363 lines
13 KiB
C
363 lines
13 KiB
C
/* SPDX-FileCopyrightText: 2013 Blender Authors
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*
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* SPDX-License-Identifier: GPL-2.0-or-later */
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/** \file
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* \ingroup intern_rigidbody
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* \brief Rigid Body API for interfacing with external Physics Engines
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*/
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#ifndef __RB_API_H__
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#define __RB_API_H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* API Notes:
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* Currently, this API is optimized for Bullet RigidBodies, and doesn't
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* take into account other Physics Engines. Some tweaking may be necessary
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* to allow other systems to be used, in particular there may be references
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* to datatypes that aren't used here...
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*
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* -- Joshua Leung (22 June 2010)
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*/
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/* ********************************** */
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/* Partial Type Defines - Aliases for the type of data we store */
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// ----------
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/* Dynamics World */
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typedef struct rbDynamicsWorld rbDynamicsWorld;
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/* Rigid Body */
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typedef struct rbRigidBody rbRigidBody;
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/* Collision Shape */
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typedef struct rbCollisionShape rbCollisionShape;
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/* Mesh Data (for Collision Shapes of Meshes) */
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typedef struct rbMeshData rbMeshData;
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/* Constraint */
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typedef struct rbConstraint rbConstraint;
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/* ********************************** */
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/* Dynamics World Methods */
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/* Setup ---------------------------- */
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/* Create a new dynamics world instance */
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/* TODO: add args to set the type of constraint solvers, etc. */
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rbDynamicsWorld *RB_dworld_new(const float gravity[3]);
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/* Delete the given dynamics world, and free any extra data it may require */
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void RB_dworld_delete(rbDynamicsWorld *world);
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/* Settings ------------------------- */
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/* Gravity */
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void RB_dworld_get_gravity(rbDynamicsWorld *world, float g_out[3]);
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void RB_dworld_set_gravity(rbDynamicsWorld *world, const float g_in[3]);
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/* Constraint Solver */
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void RB_dworld_set_solver_iterations(rbDynamicsWorld *world, int num_solver_iterations);
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/* Split Impulse */
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void RB_dworld_set_split_impulse(rbDynamicsWorld *world, int split_impulse);
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/* Simulation ----------------------- */
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/* Step the simulation by the desired amount (in seconds) with extra controls on substep sizes and
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* maximum substeps */
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void RB_dworld_step_simulation(rbDynamicsWorld *world,
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float timeStep,
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int maxSubSteps,
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float timeSubStep);
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/* Export -------------------------- */
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/* Exports the dynamics world to physics simulator's serialisation format */
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void RB_dworld_export(rbDynamicsWorld *world, const char *filename);
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/* ********************************** */
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/* Rigid Body Methods */
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/* Setup ---------------------------- */
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/* Add RigidBody to dynamics world */
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void RB_dworld_add_body(rbDynamicsWorld *world, rbRigidBody *body, int col_groups);
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/* Remove RigidBody from dynamics world */
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void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *body);
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/* Collision detection */
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void RB_world_convex_sweep_test(rbDynamicsWorld *world,
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rbRigidBody *object,
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const float loc_start[3],
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const float loc_end[3],
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float v_location[3],
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float v_hitpoint[3],
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float v_normal[3],
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int *r_hit);
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/* ............ */
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/* Create new RigidBody instance */
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rbRigidBody *RB_body_new(rbCollisionShape *shape, const float loc[3], const float rot[4]);
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/* Delete the given RigidBody instance */
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void RB_body_delete(rbRigidBody *body);
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/* Settings ------------------------- */
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/* 'Type' */
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void RB_body_set_type(rbRigidBody *body, int type, float mass);
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/* ............ */
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/* Collision Shape */
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void RB_body_set_collision_shape(rbRigidBody *body, rbCollisionShape *shape);
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/* ............ */
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/* Mass */
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float RB_body_get_mass(rbRigidBody *body);
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void RB_body_set_mass(rbRigidBody *body, float value);
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/* Friction */
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float RB_body_get_friction(rbRigidBody *body);
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void RB_body_set_friction(rbRigidBody *body, float value);
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/* Restitution */
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float RB_body_get_restitution(rbRigidBody *body);
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void RB_body_set_restitution(rbRigidBody *body, float value);
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/* Damping */
