// // Copyright (c) 2008-2015 the Urho3D project. // Copyright (c) 2015 Xamarin Inc // Copyright (c) 2016 THUNDERBEAST GAMES LLC // // Permission is hereby granted, free of charge, to any person obtaining a copy // of this software and associated documentation files (the "Software"), to deal // in the Software without restriction, including without limitation the rights // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell // copies of the Software, and to permit persons to whom the Software is // furnished to do so, subject to the following conditions: // // The above copyright notice and this permission notice shall be included in // all copies or substantial portions of the Software. // // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN // THE SOFTWARE. // using System; using AtomicEngine; namespace FeatureExamples { class Ragdoll : CSComponent { public void Start() { SubscribeToEvent(Node, HandleNodeCollision); } void HandleNodeCollision(NodeCollisionEvent e) { // Get the other colliding body, make sure it is moving (has nonzero mass) RigidBody otherBody = e.OtherBody; if (otherBody.Mass > 0.0f) { // We do not need the physics components in the AnimatedModel's root scene node anymore Node.RemoveComponent(); Node.RemoveComponent(); // Create RigidBody & CollisionShape components to bones CreateRagdollBone("Bip01_Pelvis", ShapeType.SHAPE_BOX, new Vector3(0.3f, 0.2f, 0.25f), new Vector3(0.0f, 0.0f, 0.0f), new Quaternion(0.0f, 0.0f, 0.0f)); CreateRagdollBone("Bip01_Spine1", ShapeType.SHAPE_BOX, new Vector3(0.35f, 0.2f, 0.3f), new Vector3(0.15f, 0.0f, 0.0f), new Quaternion(0.0f, 0.0f, 0.0f)); CreateRagdollBone("Bip01_L_Thigh", ShapeType.SHAPE_CAPSULE, new Vector3(0.175f, 0.45f, 0.175f), new Vector3(0.25f, 0.0f, 0.0f), new Quaternion(0.0f, 0.0f, 90.0f)); CreateRagdollBone("Bip01_R_Thigh", ShapeType.SHAPE_CAPSULE, new Vector3(0.175f, 0.45f, 0.175f), new Vector3(0.25f, 0.0f, 0.0f), new Quaternion(0.0f, 0.0f, 90.0f)); CreateRagdollBone("Bip01_L_Calf", ShapeType.SHAPE_CAPSULE, new Vector3(0.15f, 0.55f, 0.15f), new Vector3(0.25f, 0.0f, 0.0f), new Quaternion(0.0f, 0.0f, 90.0f)); CreateRagdollBone("Bip01_R_Calf", ShapeType.SHAPE_CAPSULE, new Vector3(0.15f, 0.55f, 0.15f), new Vector3(0.25f, 0.0f, 0.0f), new Quaternion(0.0f, 0.0f, 90.0f)); CreateRagdollBone("Bip01_Head", ShapeType.SHAPE_BOX, new Vector3(0.2f, 0.2f, 0.2f), new Vector3(0.1f, 0.0f, 0.0f), new Quaternion(0.0f, 0.0f, 0.0f)); CreateRagdollBone("Bip01_L_UpperArm", ShapeType.SHAPE_CAPSULE, new Vector3(0.15f, 0.35f, 0.15f), new Vector3(0.1f, 0.0f, 0.0f), new Quaternion(0.0f, 0.0f, 90.0f)); CreateRagdollBone("Bip01_R_UpperArm", ShapeType.SHAPE_CAPSULE, new Vector3(0.15f, 0.35f, 0.15f), new Vector3(0.1f, 0.0f, 0.0f), new Quaternion(0.0f, 0.0f, 90.0f)); CreateRagdollBone("Bip01_L_Forearm", ShapeType.SHAPE_CAPSULE, new Vector3(0.125f, 0.4f, 0.125f), new Vector3(0.2f, 0.0f, 0.0f), new Quaternion(0.0f, 0.0f, 90.0f)); CreateRagdollBone("Bip01_R_Forearm", ShapeType.SHAPE_CAPSULE, new Vector3(0.125f, 0.4f, 0.125f), new Vector3(0.2f, 0.0f, 0.0f), new Quaternion(0.0f, 0.0f, 90.0f)); Vector3 back = new Vector3(0f, 0f, -1f); Vector3 forward = new Vector3(0f, 0f, 1f); Vector3 left = new Vector3(-1f, 0f, 0f); Vector3 down = new Vector3(0f, -1f, 0f); Vector3 up = new Vector3(0f, 1f, 0f); // Create Constraints between bones CreateRagdollConstraint("Bip01_L_Thigh", "Bip01_Pelvis", ConstraintType.CONSTRAINT_CONETWIST, back, forward, new Vector2(45.0f, 45.0f), Vector2.Zero); CreateRagdollConstraint("Bip01_R_Thigh", "Bip01_Pelvis", ConstraintType.CONSTRAINT_CONETWIST, back, forward, new Vector2(45.0f, 