/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public TwistTestDemo(DemosGame game)
: base(game)
{
var a = new Box(new Vector3(-2, 2, 0), 1, 2, 2, 5);
var b = new Box(new Vector3(2, 2, 0), 1, 2, 2, 5);
b.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), MathHelper.PiOver4);
Space.Add(a);
Space.Add(b);
var twistJoint = new TwistJoint(a, b, a.OrientationMatrix.Right, b.OrientationMatrix.Right);
var twistMotor = new TwistMotor(a, b, a.OrientationMatrix.Right, b.OrientationMatrix.Right);
twistMotor.Settings.Mode = MotorMode.Servomechanism;
//Space.Add(twistJoint);
Space.Add(twistMotor);
var ballSocketJoint = new BallSocketJoint(a, b, (a.Position + b.Position) * 0.5f);
var swingLimit = new SwingLimit(a, b, a.OrientationMatrix.Right, a.OrientationMatrix.Right, MathHelper.PiOver2);
Space.Add(ballSocketJoint);
Space.Add(swingLimit);
Box ground = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public DogbotDemo(DemosGame game)
: base(game)
{
Entity body = new Box(new Vector3(0, 0, 0), 4, 2, 2, 20);
Space.Add(body);
Entity head = new Cone(body.Position + new Vector3(3.2f, .3f, 0), 1.5f, .7f, 4);
head.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Forward, MathHelper.PiOver2);
Space.Add(head);
//Attach the head to the body
var universalJoint = new UniversalJoint(body, head, head.Position + new Vector3(-.8f, 0, 0));
Space.Add(universalJoint);
//Keep the head from swinging around too much.
var angleLimit = new SwingLimit(body, head, Vector3.Right, Vector3.Right, MathHelper.PiOver4);
Space.Add(angleLimit);
var tail = new Box(body.Position + new Vector3(-3f, 1f, 0), 1.6f, .1f, .1f, 4);
Space.Add(tail);
//Keep the tail from twisting itself off.
universalJoint = new UniversalJoint(body, tail, tail.Position + new Vector3(.8f, 0, 0));
Space.Add(universalJoint);
//Give 'em some floppy ears.
var ear = new Box(head.Position + new Vector3(-.2f, 0, -.65f), .01f, .7f, .2f, 1);
Space.Add(ear);
var ballSocketJoint = new BallSocketJoint(head, ear, head.Position + new Vector3(-.2f, .35f, -.65f));
Space.Add(ballSocketJoint);
ear = new Box(head.Position + new Vector3(-.2f, 0, .65f), .01f, .7f, .3f, 1);
Space.Add(ear);
ballSocketJoint = new BallSocketJoint(head, ear, head.Position + new Vector3(-.2f, .35f, .65f));
Space.Add(ballSocketJoint);
Box arm;
Cylinder shoulder;
PointOnLineJoint pointOnLineJoint;
//************* First Arm *************//
arm = new Box(body.Position + new Vector3(-1.8f, -.5f, 1.5f), .5f, 3, .2f, 20);
Space.Add(arm);
shoulder = new Cylinder(body.Position + new Vector3(-1.8f, .3f, 1.25f), .1f, .7f, 10);
shoulder.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Right, MathHelper.PiOver2);
Space.Add(shoulder);
//Connect the shoulder to the body.
var axisJoint = new RevoluteJoint(body, shoulder, shoulder.Position, Vector3.Forward);
//Motorize the connection.
axisJoint.Motor.IsActive = true;
axisJoint.Motor.Settings.VelocityMotor.GoalVelocity = 1;
Space.Add(axisJoint);
//Connect the arm to the shoulder.
axisJoint = new RevoluteJoint(shoulder, arm, shoulder.Position + new Vector3(0, .6f, 0), Vector3.Forward);
Space.Add(axisJoint);
//Connect the arm to the body.
pointOnLineJoint = new PointOnLineJoint(arm, body, arm.Position, Vector3.Up, arm.Position + new Vector3(0, -.4f, 0));
Space.Add(pointOnLineJoint);
shoulder.OrientationMatrix *= Matrix3x3.CreateFromAxisAngle(Vector3.Forward, MathHelper.Pi); //Force the walker's legs out of phase.
