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); }
private void InitializeModelAndRagdoll() { // Load Dude model. var contentManager = Services.GetInstance<ContentManager>(); var dudeModelNode = contentManager.Load<ModelNode>("Dude/Dude"); _meshNode = dudeModelNode.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); // Disable sleeping. foreach (var body in _ragdoll.Bodies) { if (body != null) { body.CanSleep = false; //body.CollisionResponseEnabled = false; } } // The pelvis bone (index 1) is updated directly from the Kinect hip center. _ragdoll.Bodies[1].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 = 100; motor.ConstraintSpring = 0; } } _ragdoll.EnableMotors(); // Add rigid bodies and the constraints of the ragdoll to the simulation. _ragdoll.AddToSimulation(Simulation); }
private void InitializeModel() { // Load dude model including the skeleton. _model = Game.Content.Load<Model>("Dude"); var additionalData = (Dictionary<string, object>)_model.Tag; var ragdollSkeleton = (DRSkeleton)additionalData["Skeleton"]; _skeletonPose = SkeletonPose.Create(ragdollSkeleton); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_skeletonPose, _ragdoll, Simulation, 0.57f); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.UpdateBodiesFromSkeleton(_skeletonPose); // Disable sleeping. foreach (var body in _ragdoll.Bodies) { if (body != null) body.CanSleep = false; } // The pelvis bone (index 1) is updated directly from the Kinect hip center. _ragdoll.Bodies[1].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 = 100; motor.ConstraintSpring = 0; } } _ragdoll.EnableMotors(); // Add rigid bodies and the constraints of the ragdoll to the simulation. _ragdoll.AddToSimulation(Simulation); }
protected override void LoadContent() { // Add a ground plane to the simulation. Simulation.RigidBodies.Add( new RigidBody(new PlaneShape(Vector3F.UnitY, 0)) { MotionType = MotionType.Static }); // Load model. _model = Game.Content.Load<Model>("Dude"); var additionalData = (Dictionary<string, object>)_model.Tag; var skeleton = (Skeleton)additionalData["Skeleton"]; // Create the two skeleton poses. _targetSkeletonPose = SkeletonPose.Create(skeleton); _actualSkeletonPose = SkeletonPose.Create(skeleton); // Animate the _targetSkeletonPose. 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)_targetSkeletonPose); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_targetSkeletonPose, _ragdoll, Simulation); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _pose; _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); base.LoadContent(); }
public override void Update(GameTime gameTime) { base.Update(gameTime); if (_avatarPose == null) { if (_avatarRenderer.State == AvatarRendererState.Ready) { _avatarPose = new AvatarPose(_avatarRenderer); // Create a ragdoll for the avatar. _ragdoll = Ragdoll.CreateAvatarRagdoll(_avatarPose, Simulation); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _pose; _ragdoll.UpdateBodiesFromSkeleton(_avatarPose.SkeletonPose); // In this sample we use a passive ragdoll where we need joints to hold the // limbs together and limits to control the 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); } } }
protected override void LoadContent() { // Add a ground plane to the simulation. Simulation.RigidBodies.Add( new RigidBody(new PlaneShape(Vector3F.UnitY, 0)) { MotionType = MotionType.Static }); // 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, }; var animationController = AnimationService.StartAnimation(loopingAnimation, (IAnimatableProperty)_skeletonPose); animationController.UpdateAndApply(); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_skeletonPose, _ragdoll, Simulation); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _pose; _ragdoll.UpdateBodiesFromSkeleton(_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); base.LoadContent(); }
protected override void LoadContent() { // Add a ground plane to the simulation. Simulation.RigidBodies.Add( new RigidBody(new PlaneShape(Vector3F.UnitY, 0)) { MotionType = MotionType.Static }); _basicEffect = new BasicEffect(GraphicsDevice); _model = Game.Content.Load<Model>("Dude"); var additionalData = (Dictionary<string, object>)_model.Tag; var skeleton = (Skeleton)additionalData["Skeleton"]; _skeletonPose = SkeletonPose.Create(skeleton); // Create a ragdoll for the Dude model. _ragdoll = new Ragdoll(); DudeRagdollCreator.Create(_skeletonPose, _ragdoll, Simulation); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _pose; _ragdoll.UpdateBodiesFromSkeleton(_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); base.LoadContent(); }
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 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 override void Update(GameTime gameTime) { if (_avatarPose == null) { if (_avatarRenderer.State == AvatarRendererState.Ready) { _avatarPose = new AvatarPose(_avatarRenderer); // Create a ragdoll for the avatar. _ragdoll = Ragdoll.CreateAvatarRagdoll(_avatarPose, Simulation); // Set the world space pose of the whole ragdoll. And copy the bone poses of the // current skeleton pose. _ragdoll.Pose = _pose; _ragdoll.UpdateBodiesFromSkeleton(_avatarPose.SkeletonPose); // In this sample we use a passive ragdoll where we need joints to hold the // limbs together and limits to control the 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); } } else { // Copy skeleton pose from ragdoll. _ragdoll.UpdateSkeletonFromBodies(_avatarPose.SkeletonPose); } // Render rigid bodies. _debugRenderer.Clear(); foreach (var body in Simulation.RigidBodies) if (!(body.Shape is EmptyShape)) // Do not draw dummy bodies which might be used by the ragdoll. _debugRenderer.DrawObject(body, Color.Black, true, false); }