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tornavis/source/blender/blenkernel/intern/rigidbody.c

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/*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2013 Blender Foundation
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): Joshua Leung, Sergej Reich
*
* ***** END GPL LICENSE BLOCK *****
*/
/** \file rigidbody.c
* \ingroup blenkernel
* \brief Blender-side interface and methods for dealing with Rigid Body simulations
*/
#include <stdio.h>
#include <string.h>
#include <stddef.h>
#include <float.h>
#include <math.h>
#include <limits.h>
#include "MEM_guardedalloc.h"
#include "BLI_blenlib.h"
#include "BLI_math.h"
#ifdef WITH_BULLET
# include "RBI_api.h"
#endif
#include "DNA_ID.h"
#include "DNA_group_types.h"
#include "DNA_meshdata_types.h"
#include "DNA_object_types.h"
#include "DNA_object_force_types.h"
#include "DNA_rigidbody_types.h"
#include "DNA_scene_types.h"
#include "BKE_cdderivedmesh.h"
#include "BKE_depsgraph.h"
#include "BKE_effect.h"
#include "BKE_global.h"
#include "BKE_library.h"
#include "BKE_library_query.h"
#include "BKE_mesh.h"
#include "BKE_object.h"
#include "BKE_pointcache.h"
#include "BKE_rigidbody.h"
#include "BKE_scene.h"
#include "DEG_depsgraph.h"
/* ************************************** */
/* Memory Management */
/* Freeing Methods --------------------- */
#ifndef WITH_BULLET
static void RB_dworld_remove_constraint(void *UNUSED(world), void *UNUSED(con)) {}
static void RB_dworld_remove_body(void *UNUSED(world), void *UNUSED(body)) {}
static void RB_dworld_delete(void *UNUSED(world)) {}
static void RB_body_delete(void *UNUSED(body)) {}
static void RB_shape_delete(void *UNUSED(shape)) {}
static void RB_constraint_delete(void *UNUSED(con)) {}
#endif
/* Free rigidbody world */
void BKE_rigidbody_free_world(RigidBodyWorld *rbw)
{
/* sanity check */
if (!rbw)
return;
if (rbw->physics_world) {
/* free physics references, we assume that all physics objects in will have been added to the world */
GroupObject *go;
if (rbw->constraints) {
for (go = rbw->constraints->gobject.first; go; go = go->next) {
if (go->ob && go->ob->rigidbody_constraint) {
RigidBodyCon *rbc = go->ob->rigidbody_constraint;
if (rbc->physics_constraint)
RB_dworld_remove_constraint(rbw->physics_world, rbc->physics_constraint);
}
}
}
if (rbw->group) {
for (go = rbw->group->gobject.first; go; go = go->next) {
if (go->ob && go->ob->rigidbody_object) {
RigidBodyOb *rbo = go->ob->rigidbody_object;
if (rbo->physics_object)
RB_dworld_remove_body(rbw->physics_world, rbo->physics_object);
}
}
}
/* free dynamics world */
RB_dworld_delete(rbw->physics_world);
}
if (rbw->objects)
free(rbw->objects);
/* free cache */
BKE_ptcache_free_list(&(rbw->ptcaches));
rbw->pointcache = NULL;
/* free effector weights */
if (rbw->effector_weights)
MEM_freeN(rbw->effector_weights);
/* free rigidbody world itself */
MEM_freeN(rbw);
}
/* Free RigidBody settings and sim instances */
void BKE_rigidbody_free_object(Object *ob)
{
RigidBodyOb *rbo = (ob) ? ob->rigidbody_object : NULL;
/* sanity check */
if (rbo == NULL)
return;
/* free physics references */
if (rbo->physics_object) {
RB_body_delete(rbo->physics_object);
rbo->physics_object = NULL;
}
if (rbo->physics_shape) {
RB_shape_delete(rbo->physics_shape);
rbo->physics_shape = NULL;
}
/* free data itself */
MEM_freeN(rbo);
ob->rigidbody_object = NULL;
}
/* Free RigidBody constraint and sim instance */
void BKE_rigidbody_free_constraint(Object *ob)
{
RigidBodyCon *rbc = (ob) ? ob->rigidbody_constraint : NULL;
/* sanity check */
if (rbc == NULL)
return;
/* free physics reference */
if (rbc->physics_constraint) {
RB_constraint_delete(rbc->physics_constraint);
rbc->physics_constraint = NULL;
}
/* free data itself */
MEM_freeN(rbc);
ob->rigidbody_constraint = NULL;
}
#ifdef WITH_BULLET
/* Copying Methods --------------------- */
/* These just copy the data, clearing out references to physics objects.
