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- // Inverse Kinematics
- // This sample demonstrates how to use the IK solver to create "grounders" for a walking character on a slope.
- #include "Scripts/Utilities/Sample.as"
- Node@ cameraRotateNode_;
- Node@ floorNode_;
- float floorPitch_ = 0.0f;
- float floorRoll_ = 0.0f;
- bool drawDebug_ = false;
- class NPC
- {
- void Setup(Scene@ scene)
- {
- // Load Jack animated model
- node_ = scene.CreateChild("Jack");
- node_.rotation = Quaternion(0.0f, 270.0f, 0.0f);
- AnimatedModel@ jack = node_.CreateComponent("AnimatedModel");
- jack.model = cache.GetResource("Model", "Models/Jack.mdl");
- jack.material = cache.GetResource("Material", "Materials/Jack.xml");
- jack.castShadows = true;
- // Create animation controller and play walk animation
- jackAnimCtrl_ = node_.CreateComponent("AnimationController");
- jackAnimCtrl_.PlayExclusive("Models/Jack_Walk.ani", 0, true, 0.0f);
- // We need to attach two inverse kinematic effectors to Jack's feet to
- // control the grounding.
- Node@ leftFoot = node_.GetChild("Bip01_L_Foot", true);
- Node@ rightFoot = node_.GetChild("Bip01_R_Foot", true);
- leftEffector_ = leftFoot.CreateComponent("IKEffector");
- rightEffector_ = rightFoot.CreateComponent("IKEffector");
- // Control 2 segments up to the hips
- leftEffector_.chainLength = 2;
- rightEffector_.chainLength = 2;
- // For the effectors to work, an IKSolver needs to be attached to one of
- // the parent nodes. Typically, you want to place the solver as close as
- // possible to the effectors for optimal performance. Since in this case
- // we're solving the legs only, we can place the solver at the spine.
- Node@ spine = node_.GetChild("Bip01_Spine", true);
- solver_ = spine.CreateComponent("IKSolver");
- // Two-bone solver is more efficient and more stable than FABRIK (but only
- // works for two bones, obviously).
- solver_.algorithm = IKAlgorithm::TWO_BONE;
- // Disable auto-solving, which means we can call Solve() manually.
- solver_.SetFeature(IKFeature::AUTO_SOLVE, false);
- // Only enable this so the debug draw shows us the pose before solving.
- // This should NOT be enabled for any other reason (it does nothing and is
- // a waste of performance).
- solver_.SetFeature(IKFeature::UPDATE_ORIGINAL_POSE, true);
- SubscribeToEvent("PostRenderUpdate", "HandlePostRenderUpdate");
- SubscribeToEvent("SceneDrawableUpdateFinished", "HandleSceneDrawableUpdateFinished");
- }
- void HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
- {
- if (drawDebug_)
- solver_.DrawDebugGeometry(false);
- }
- void HandleSceneDrawableUpdateFinished(StringHash eventType, VariantMap& eventData)
- {
- Vector3 leftFootPosition = leftEffector_.node.worldPosition;
- Vector3 rightFootPosition = rightEffector_.node.worldPosition;
- // Cast ray down to position NPC on ground
- PhysicsRaycastResult result = scene_.physicsWorld.RaycastSingle(Ray(node_.position + Vector3(0, 5, 0), Vector3(0, -1, 0)), 10);
- if (result.body !is null)
- {
- node_.position = result.position;
- }
- // Cast ray down to get the normal of the underlying surface
- result = scene_.physicsWorld.RaycastSingle(Ray(leftFootPosition + Vector3(0, 1, 0), Vector3(0, -1, 0)), 2);
- if (result.body !is null)
- {
- // Cast again, but this time along the normal. Set the target position