//************* Second Arm *************//
arm = new Box(body.Position + new Vector3(1.8f, -.5f, 1.5f), .5f, 3, .2f, 20);
Space.Add(arm);
shoulder = new Cylinder(body.Position + new Vector3(1.8f, .3f, 1.25f), .1f, .7f, 10);
shoulder.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Right, MathHelper.PiOver2);
Space.Add(shoulder);
//Connect the shoulder to the body.
axisJoint = new RevoluteJoint(body, shoulder, shoulder.Position, Vector3.Forward);
//Motorize the connection.
axisJoint.Motor.IsActive = true;
axisJoint.Motor.Settings.VelocityMotor.GoalVelocity = 1;
Space.Add(axisJoint);
//Connect the arm to the shoulder.
axisJoint = new RevoluteJoint(shoulder, arm, shoulder.Position + new Vector3(0, .6f, 0), Vector3.Forward);
Space.Add(axisJoint);
//Connect the arm to the body.
pointOnLineJoint = new PointOnLineJoint(arm, body, arm.Position, Vector3.Up, arm.Position + new Vector3(0, -.4f, 0));
Space.Add(pointOnLineJoint);
//************* Third Arm *************//
arm = new Box(body.Position + new Vector3(-1.8f, -.5f, -1.5f), .5f, 3, .2f, 20);
Space.Add(arm);
shoulder = new Cylinder(body.Position + new Vector3(-1.8f, .3f, -1.25f), .1f, .7f, 10);
shoulder.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Right, MathHelper.PiOver2);
Space.Add(shoulder);
//Connect the shoulder to the body.
axisJoint = new RevoluteJoint(body, shoulder, shoulder.Position, Vector3.Forward);
//Motorize the connection.
axisJoint.Motor.IsActive = true;
axisJoint.Motor.Settings.VelocityMotor.GoalVelocity = 1;
Space.Add(axisJoint);
//Connect the arm to the shoulder.
axisJoint = new RevoluteJoint(shoulder, arm, shoulder.Position + new Vector3(0, .6f, 0), Vector3.Forward);
Space.Add(axisJoint);
//Connect the arm to the body.
pointOnLineJoint = new PointOnLineJoint(arm, body, arm.Position, Vector3.Up, arm.Position + new Vector3(0, -.4f, 0));
Space.Add(pointOnLineJoint);
shoulder.OrientationMatrix *= Matrix3x3.CreateFromAxisAngle(Vector3.Forward, MathHelper.Pi); //Force the walker's legs out of phase.
//************* Fourth Arm *************//
arm = new Box(body.Position + new Vector3(1.8f, -.5f, -1.5f), .5f, 3, .2f, 20);
Space.Add(arm);
shoulder = new Cylinder(body.Position + new Vector3(1.8f, .3f, -1.25f), .1f, .7f, 10);
shoulder.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Right, MathHelper.PiOver2);
Space.Add(shoulder);
//Connect the shoulder to the body.
axisJoint = new RevoluteJoint(body, shoulder, shoulder.Position, Vector3.Forward);
//Motorize the connection.
axisJoint.Motor.IsActive = true;
axisJoint.Motor.Settings.VelocityMotor.GoalVelocity = 1;
Space.Add(axisJoint);
//Connect the arm to the shoulder.
axisJoint = new RevoluteJoint(shoulder, arm, shoulder.Position + new Vector3(0, .6f, 0), Vector3.Forward);
Space.Add(axisJoint);
//Connect the arm to the body.
pointOnLineJoint = new PointOnLineJoint(arm, body, arm.Position, Vector3.Up, arm.Position + new Vector3(0, -.4f, 0));
Space.Add(pointOnLineJoint);
//Add some ground.
