravity = false;
}