- // to the ray intersection
- result = scene_.physicsWorld.RaycastSingle(Ray(leftFootPosition + result.normal, -result.normal), 2);
- // The foot node has an offset relative to the root node
- float footOffset = leftEffector_.node.worldPosition.y - node_.worldPosition.y;
- leftEffector_.targetPosition = result.position + result.normal * footOffset;
- // Rotate foot according to normal
- leftEffector_.node.Rotate(Quaternion(Vector3(0, 1, 0), result.normal), TS_WORLD);
- }
- // Same deal with the right foot
- result = scene_.physicsWorld.RaycastSingle(Ray(rightFootPosition + Vector3(0, 1, 0), Vector3(0, -1, 0)), 2);
- if (result.body !is null)
- {
- result = scene_.physicsWorld.RaycastSingle(Ray(rightFootPosition + result.normal, -result.normal), 2);
- float footOffset = rightEffector_.node.worldPosition.y - node_.worldPosition.y;
- rightEffector_.targetPosition = result.position + result.normal * footOffset;
- rightEffector_.node.Rotate(Quaternion(Vector3(0, 1, 0), result.normal), TS_WORLD);
- }
- solver_.Solve();
- }
- AnimationController@ jackAnimCtrl_;
- Node@ node_;
- IKEffector@ leftEffector_;
- IKEffector@ rightEffector_;
- IKSolver@ solver_;
- }
- Array<NPC> npcs_;
- void Start()
- {
- cache.autoReloadResources = true;
- // Execute the common startup for samples
- SampleStart();
- // Create the scene content
- CreateScene();
- // Create the UI content
- CreateInstructions();
- // Setup the viewport for displaying the scene
- SetupViewport();
- // Set the mouse mode to use in the sample
- SampleInitMouseMode(MM_RELATIVE);
- // Hook up to the frame update events
- SubscribeToEvents();
- }
- void CreateScene()
- {
- scene_ = Scene();
- // Create octree, use default volume (-1000, -1000, -1000) to (1000, 1000, 1000)
- scene_.CreateComponent("Octree");
- scene_.CreateComponent("DebugRenderer");
- scene_.CreateComponent("PhysicsWorld");
- // Create scene node & StaticModel component for showing a static plane
- floorNode_ = scene_.CreateChild("Plane");
- floorNode_.scale = Vector3(50.0f, 1.0f, 50.0f);
- StaticModel@ planeObject = floorNode_.CreateComponent("StaticModel");
- planeObject.model = cache.GetResource("Model", "Models/Plane.mdl");
- planeObject.material = cache.GetResource("Material", "Materials/StoneTiled.xml");
- // Set up collision, we need to raycast to determine foot height
- floorNode_.CreateComponent("RigidBody");
- CollisionShape@ col = floorNode_.CreateComponent("CollisionShape");
- col.SetBox(Vector3(1, 0, 1));
- // Create a directional light to the world.
- Node@ lightNode = scene_.CreateChild("DirectionalLight");
- lightNode.direction = Vector3(0.6f, -1.0f, 0.8f); // The direction vector does not need to be normalized
- Light@ light = lightNode.CreateComponent("Light");
- light.lightType = LIGHT_DIRECTIONAL;
- light.castShadows = true;
- light.shadowBias = BiasParameters(0.00005f, 0.5f);
- // Set cascade splits at 10, 50 and 200 world units, fade shadows out at 80% of maximum shadow distance
- light.shadowCascade = CascadeParameters(10.0f, 50.0f, 200.0f, 0.0f, 0.8f);
- npcs_.Resize(25);
- for (int x = 0; x < 5; x++)
- {
- for (int y = 0; y < 5; y++)
- {
- npcs_[x*5+y].Setup(scene_);
- npcs_[x*5+y].node_.position = Vector3((x-2), 0, (y-2));
- }
- }
- // Create the camera.