Space.Add(new Box(new Vector3(0, -3.5f, 0), 20f, 1, 20f));
game.Camera.Position = new Vector3(0, 2, 20);
}
public JointLimitTestDemo(DemosGame game)
: base(game)
{
float bounciness = 1;
float baseMass = 100;
float armMass = 10;
//DistanceLimit
Box boxA = new Box(new Vector3(-21, 4, 0), 3, 3, 3, baseMass);
Box boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
var distanceLimit = new DistanceLimit(boxA, boxB, boxA.Position, boxB.Position - new Vector3(0, 2, 0), 1, 6);
distanceLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(distanceLimit);
//EllipseSwingLimit
boxA = new Box(new Vector3(-14, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
var ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
var ellipseSwingLimit = new EllipseSwingLimit(boxA, boxB, Vector3.Up, MathHelper.Pi / 1.5f, MathHelper.Pi / 3);
ellipseSwingLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(ellipseSwingLimit);
//LinearAxisLimit
boxA = new Box(new Vector3(-7, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
var pointOnLineJoint = new PointOnLineJoint(boxA, boxB, boxA.Position, Vector3.Up, boxB.Position + new Vector3(0, -2, 0));
var linearAxisLimit = new LinearAxisLimit(boxA, boxB, boxA.Position, boxB.Position + new Vector3(0, -2, 0), Vector3.Up, 0, 4);
linearAxisLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(pointOnLineJoint);
Space.Add(linearAxisLimit);
//RevoluteLimit
boxA = new Box(new Vector3(0, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
var revoluteAngularJoint = new RevoluteAngularJoint(boxA, boxB, Vector3.Forward);
var revoluteLimit = new RevoluteLimit(boxA, boxB, Vector3.Forward, Vector3.Up, -MathHelper.PiOver4, MathHelper.PiOver4);
revoluteLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(revoluteAngularJoint);
Space.Add(revoluteLimit);
//SwingLimit
boxA = new Box(new Vector3(7, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
var swingLimit = new SwingLimit(boxA, boxB, Vector3.Up, Vector3.Up, MathHelper.PiOver4);
swingLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(swingLimit);
//TwistLimit
boxA = new Box(new Vector3(14, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
revoluteAngularJoint = new RevoluteAngularJoint(boxA, boxB, Vector3.Up);
var twistLimit = new TwistLimit(boxA, boxB, Vector3.Up, Vector3.Up, -MathHelper.PiOver4, MathHelper.PiOver4);
twistLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(revoluteAngularJoint);
Space.Add(twistLimit);
Space.Add(new Box(new Vector3(0, 0, 0), 60, 1, 60));
game.Camera.Position = new Vector3(0, 6, 15);
}
void BuildRing(Vector3 position)
{
int incrementCount = 20;
float radius = 5;
float anglePerIncrement = MathHelper.TwoPi / incrementCount;
Bone[] bonesList = new Bone[incrementCount];
for (int i = 0; i < incrementCount; i++)
{
Vector3 bonePosition;
#if !WINDOWS
bonePosition = new Vector3();
#endif
bonePosition.X = (float)Math.Cos(anglePerIncrement * i);
bonePosition.Y = 0;
bonePosition.Z = (float)Math.Sin(anglePerIncrement * i);
bonePosition = bonePosition * radius + position;
bonesList[i] = new Bone(bonePosition,
Quaternion.Concatenate(Quaternion.CreateFromAxisAngle(Vector3.Right, MathHelper.PiOver2), Quaternion.CreateFromAxisAngle(Vector3.Up, -anglePerIncrement * i)),
0.5f,
MathHelper.Pi * radius * 2 / incrementCount);
}
for (int i = 0; i < bonesList.Length; i++)
{
var boneA = bonesList[i];
var boneB = bonesList[(i + 1) % incrementCount];
var upA = Quaternion.Transform(Vector3.Up, boneA.Orientation);
var upB = Quaternion.Transform(Vector3.Up, boneB.Orientation);
joints.Add(new IKBallSocketJoint(boneA, boneB, (boneA.Position + upA * boneB.HalfHeight + boneB.Position - upB * boneB.HalfHeight) * .5f));
joints.Add(new IKSwingLimit(boneA, boneB, upA, upB, MathHelper.Pi * .5f));
}
Cylinder[] boneEntitiesList = new Cylinder[incrementCount];
for (int i = 0; i < incrementCount; i++)
{
var boneEntity = new Cylinder(new MotionState { Position = bonesList[i].Position, Orientation = bonesList[i].Orientation }, bonesList[i].Height, bonesList[i].Radius, 10);
bones.Add(new BoneRelationship(bonesList[i], boneEntity));
boneEntitiesList[i] = boneEntity;
Space.Add(boneEntity);
}
for (int i = 0; i < incrementCount; i++)
{
var boneA = boneEntitiesList[i];
var boneB = boneEntitiesList[(i + 1) % incrementCount];
var upA = Quaternion.Transform(Vector3.Up, boneA.Orientation);
var upB = Quaternion.Transform(Vector3.Up, boneB.Orientation);
var joint = new BallSocketJoint(boneA, boneB, (boneA.Position + upA * boneB.Height * 0.5f + boneB.Position - upB * boneB.Height * 0.5f) * .5f);
var swingLimit = new SwingLimit(boneA, boneB, upA, upB, MathHelper.Pi * .5f);
Space.Add(swingLimit);
Space.Add(joint);
CollisionRules.AddRule(boneA, boneB, CollisionRule.NoBroadPhase);
}
}
public Ragdoll()
{
#region Ragdoll Entities
//Create the ragdoll's bones.