* Anything that uses them MUST verify that the copied object will
* be added to relevant groups later...
*/
RigidBodyOb *BKE_rigidbody_copy_object(const Object *ob, const int UNUSED(flag))
{
RigidBodyOb *rboN = NULL;
if (ob->rigidbody_object) {
/* just duplicate the whole struct first (to catch all the settings) */
rboN = MEM_dupallocN(ob->rigidbody_object);
/* tag object as needing to be verified */
rboN->flag |= RBO_FLAG_NEEDS_VALIDATE;
/* clear out all the fields which need to be revalidated later */
rboN->physics_object = NULL;
rboN->physics_shape = NULL;
}
/* return new copy of settings */
return rboN;
}
RigidBodyCon *BKE_rigidbody_copy_constraint(const Object *ob, const int UNUSED(flag))
{
RigidBodyCon *rbcN = NULL;
if (ob->rigidbody_constraint) {
/* just duplicate the whole struct first (to catch all the settings) */
rbcN = MEM_dupallocN(ob->rigidbody_constraint);
/* tag object as needing to be verified */
rbcN->flag |= RBC_FLAG_NEEDS_VALIDATE;
/* clear out all the fields which need to be revalidated later */
rbcN->physics_constraint = NULL;
}
/* return new copy of settings */
return rbcN;
}
/* ************************************** */
/* Setup Utilities - Validate Sim Instances */
/* get the appropriate DerivedMesh based on rigid body mesh source */
static DerivedMesh *rigidbody_get_mesh(Object *ob)
{
if (ob->rigidbody_object->mesh_source == RBO_MESH_DEFORM) {
return ob->derivedDeform;
}
else if (ob->rigidbody_object->mesh_source == RBO_MESH_FINAL) {
return ob->derivedFinal;
}
else {
return CDDM_from_mesh(ob->data);
}
}
/* create collision shape of mesh - convex hull */
static rbCollisionShape *rigidbody_get_shape_convexhull_from_mesh(Object *ob, float margin, bool *can_embed)
{
rbCollisionShape *shape = NULL;
DerivedMesh *dm = NULL;
MVert *mvert = NULL;
int totvert = 0;
if (ob->type == OB_MESH && ob->data) {
dm = rigidbody_get_mesh(ob);
mvert = (dm) ? dm->getVertArray(dm) : NULL;
totvert = (dm) ? dm->getNumVerts(dm) : 0;
}
else {
printf("ERROR: cannot make Convex Hull collision shape for non-Mesh object\n");
}
if (totvert) {
shape = RB_shape_new_convex_hull((float *)mvert, sizeof(MVert), totvert, margin, can_embed);
}
else {
printf("ERROR: no vertices to define Convex Hull collision shape with\n");
}
if (dm && ob->rigidbody_object->mesh_source == RBO_MESH_BASE)
dm->release(dm);
return shape;
}
/* create collision shape of mesh - triangulated mesh
* returns NULL if creation fails.