- cameraRotateNode_ = scene_.CreateChild("CameraRotate");
- cameraNode = cameraRotateNode_.CreateChild("Camera");
- cameraNode.CreateComponent("Camera");
- // Set an initial position for the camera scene node above the plane
- cameraNode.position = Vector3(0.0f, 0.0f, -10.0f);
- cameraRotateNode_.position = Vector3(0.0f, 0.4f, 0.0f);
- pitch = 20.0f;
- yaw = 50.0f;
- }
- void CreateInstructions()
- {
- // Construct new Text object, set string to display and font to use
- Text@ instructionText = ui.root.CreateChild("Text");
- instructionText.text = "Left-Click and drag to look around\nRight-Click and drag to change incline\nPress space to reset floor\nPress D to draw debug geometry";
- instructionText.SetFont(cache.GetResource("Font", "Fonts/Anonymous Pro.ttf"), 15);
- // Position the text relative to the screen center
- instructionText.horizontalAlignment = HA_CENTER;
- instructionText.verticalAlignment = VA_CENTER;
- instructionText.SetPosition(0, ui.root.height / 4);
- }
- void SetupViewport()
- {
- // Set up a viewport to the Renderer subsystem so that the 3D scene can be seen. We need to define the scene and the camera
- // at minimum. Additionally we could configure the viewport screen size and the rendering path (eg. forward / deferred) to
- // use, but now we just use full screen and default render path configured in the engine command line options
- Viewport@ viewport = Viewport(scene_, cameraNode.GetComponent("Camera"));
- renderer.viewports[0] = viewport;
- }
- void UpdateCameraAndFloor(float timeStep)
- {
- // Do not move if the UI has a focused element (the console)
- if (ui.focusElement !is null)
- return;
- // Mouse sensitivity as degrees per pixel
- const float MOUSE_SENSITIVITY = 0.1f;
- // Use this frame's mouse motion to adjust camera node yaw and pitch. Clamp the pitch between -90 and 90 degrees
- if (input.mouseButtonDown[MOUSEB_LEFT])
- {
- IntVector2 mouseMove = input.mouseMove;
- yaw += MOUSE_SENSITIVITY * mouseMove.x;
- pitch += MOUSE_SENSITIVITY * mouseMove.y;
- pitch = Clamp(pitch, -90.0f, 90.0f);
- }
- if (input.mouseButtonDown[MOUSEB_RIGHT])
- {
- IntVector2 mouseMoveInt = input.mouseMove;
- Vector2 mouseMove = Matrix2(
- -Cos(yaw), Sin(yaw),
- Sin(yaw), Cos(yaw)
- ) * Vector2(mouseMoveInt.y, -mouseMoveInt.x);
- floorPitch_ += MOUSE_SENSITIVITY * mouseMove.x;
- floorPitch_ = Clamp(floorPitch_, -90.0f, 90.0f);
- floorRoll_ += MOUSE_SENSITIVITY * mouseMove.y;
- }
- if (input.keyPress[KEY_SPACE])
- {
- floorPitch_ = 0.0f;
- floorRoll_ = 0.0f;
- }
- if (input.keyPress[KEY_D])
- {
- drawDebug_ = !drawDebug_;
- }
- // Construct new orientation for the camera scene node from yaw and pitch. Roll is fixed to zero
- cameraRotateNode_.rotation = Quaternion(pitch, yaw, 0.0f);
- floorNode_.rotation = Quaternion(floorPitch_, 0.0f, floorRoll_);
- }
- void SubscribeToEvents()
- {
- // Subscribe HandleUpdate() function for processing update events
- SubscribeToEvent("Update", "HandleUpdate");
- SubscribeToEvent("PostRenderUpdate", "HandlePostRenderUpdate");
- SubscribeToEvent("SceneDrawableUpdateFinished", "HandleSceneDrawableUpdateFinished");
- }
- void HandleUpdate(StringHash eventType, VariantMap& eventData)
- {
- // Take the frame time step, which is stored as a float
- float timeStep = eventData["TimeStep"].GetFloat();
- // Move the camera, scale movement with time step
- UpdateCameraAndFloor(timeStep);
- }
- // Create XML patch instructions for screen joystick layout specific to this sample app
- String patchInstructions = "";
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