var pelvis = new Box(Vector3.Zero, .5f, .28f, .33f, 20);
var torsoBottom = new Box(pelvis.Position + new Vector3(0, .3f, 0), .42f, .48f, .3f, 15);
var torsoTop = new Box(torsoBottom.Position + new Vector3(0, .3f, 0), .5f, .38f, .32f, 20);
var neck = new Box(torsoTop.Position + new Vector3(0, .2f, .04f), .19f, .24f, .2f, 5);
var head = new Sphere(neck.Position + new Vector3(0, .22f, -.04f), .19f, 7);
var leftUpperArm = new Box(torsoTop.Position + new Vector3(-.46f, .1f, 0), .52f, .19f, .19f, 6);
var leftForearm = new Box(leftUpperArm.Position + new Vector3(-.5f, 0, 0), .52f, .18f, .18f, 5);
var leftHand = new Box(leftForearm.Position + new Vector3(-.35f, 0, 0), .28f, .13f, .22f, 4);
var rightUpperArm = new Box(torsoTop.Position + new Vector3(.46f, .1f, 0), .52f, .19f, .19f, 6);
var rightForearm = new Box(rightUpperArm.Position + new Vector3(.5f, 0, 0), .52f, .18f, .18f, 5);
var rightHand = new Box(rightForearm.Position + new Vector3(.35f, 0, 0), .28f, .13f, .22f, 4);
var leftThigh = new Box(pelvis.Position + new Vector3(-.15f, -.4f, 0), .23f, .63f, .23f, 10);
var leftShin = new Box(leftThigh.Position + new Vector3(0, -.6f, 0), .21f, .63f, .21f, 7);
var leftFoot = new Box(leftShin.Position + new Vector3(0, -.35f, -.1f), .23f, .15f, .43f, 5);
var rightThigh = new Box(pelvis.Position + new Vector3(.15f, -.4f, 0), .23f, .63f, .23f, 10);
var rightShin = new Box(rightThigh.Position + new Vector3(0, -.6f, 0), .21f, .63f, .21f, 7);
var rightFoot = new Box(rightShin.Position + new Vector3(0, -.35f, -.1f), .23f, .15f, .43f, 5);
#endregion
#region Bone List
//Make a convenient list of all of the bones.
bones.Add(pelvis);
bones.Add(torsoBottom);
bones.Add(torsoTop);
bones.Add(neck);
bones.Add(head);
bones.Add(leftUpperArm);
bones.Add(leftForearm);
bones.Add(leftHand);
bones.Add(rightUpperArm);
bones.Add(rightForearm);
bones.Add(rightHand);
bones.Add(leftThigh);
bones.Add(leftShin);
bones.Add(leftFoot);
bones.Add(rightThigh);
bones.Add(rightShin);
bones.Add(rightFoot);
#endregion
#region Collision Rules
//Prevent adjacent limbs from colliding.
