public CollisionDetectionOnlyRagdollSample(Microsoft.Xna.Framework.Game game) : base(game) { GraphicsScreen.DrawReticle = true; SetCamera(new Vector3F(0, 1, 6), 0, 0); // Add a game object which allows to shoot balls. _ballShooterObject = new BallShooterObject(Services); GameObjectService.Objects.Add(_ballShooterObject); 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 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. _ragdoll.Pose = _meshNode.PoseWorld; // And copy the bone poses of the current skeleton pose. _ragdoll.UpdateBodiesFromSkeleton(_meshNode.SkeletonPose); foreach (var body in _ragdoll.Bodies) { if (body != null) { // Set all bodies to kinematic - they should not be affected by forces. body.MotionType = MotionType.Kinematic; // Disable collision response. body.CollisionResponseEnabled = false; } } // In this sample, we do not need joints, limits or motors. _ragdoll.DisableJoints(); _ragdoll.DisableLimits(); _ragdoll.DisableMotors(); // Add ragdoll rigid bodies to the simulation. _ragdoll.AddToSimulation(Simulation); }
protected override void LoadContent() { // Load model and start 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 a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_skeletonPose, _ragdoll, Simulation); // Set the world space pose of the whole ragdoll. _ragdoll.Pose = _pose; // And copy the bone poses of the current skeleton pose. _ragdoll.UpdateBodiesFromSkeleton(_skeletonPose); foreach(var body in _ragdoll.Bodies) { if (body != null) { // Set all bodies to kinematic - they should not be affected by forces. body.MotionType = MotionType.Kinematic; // Disable collision response. body.CollisionResponseEnabled = false; } } // In this sample, we do not need joints, limits or motors. _ragdoll.DisableJoints(); _ragdoll.DisableLimits(); _ragdoll.DisableMotors(); // Add ragdoll rigid bodies to the simulation. _ragdoll.AddToSimulation(Simulation); base.LoadContent(); }
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); } }