*/
static rbCollisionShape *rigidbody_get_shape_trimesh_from_mesh(Object *ob)
{
rbCollisionShape *shape = NULL;
if (ob->type == OB_MESH) {
DerivedMesh *dm = NULL;
MVert *mvert;
const MLoopTri *looptri;
int totvert;
int tottri;
const MLoop *mloop;
dm = rigidbody_get_mesh(ob);
/* ensure mesh validity, then grab data */
if (dm == NULL)
return NULL;
mvert = dm->getVertArray(dm);
totvert = dm->getNumVerts(dm);
looptri = dm->getLoopTriArray(dm);
tottri = dm->getNumLoopTri(dm);
mloop = dm->getLoopArray(dm);
/* sanity checking - potential case when no data will be present */
if ((totvert == 0) || (tottri == 0)) {
printf("WARNING: no geometry data converted for Mesh Collision Shape (ob = %s)\n", ob->id.name + 2);
}
else {
rbMeshData *mdata;
int i;
/* init mesh data for collision shape */
mdata = RB_trimesh_data_new(tottri, totvert);
RB_trimesh_add_vertices(mdata, (float *)mvert, totvert, sizeof(MVert));
/* loop over all faces, adding them as triangles to the collision shape
* (so for some faces, more than triangle will get added)
*/
if (mvert && looptri) {
for (i = 0; i < tottri; i++) {
/* add first triangle - verts 1,2,3 */
const MLoopTri *lt = &looptri[i];
int vtri[3];
vtri[0] = mloop[lt->tri[0]].v;
vtri[1] = mloop[lt->tri[1]].v;
vtri[2] = mloop[lt->tri[2]].v;
RB_trimesh_add_triangle_indices(mdata, i, UNPACK3(vtri));
}
}
RB_trimesh_finish(mdata);
/* construct collision shape
*
* These have been chosen to get better speed/accuracy tradeoffs with regards
* to limitations of each:
* - BVH-Triangle Mesh: for passive objects only. Despite having greater
* speed/accuracy, they cannot be used for moving objects.
* - GImpact Mesh: for active objects. These are slower and less stable,
* but are more flexible for general usage.
*/
if (ob->rigidbody_object->type == RBO_TYPE_PASSIVE) {
shape = RB_shape_new_trimesh(mdata);
}
else {
shape = RB_shape_new_gimpact_mesh(mdata);
}
}
/* cleanup temp data */
if (ob->rigidbody_object->mesh_source == RBO_MESH_BASE) {
dm->release(dm);
}
}
else {
printf("ERROR: cannot make Triangular Mesh collision shape for non-Mesh object\n");
}
return shape;
}
/* Create new physics sim collision shape for object and store it,
* or remove the existing one first and replace...
*/
static void rigidbody_validate_sim_shape(Object *ob, bool rebuild)
{
RigidBodyOb *rbo = ob->rigidbody_object;
rbCollisionShape *new_shape = NULL;
BoundBox *bb = NULL;
float size[3] = {1.0f, 1.0f, 1.0f};
float radius = 1.0f;
float height = 1.0f;
float capsule_height;
float hull_margin = 0.0f;
bool can_embed = true;
bool has_volume;
/* sanity check */
if (rbo == NULL)
return;
/* don't create a new shape if we already have one and don't want to rebuild it */
if (rbo->physics_shape && !rebuild)
return;
/* if automatically determining dimensions, use the Object's boundbox
* - assume that all quadrics are standing upright on local z-axis
* - assume even distribution of mass around the Object's pivot
* (i.e. Object pivot is centralized in boundbox)
*/
// XXX: all dimensions are auto-determined now... later can add stored settings for this
/* get object dimensions without scaling */
bb = BKE_object_boundbox_get(ob);
if (bb) {
size[0] = (bb->vec[4][0] - bb->vec[0][0]);
size[1] = (bb->vec[2][1] - bb->vec[0][1]);
size[2] = (bb->vec[1][2] - bb->vec[0][2]);
}
mul_v3_fl(size, 0.5f);