CollisionRules.AddRule(pelvis, torsoBottom, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(torsoBottom, torsoTop, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(torsoTop, neck, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(neck, head, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(head, torsoTop, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(torsoTop, leftUpperArm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftUpperArm, leftForearm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftForearm, leftHand, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(torsoTop, rightUpperArm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightUpperArm, rightForearm, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightForearm, rightHand, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(pelvis, leftThigh, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftThigh, leftShin, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftThigh, torsoBottom, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(leftShin, leftFoot, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(pelvis, rightThigh, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightThigh, rightShin, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightThigh, torsoBottom, CollisionRule.NoBroadPhase);
CollisionRules.AddRule(rightShin, rightFoot, CollisionRule.NoBroadPhase);
#endregion
//Create the constraints between the bones.
#region Pelvis up to Head Constraints
var pelvisToTorsoBottomBallSocketJoint = new BallSocketJoint(pelvis, torsoBottom, pelvis.Position + new Vector3(0, .1f, 0));
var pelvisToTorsoBottomTwistLimit = new TwistLimit(pelvis, torsoBottom, Vector3.Up, Vector3.Up, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var pelvisToTorsoBottomSwingLimit = new SwingLimit(pelvis, torsoBottom, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
var pelvisToTorsoBottomMotor = new AngularMotor(pelvis, torsoBottom);
pelvisToTorsoBottomMotor.Settings.VelocityMotor.Softness = .05f;
var torsoBottomToTorsoTopBallSocketJoint = new BallSocketJoint(torsoBottom, torsoTop, torsoBottom.Position + new Vector3(0, .25f, 0));
var torsoBottomToTorsoTopSwingLimit = new SwingLimit(torsoBottom, torsoTop, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
var torsoBottomToTorsoTopTwistLimit = new TwistLimit(torsoBottom, torsoTop, Vector3.Up, Vector3.Up, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var torsoBottomToTorsoTopMotor = new AngularMotor(torsoBottom, torsoTop);
torsoBottomToTorsoTopMotor.Settings.VelocityMotor.Softness = .05f;
var torsoTopToNeckBallSocketJoint = new BallSocketJoint(torsoTop, neck, torsoTop.Position + new Vector3(0, .15f, .05f));
var torsoTopToNeckSwingLimit = new SwingLimit(torsoTop, neck, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
var torsoTopToNeckTwistLimit = new TwistLimit(torsoTop, neck, Vector3.Up, Vector3.Up, -MathHelper.Pi / 8, MathHelper.Pi / 8);
var torsoTopToNeckMotor = new AngularMotor(torsoTop, neck);
torsoTopToNeckMotor.Settings.VelocityMotor.Softness = .1f;
var neckToHeadBallSocketJoint = new BallSocketJoint(neck, head, neck.Position + new Vector3(0, .1f, .05f));
var neckToHeadTwistLimit = new TwistLimit(neck, head, Vector3.Up, Vector3.Up, -MathHelper.Pi / 8, MathHelper.Pi / 8);
var neckToHeadSwingLimit = new SwingLimit(neck, head, Vector3.Up, Vector3.Up, MathHelper.Pi / 6);
var neckToHeadMotor = new AngularMotor(neck, head);
neckToHeadMotor.Settings.VelocityMotor.Softness = .1f;
#endregion
#region Left Arm
var torsoTopToLeftArmBallSocketJoint = new BallSocketJoint(torsoTop, leftUpperArm, torsoTop.Position + new Vector3(-.3f, .1f, 0));
var torsoTopToLeftArmEllipseLimit = new EllipseSwingLimit(torsoTop, leftUpperArm, Vector3.Left, MathHelper.Pi * .75f, MathHelper.PiOver2);
var torsoTopToLeftArmTwistLimit = new TwistLimit(torsoTop, leftUpperArm, Vector3.Left, Vector3.Left, -MathHelper.PiOver2, MathHelper.PiOver2);
var torsoTopToLeftArmMotor = new AngularMotor(torsoTop, leftUpperArm);
torsoTopToLeftArmMotor.Settings.VelocityMotor.Softness = .2f;
var leftUpperArmToLeftForearmSwivelHingeJoint = new SwivelHingeJoint(leftUpperArm, leftForearm, leftUpperArm.Position + new Vector3(-.28f, 0, 0), Vector3.Up);
leftUpperArmToLeftForearmSwivelHingeJoint.HingeLimit.IsActive = true;
leftUpperArmToLeftForearmSwivelHingeJoint.TwistLimit.IsActive = true;
leftUpperArmToLeftForearmSwivelHingeJoint.TwistLimit.MinimumAngle = -MathHelper.Pi / 8;
leftUpperArmToLeftForearmSwivelHingeJoint.TwistLimit.MaximumAngle = MathHelper.Pi / 8;
leftUpperArmToLeftForearmSwivelHingeJoint.HingeLimit.MinimumAngle = -MathHelper.Pi * .8f;
leftUpperArmToLeftForearmSwivelHingeJoint.HingeLimit.MaximumAngle = 0;
//The SwivelHingeJoint has motors, but they are separately defined for twist/bending.