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float RB_body_get_linear_damping(rbRigidBody *body);
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void RB_body_set_linear_damping(rbRigidBody *body, float value);
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float RB_body_get_angular_damping(rbRigidBody *body);
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void RB_body_set_angular_damping(rbRigidBody *body, float value);
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void RB_body_set_damping(rbRigidBody *object, float linear, float angular);
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/* Sleeping Thresholds */
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float RB_body_get_linear_sleep_thresh(rbRigidBody *body);
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void RB_body_set_linear_sleep_thresh(rbRigidBody *body, float value);
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float RB_body_get_angular_sleep_thresh(rbRigidBody *body);
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void RB_body_set_angular_sleep_thresh(rbRigidBody *body, float value);
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void RB_body_set_sleep_thresh(rbRigidBody *body, float linear, float angular);
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/* Linear Velocity */
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void RB_body_get_linear_velocity(rbRigidBody *body, float v_out[3]);
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void RB_body_set_linear_velocity(rbRigidBody *body, const float v_in[3]);
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/* Angular Velocity */
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void RB_body_get_angular_velocity(rbRigidBody *body, float v_out[3]);
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void RB_body_set_angular_velocity(rbRigidBody *body, const float v_in[3]);
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/* Linear/Angular Factor, used to lock translation/rotation axes */
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void RB_body_set_linear_factor(rbRigidBody *object, float x, float y, float z);
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void RB_body_set_angular_factor(rbRigidBody *object, float x, float y, float z);
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/* Kinematic State */
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void RB_body_set_kinematic_state(rbRigidBody *body, int kinematic);
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/* RigidBody Interface - Rigid Body Activation States */
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int RB_body_get_activation_state(rbRigidBody *body);
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void RB_body_set_activation_state(rbRigidBody *body, int use_deactivation);
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void RB_body_activate(rbRigidBody *body);
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void RB_body_deactivate(rbRigidBody *body);
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/* Simulation ----------------------- */
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/* Get current transform matrix of RigidBody to use in Blender (OpenGL format) */
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void RB_body_get_transform_matrix(rbRigidBody *body, float m_out[4][4]);
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/* Set RigidBody's location and rotation */
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void RB_body_set_loc_rot(rbRigidBody *body, const float loc[3], const float rot[4]);
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/* Set RigidBody's local scaling */
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void RB_body_set_scale(rbRigidBody *body, const float scale[3]);
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/* ............ */
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/* Get RigidBody's position as a vector */
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void RB_body_get_position(rbRigidBody *body, float v_out[3]);
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/* Get RigidBody's orientation as a quaternion */
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void RB_body_get_orientation(rbRigidBody *body, float v_out[4]);
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/* Get RigidBody's local scale as a vector */
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void RB_body_get_scale(rbRigidBody *object, float v_out[3]);
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/* ............ */
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void RB_body_apply_central_force(rbRigidBody *body, const float v_in[3]);
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/* ********************************** */
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/* Collision Shape Methods */
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/* Setup (Standard Shapes) ----------- */
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rbCollisionShape *RB_shape_new_box(float x, float y, float z);
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rbCollisionShape *RB_shape_new_sphere(float radius);
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rbCollisionShape *RB_shape_new_capsule(float radius, float height);
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rbCollisionShape *RB_shape_new_cone(float radius, float height);
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rbCollisionShape *RB_shape_new_cylinder(float radius, float height);
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/* Setup (Convex Hull) ------------ */
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rbCollisionShape *RB_shape_new_convex_hull(
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float *verts, int stride, int count, float margin, bool *can_embed);
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/* Setup (Triangle Mesh) ---------- */
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/* 1 */
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rbMeshData *RB_trimesh_data_new(int num_tris, int num_verts);
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void RB_trimesh_add_vertices(rbMeshData *mesh, float *vertices, int num_verts, int vert_stride);
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void RB_trimesh_add_triangle_indices(
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rbMeshData *mesh, int num, int index0, int index1, int index2);
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void RB_trimesh_finish(rbMeshData *mesh);
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/* 2a - Triangle Meshes */
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rbCollisionShape *RB_shape_new_trimesh(rbMeshData *mesh);
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/* 2b - GImpact Meshes */
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rbCollisionShape *RB_shape_new_gimpact_mesh(rbMeshData *mesh);
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/* Compound Shape ---------------- */
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rbCollisionShape *RB_shape_new_compound(void);
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void RB_compound_add_child_shape(rbCollisionShape *collisionShape,
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rbCollisionShape *shape,
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const float loc[3],
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const float rot[4]);
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/* Cleanup --------------------------- */
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void RB_shape_delete(rbCollisionShape *shape);
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/* Settings --------------------------- */
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/* Collision Margin */
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float RB_shape_get_margin(rbCollisionShape *shape);
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void RB_shape_set_margin(rbCollisionShape *shape, float value);
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void RB_shape_trimesh_update(rbCollisionShape *shape,
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float *vertices,
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int num_verts,
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int vert_stride,
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const float min[3],
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const float max[3]);
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/* ********************************** */
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/* Constraints */