45.0f), Vector2.Zero); CreateRagdollConstraint("Bip01_L_Calf", "Bip01_L_Thigh", ConstraintType.CONSTRAINT_HINGE, back, back, new Vector2(90.0f, 0.0f), Vector2.Zero); CreateRagdollConstraint("Bip01_R_Calf", "Bip01_R_Thigh", ConstraintType.CONSTRAINT_HINGE, back, back, new Vector2(90.0f, 0.0f), Vector2.Zero); CreateRagdollConstraint("Bip01_Spine1", "Bip01_Pelvis", ConstraintType.CONSTRAINT_HINGE, forward, forward, new Vector2(45.0f, 0.0f), new Vector2(-10.0f, 0.0f)); CreateRagdollConstraint("Bip01_Head", "Bip01_Spine1", ConstraintType.CONSTRAINT_CONETWIST, left, left, new Vector2(0.0f, 30.0f), Vector2.Zero); CreateRagdollConstraint("Bip01_L_UpperArm", "Bip01_Spine1", ConstraintType.CONSTRAINT_CONETWIST, down, up, new Vector2(45.0f, 45.0f), Vector2.Zero, false); CreateRagdollConstraint("Bip01_R_UpperArm", "Bip01_Spine1", ConstraintType.CONSTRAINT_CONETWIST, down, up, new Vector2(45.0f, 45.0f), Vector2.Zero, false); CreateRagdollConstraint("Bip01_L_Forearm", "Bip01_L_UpperArm", ConstraintType.CONSTRAINT_HINGE, back, back, new Vector2(90.0f, 0.0f), Vector2.Zero); CreateRagdollConstraint("Bip01_R_Forearm", "Bip01_R_UpperArm", ConstraintType.CONSTRAINT_HINGE, back, back, new Vector2(90.0f, 0.0f), Vector2.Zero); // Disable keyframe animation from all bones so that they will not interfere with the ragdoll AnimatedModel model = GetComponent(); Skeleton skeleton = model.Skeleton; for (uint i = 0; i < skeleton.GetNumBones(); ++i) { skeleton.GetBone(i).Animated = false; } // Finally remove self from the scene node. Note that this must be the last operation performed in the function Remove(); } } void CreateRagdollBone(string boneName, ShapeType type, Vector3 size, Vector3 position, Quaternion rotation) { // Find the correct child scene node recursively Node boneNode = Node.GetChild(boneName, true); if (boneNode == null) { Log.Warn($"Could not find bone {boneName} for creating ragdoll physics components"); return; } RigidBody body = boneNode.CreateComponent(); // Set mass to make movable body.Mass = 1.0f; // Set damping parameters to smooth out the motion body.LinearDamping = 0.05f; body.AngularDamping = 0.85f; // Set rest thresholds to ensure the ragdoll rigid bodies come to rest to not consume CPU endlessly body.LinearRestThreshold = 1.5f; body.AngularRestThreshold = 2.5f; CollisionShape shape = boneNode.CreateComponent(); // We use either a box or a capsule shape for all of the bones if (type == ShapeType.SHAPE_BOX) shape.SetBox(size, position, rotation); else shape.SetCapsule(size.X, size.Y, position, rotation); } void CreateRagdollConstraint(string boneName, string parentName, ConstraintType type, Vector3 axis, Vector3 parentAxis, Vector2 highLimit, Vector2 lowLimit, bool disableCollision = true) { Node boneNode = Node.GetChild(boneName, true); Node parentNode = Node.GetChild(parentName, true); if (boneNode == null) { Log.Warn($"Could not find bone {boneName} for creating ragdoll constraint"); return; } if (parentNode == null) { Log.Warn($"Could not find bone {parentName} for creating ragdoll constraint"); return; } Constraint constraint = boneNode.CreateComponent(); constraint.ConstraintType = type; // Most of the constraints in the ragdoll will work better when the connected bodies don't collide against each other constraint.DisableCollision = disableCollision; // The connected body must be specified before setting the world position constraint.OtherBody = parentNode.GetComponent(); // Position the constraint at the child bone we are connecting constraint.SetWorldPosition(boneNode.WorldPosition); // Configure axes and limits constraint.SetAxis(axis); constraint.SetOtherAxis(parentAxis); constraint.HighLimit = highLimit; constraint.LowLimit = lowLimit; } } }