//The AngularMotor covers all degrees of freedom.
var leftUpperArmToLeftForearmMotor = new AngularMotor(leftUpperArm, leftForearm);
leftUpperArmToLeftForearmMotor.Settings.VelocityMotor.Softness = .3f;
var leftForearmToLeftHandBallSocketJoint = new BallSocketJoint(leftForearm, leftHand, leftForearm.Position + new Vector3(-.2f, 0, 0));
var leftForearmToLeftHandEllipseSwingLimit = new EllipseSwingLimit(leftForearm, leftHand, Vector3.Left, MathHelper.PiOver2, MathHelper.Pi / 6);
var leftForearmToLeftHandTwistLimit = new TwistLimit(leftForearm, leftHand, Vector3.Left, Vector3.Left, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var leftForearmToLeftHandMotor = new AngularMotor(leftForearm, leftHand);
leftForearmToLeftHandMotor.Settings.VelocityMotor.Softness = .4f;
#endregion
#region Right Arm
var torsoTopToRightArmBallSocketJoint = new BallSocketJoint(torsoTop, rightUpperArm, torsoTop.Position + new Vector3(.3f, .1f, 0));
var torsoTopToRightArmEllipseLimit = new EllipseSwingLimit(torsoTop, rightUpperArm, Vector3.Right, MathHelper.Pi * .75f, MathHelper.PiOver2);
var torsoTopToRightArmTwistLimit = new TwistLimit(torsoTop, rightUpperArm, Vector3.Right, Vector3.Right, -MathHelper.PiOver2, MathHelper.PiOver2);
var torsoTopToRightArmMotor = new AngularMotor(torsoTop, rightUpperArm);
torsoTopToRightArmMotor.Settings.VelocityMotor.Softness = .2f;
var rightUpperArmToRightForearmSwivelHingeJoint = new SwivelHingeJoint(rightUpperArm, rightForearm, rightUpperArm.Position + new Vector3(.28f, 0, 0), Vector3.Up);
rightUpperArmToRightForearmSwivelHingeJoint.HingeLimit.IsActive = true;
rightUpperArmToRightForearmSwivelHingeJoint.TwistLimit.IsActive = true;
rightUpperArmToRightForearmSwivelHingeJoint.TwistLimit.MinimumAngle = -MathHelper.Pi / 8;
rightUpperArmToRightForearmSwivelHingeJoint.TwistLimit.MaximumAngle = MathHelper.Pi / 8;
rightUpperArmToRightForearmSwivelHingeJoint.HingeLimit.MinimumAngle = 0;
rightUpperArmToRightForearmSwivelHingeJoint.HingeLimit.MaximumAngle = MathHelper.Pi * .8f;
//The SwivelHingeJoint has motors, but they are separately defined for twist/bending.