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/* Setup ----------------------------- */
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/* Add Rigid Body Constraint to simulation world */
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void RB_dworld_add_constraint(rbDynamicsWorld *world, rbConstraint *con, int disable_collisions);
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/* Remove Rigid Body Constraint from simulation world */
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void RB_dworld_remove_constraint(rbDynamicsWorld *world, rbConstraint *con);
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rbConstraint *RB_constraint_new_point(float pivot[3], rbRigidBody *rb1, rbRigidBody *rb2);
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rbConstraint *RB_constraint_new_fixed(float pivot[3],
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float orn[4],
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rbRigidBody *rb1,
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rbRigidBody *rb2);
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rbConstraint *RB_constraint_new_hinge(float pivot[3],
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float orn[4],
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rbRigidBody *rb1,
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rbRigidBody *rb2);
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rbConstraint *RB_constraint_new_slider(float pivot[3],
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float orn[4],
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rbRigidBody *rb1,
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rbRigidBody *rb2);
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rbConstraint *RB_constraint_new_piston(float pivot[3],
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float orn[4],
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rbRigidBody *rb1,
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rbRigidBody *rb2);
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rbConstraint *RB_constraint_new_6dof(float pivot[3],
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float orn[4],
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rbRigidBody *rb1,
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rbRigidBody *rb2);
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rbConstraint *RB_constraint_new_6dof_spring(float pivot[3],
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float orn[4],
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rbRigidBody *rb1,
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rbRigidBody *rb2);
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rbConstraint *RB_constraint_new_6dof_spring2(float pivot[3],
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float orn[4],
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rbRigidBody *rb1,
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rbRigidBody *rb2);
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rbConstraint *RB_constraint_new_motor(float pivot[3],
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float orn[4],
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rbRigidBody *rb1,
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rbRigidBody *rb2);
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/* ............ */
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/* Cleanup --------------------------- */
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void RB_constraint_delete(rbConstraint *con);
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/* Settings --------------------------- */
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/* Enable or disable constraint */
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void RB_constraint_set_enabled(rbConstraint *con, int enabled);
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/* Limits */
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#define RB_LIMIT_LIN_X 0
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#define RB_LIMIT_LIN_Y 1
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#define RB_LIMIT_LIN_Z 2
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#define RB_LIMIT_ANG_X 3
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#define RB_LIMIT_ANG_Y 4
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#define RB_LIMIT_ANG_Z 5
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/* Bullet uses the following convention:
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* - lower limit == upper limit -> axis is locked
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* - lower limit > upper limit -> axis is free
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* - lower limit < upper limit -> axis is limited in given range
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*/
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void RB_constraint_set_limits_hinge(rbConstraint *con, float lower, float upper);
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void RB_constraint_set_limits_slider(rbConstraint *con, float lower, float upper);
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void RB_constraint_set_limits_piston(
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rbConstraint *con, float lin_lower, float lin_upper, float ang_lower, float ang_upper);
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void RB_constraint_set_limits_6dof(rbConstraint *con, int axis, float lower, float upper);
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/* 6dof spring specific */
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void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, int axis, float stiffness);
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void RB_constraint_set_damping_6dof_spring(rbConstraint *con, int axis, float damping);
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void RB_constraint_set_spring_6dof_spring(rbConstraint *con, int axis, int enable);
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void RB_constraint_set_equilibrium_6dof_spring(rbConstraint *con);
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/* 6dof spring 2 specific */
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void RB_constraint_set_limits_6dof_spring2(rbConstraint *con, int axis, float lower, float upper);
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void RB_constraint_set_stiffness_6dof_spring2(rbConstraint *con, int axis, float stiffness);
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void RB_constraint_set_damping_6dof_spring2(rbConstraint *con, int axis, float damping);
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void RB_constraint_set_spring_6dof_spring2(rbConstraint *con, int axis, int enable);
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void RB_constraint_set_equilibrium_6dof_spring2(rbConstraint *con);
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/* motors */
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void RB_constraint_set_enable_motor(rbConstraint *con, int enable_lin, int enable_ang);
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void RB_constraint_set_max_impulse_motor(rbConstraint *con,
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float max_impulse_lin,
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float max_impulse_ang);
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void RB_constraint_set_target_velocity_motor(rbConstraint *con,
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float velocity_lin,
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float velocity_ang);
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/* Set number of constraint solver iterations made per step, this overrided world setting
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* To use default set it to -1 */
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void RB_constraint_set_solver_iterations(rbConstraint *con, int num_solver_iterations);
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/* Set breaking impulse threshold, if constraint shouldn't break it can be set to FLT_MAX */
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void RB_constraint_set_breaking_threshold(rbConstraint *con, float threshold);
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/* ********************************** */
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#ifdef __cplusplus
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}
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#endif
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#endif /* __RB_API_H__ */
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