//The AngularMotor covers all degrees of freedom.
var rightUpperArmToRightForearmMotor = new AngularMotor(rightUpperArm, rightForearm);
rightUpperArmToRightForearmMotor.Settings.VelocityMotor.Softness = .3f;
var rightForearmToRightHandBallSocketJoint = new BallSocketJoint(rightForearm, rightHand, rightForearm.Position + new Vector3(.2f, 0, 0));
var rightForearmToRightHandEllipseSwingLimit = new EllipseSwingLimit(rightForearm, rightHand, Vector3.Right, MathHelper.PiOver2, MathHelper.Pi / 6);
var rightForearmToRightHandTwistLimit = new TwistLimit(rightForearm, rightHand, Vector3.Right, Vector3.Right, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var rightForearmToRightHandMotor = new AngularMotor(rightForearm, rightHand);
rightForearmToRightHandMotor.Settings.VelocityMotor.Softness = .4f;
#endregion
#region Left Leg
var pelvisToLeftThighBallSocketJoint = new BallSocketJoint(pelvis, leftThigh, pelvis.Position + new Vector3(-.15f, -.1f, 0));
var pelvisToLeftThighEllipseSwingLimit = new EllipseSwingLimit(pelvis, leftThigh, Vector3.Normalize(new Vector3(-.2f, -1, -.6f)), MathHelper.Pi * .7f, MathHelper.PiOver4);
pelvisToLeftThighEllipseSwingLimit.LocalTwistAxisB = Vector3.Down;
var pelvisToLeftThighTwistLimit = new TwistLimit(pelvis, leftThigh, Vector3.Down, Vector3.Down, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var pelvisToLeftThighMotor = new AngularMotor(pelvis, leftThigh);
pelvisToLeftThighMotor.Settings.VelocityMotor.Softness = .1f;
var leftThighToLeftShinRevoluteJoint = new RevoluteJoint(leftThigh, leftShin, leftThigh.Position + new Vector3(0, -.3f, 0), Vector3.Right);
leftThighToLeftShinRevoluteJoint.Limit.IsActive = true;
leftThighToLeftShinRevoluteJoint.Limit.MinimumAngle = -MathHelper.Pi * .8f;
leftThighToLeftShinRevoluteJoint.Limit.MaximumAngle = 0;
leftThighToLeftShinRevoluteJoint.Motor.IsActive = true;
leftThighToLeftShinRevoluteJoint.Motor.Settings.VelocityMotor.Softness = .2f;
var leftShinToLeftFootBallSocketJoint = new BallSocketJoint(leftShin, leftFoot, leftShin.Position + new Vector3(0, -.3f, 0));
var leftShinToLeftFootSwingLimit = new SwingLimit(leftShin, leftFoot, Vector3.Forward, Vector3.Forward, MathHelper.Pi / 8);
var leftShinToLeftFootTwistLimit = new TwistLimit(leftShin, leftFoot, Vector3.Down, Vector3.Forward, -MathHelper.Pi / 8, MathHelper.Pi / 8);
var leftShinToLeftFootMotor = new AngularMotor(leftShin, leftFoot);
leftShinToLeftFootMotor.Settings.VelocityMotor.Softness = .2f;
#endregion
#region Right Leg
var pelvisToRightThighBallSocketJoint = new BallSocketJoint(pelvis, rightThigh, pelvis.Position + new Vector3(.15f, -.1f, 0));
var pelvisToRightThighEllipseSwingLimit = new EllipseSwingLimit(pelvis, rightThigh, Vector3.Normalize(new Vector3(.2f, -1, -.6f)), MathHelper.Pi * .7f, MathHelper.PiOver4);
pelvisToRightThighEllipseSwingLimit.LocalTwistAxisB = Vector3.Down;
var pelvisToRightThighTwistLimit = new TwistLimit(pelvis, rightThigh, Vector3.Down, Vector3.Down, -MathHelper.Pi / 6, MathHelper.Pi / 6);
var pelvisToRightThighMotor = new AngularMotor(pelvis, rightThigh);
pelvisToRightThighMotor.Settings.VelocityMotor.Softness = .1f;
var rightThighToRightShinRevoluteJoint = new RevoluteJoint(rightThigh, rightShin, rightThigh.Position + new Vector3(0, -.3f, 0), Vector3.Right);
rightThighToRightShinRevoluteJoint.Limit.IsActive = true;
rightThighToRightShinRevoluteJoint.Limit.MinimumAngle = -MathHelper.Pi * .8f;
rightThighToRightShinRevoluteJoint.Limit.MaximumAngle = 0;
rightThighToRightShinRevoluteJoint.Motor.IsActive = true;
rightThighToRightShinRevoluteJoint.Motor.Settings.VelocityMotor.Softness = .2f;
var rightShinToRightFootBallSocketJoint = new BallSocketJoint(rightShin, rightFoot, rightShin.Position + new Vector3(0, -.3f, 0));
var rightShinToRightFootSwingLimit = new SwingLimit(rightShin, rightFoot, Vector3.Forward, Vector3.Forward, MathHelper.Pi / 8);
var rightShinToRightFootTwistLimit = new TwistLimit(rightShin, rightFoot, Vector3.Down, Vector3.Forward, -MathHelper.Pi / 8, MathHelper.Pi / 8);
var rightShinToRightFootMotor = new AngularMotor(rightShin, rightFoot);
rightShinToRightFootMotor.Settings.VelocityMotor.Softness = .2f;
#endregion
#region Joint List
//Collect the joints.
joints.Add(pelvisToTorsoBottomBallSocketJoint);
joints.Add(pelvisToTorsoBottomTwistLimit);
joints.Add(pelvisToTorsoBottomSwingLimit);
joints.Add(pelvisToTorsoBottomMotor);
joints.Add(torsoBottomToTorsoTopBallSocketJoint);
joints.Add(torsoBottomToTorsoTopTwistLimit);
joints.Add(torsoBottomToTorsoTopSwingLimit);
joints.Add(torsoBottomToTorsoTopMotor);
joints.Add(torsoTopToNeckBallSocketJoint);
joints.Add(torsoTopToNeckTwistLimit);
joints.Add(torsoTopToNeckSwingLimit);
joints.Add(torsoTopToNeckMotor);
joints.Add(neckToHeadBallSocketJoint);
joints.Add(neckToHeadTwistLimit);
joints.Add(neckToHeadSwingLimit);
joints.Add(neckToHeadMotor);
joints.Add(torsoTopToLeftArmBallSocketJoint);
joints.Add(torsoTopToLeftArmEllipseLimit);
joints.Add(torsoTopToLeftArmTwistLimit);
joints.Add(torsoTopToLeftArmMotor);
joints.Add(leftUpperArmToLeftForearmSwivelHingeJoint);
joints.Add(leftUpperArmToLeftForearmMotor);
joints.Add(leftForearmToLeftHandBallSocketJoint);
joints.Add(leftForearmToLeftHandEllipseSwingLimit);
joints.Add(leftForearmToLeftHandTwistLimit);
joints.Add(leftForearmToLeftHandMotor);
joints.Add(torsoTopToRightArmBallSocketJoint);
joints.Add(torsoTopToRightArmEllipseLimit);
joints.Add(torsoTopToRightArmTwistLimit);
joints.Add(torsoTopToRightArmMotor);
joints.Add(rightUpperArmToRightForearmSwivelHingeJoint);
joints.Add(rightUpperArmToRightForearmMotor);
joints.Add(rightForearmToRightHandBallSocketJoint);
joints.Add(rightForearmToRightHandEllipseSwingLimit);
joints.Add(rightForearmToRightHandTwistLimit);
joints.Add(rightForearmToRightHandMotor);
joints.Add(pelvisToLeftThighBallSocketJoint);
joints.Add(pelvisToLeftThighEllipseSwingLimit);
joints.Add(pelvisToLeftThighTwistLimit);
joints.Add(pelvisToLeftThighMotor);
joints.Add(leftThighToLeftShinRevoluteJoint);
joints.Add(leftShinToLeftFootBallSocketJoint);
joints.Add(leftShinToLeftFootSwingLimit);
joints.Add(leftShinToLeftFootTwistLimit);
joints.Add(leftShinToLeftFootMotor);
joints.Add(pelvisToRightThighBallSocketJoint);
joints.Add(pelvisToRightThighEllipseSwingLimit);
joints.Add(pelvisToRightThighTwistLimit);
joints.Add(pelvisToRightThighMotor);
joints.Add(rightThighToRightShinRevoluteJoint);
joints.Add(rightShinToRightFootBallSocketJoint);
joints.Add(rightShinToRightFootSwingLimit);
joints.Add(rightShinToRightFootTwistLimit);
joints.Add(rightShinToRightFootMotor);
#endregion
}