if (ELEM(rbo->shape, RB_SHAPE_CAPSULE, RB_SHAPE_CYLINDER, RB_SHAPE_CONE)) {
/* take radius as largest x/y dimension, and height as z-dimension */
radius = MAX2(size[0], size[1]);
height = size[2];
}
else if (rbo->shape == RB_SHAPE_SPHERE) {
/* take radius to the largest dimension to try and encompass everything */
radius = MAX3(size[0], size[1], size[2]);
}
/* create new shape */
switch (rbo->shape) {
case RB_SHAPE_BOX:
new_shape = RB_shape_new_box(size[0], size[1], size[2]);
break;
case RB_SHAPE_SPHERE:
new_shape = RB_shape_new_sphere(radius);
break;
case RB_SHAPE_CAPSULE:
capsule_height = (height - radius) * 2.0f;
new_shape = RB_shape_new_capsule(radius, (capsule_height > 0.0f) ? capsule_height : 0.0f);
break;
case RB_SHAPE_CYLINDER:
new_shape = RB_shape_new_cylinder(radius, height);
break;
case RB_SHAPE_CONE:
new_shape = RB_shape_new_cone(radius, height * 2.0f);
break;
case RB_SHAPE_CONVEXH:
/* try to emged collision margin */
has_volume = (MIN3(size[0], size[1], size[2]) > 0.0f);
if (!(rbo->flag & RBO_FLAG_USE_MARGIN) && has_volume)
hull_margin = 0.04f;
new_shape = rigidbody_get_shape_convexhull_from_mesh(ob, hull_margin, &can_embed);
if (!(rbo->flag & RBO_FLAG_USE_MARGIN))
rbo->margin = (can_embed && has_volume) ? 0.04f : 0.0f; /* RB_TODO ideally we shouldn't directly change the margin here */
break;
case RB_SHAPE_TRIMESH:
new_shape = rigidbody_get_shape_trimesh_from_mesh(ob);
break;
}
/* use box shape if we can't fall back to old shape */
if (new_shape == NULL && rbo->physics_shape == NULL) {
new_shape = RB_shape_new_box(size[0], size[1], size[2]);
}
/* assign new collision shape if creation was successful */
if (new_shape) {
if (rbo->physics_shape)
RB_shape_delete(rbo->physics_shape);
rbo->physics_shape = new_shape;
RB_shape_set_margin(rbo->physics_shape, RBO_GET_MARGIN(rbo));
}
}
/* --------------------- */
/* helper function to calculate volume of rigidbody object */
// TODO: allow a parameter to specify method used to calculate this?
void BKE_rigidbody_calc_volume(Object *ob, float *r_vol)
{
RigidBodyOb *rbo = ob->rigidbody_object;
float size[3] = {1.0f, 1.0f, 1.0f};
float radius = 1.0f;
float height = 1.0f;
float volume = 0.0f;
/* if automatically determining dimensions, use the Object's boundbox
* - assume that all quadrics are standing upright on local z-axis
* - assume even distribution of mass around the Object's pivot
* (i.e. Object pivot is centralized in boundbox)
* - boundbox gives full width
*/
// XXX: all dimensions are auto-determined now... later can add stored settings for this
BKE_object_dimensions_get(ob, size);
if (ELEM(rbo->shape, RB_SHAPE_CAPSULE, RB_SHAPE_CYLINDER, RB_SHAPE_CONE)) {
/* take radius as largest x/y dimension, and height as z-dimension */
radius = MAX2(size[0], size[1]) * 0.5f;
height = size[2];
}
else if (rbo->shape == RB_SHAPE_SPHERE) {
/* take radius to the largest dimension to try and encompass everything */
radius = max_fff(size[0], size[1], size[2]) * 0.5f;
}
/* calculate volume as appropriate */
switch (rbo->shape) {
case RB_SHAPE_BOX:
volume = size[0] * size[1] * size[2];
break;
case RB_SHAPE_SPHERE:
volume = 4.0f / 3.0f * (float)M_PI * radius * radius * radius;
break;
/* for now, assume that capsule is close enough to a cylinder... */
case RB_SHAPE_CAPSULE:
case RB_SHAPE_CYLINDER:
volume = (float)M_PI * radius * radius * height;
break;
case RB_SHAPE_CONE:
volume = (float)M_PI / 3.0f * radius * radius * height;
break;
case RB_SHAPE_CONVEXH:
case RB_SHAPE_TRIMESH:
{
if (ob->type == OB_MESH) {
DerivedMesh *dm = rigidbody_get_mesh(ob);
MVert *mvert;
const MLoopTri *lt = NULL;
int totvert, tottri = 0;
const MLoop *mloop = NULL;
/* ensure mesh validity, then grab data */
if (dm == NULL)
return;
mvert = dm->getVertArray(dm);
totvert = dm->getNumVerts(dm);
lt = dm->getLoopTriArray(dm);
tottri = dm->getNumLoopTri(dm);
mloop = dm->getLoopArray(dm);
if (totvert > 0 && tottri > 0) {
BKE_mesh_calc_volume(mvert, totvert, lt, tottri, mloop, &volume, NULL);
}
/* cleanup temp data */
if (ob->rigidbody_object->mesh_source == RBO_MESH_BASE) {
dm->release(dm);
}
}
else {
/* rough estimate from boundbox as fallback */
/* XXX could implement other types of geometry here (curves, etc.) */
volume = size[0] * size[1] * size[2];
}
break;
}
#if 0 // XXX: not defined yet
case RB_SHAPE_COMPOUND:
volume = 0.0f;
break;
#endif
}
/* return the volume calculated */
if (r_vol) *r_vol = volume;
}
void BKE_rigidbody_calc_center_of_mass(Object *ob, float r_center[3])
{
RigidBodyOb *rbo = ob->rigidbody_object;
float size[3] = {1.0f, 1.0f, 1.0f};
float height = 1.0f;
zero_v3(r_center);
/* if automatically determining dimensions, use the Object's boundbox
* - assume that all quadrics are standing upright on local z-axis
* - assume even distribution of mass around the Object's pivot
* (i.e. Object pivot is centralized in boundbox)
* - boundbox gives full width
*/
// XXX: all dimensions are auto-determined now... later can add stored settings for this
BKE_object_dimensions_get(ob, size);
/* calculate volume as appropriate */
switch (rbo->shape) {
case RB_SHAPE_BOX:
case RB_SHAPE_SPHERE:
case RB_SHAPE_CAPSULE:
case RB_SHAPE_CYLINDER:
break;
case RB_SHAPE_CONE:
/* take radius as largest x/y dimension, and height as z-dimension */
height = size[2];
/* cone is geometrically centered on the median,
* center of mass is 1/4 up from the base
*/
r_center[2] = -0.25f * height;
break;
case RB_SHAPE_CONVEXH:
case RB_SHAPE_TRIMESH:
{
if (ob->type == OB_MESH) {
DerivedMesh *dm = rigidbody_get_mesh(ob);
MVert *mvert;
const MLoopTri *looptri;
int totvert, tottri;
const MLoop *mloop;
/* ensure mesh validity, then grab data */
if (dm == NULL)
return;
mvert = dm->getVertArray(dm);
totvert = dm->getNumVerts(dm);
looptri = dm->getLoopTriArray(dm);
tottri = dm->getNumLoopTri(dm);
mloop = dm->getLoopArray(dm);
if (totvert > 0 && tottri > 0) {
BKE_mesh_calc_volume(mvert, totvert, looptri, tottri, mloop, NULL, r_center);
}
/* cleanup temp data */
if (ob->rigidbody_object->mesh_source == RBO_MESH_BASE) {
dm->release(dm);
}
}
break;
}
#if 0 // XXX: not defined yet
case RB_SHAPE_COMPOUND:
volume = 0.0f;
break;
#endif
}
}
/* --------------------- */
/**
* Create physics sim representation of object given RigidBody settings
*
* \param rebuild Even if an instance already exists, replace it
*/
static void rigidbody_validate_sim_object(RigidBodyWorld *rbw, Object *ob, bool rebuild)
{
RigidBodyOb *rbo = (ob) ? ob->rigidbody_object : NULL;
float loc[3];
float rot[4];
/* sanity checks:
* - object doesn't have RigidBody info already: then why is it here?
*/
if (rbo == NULL)
return;
/* make sure collision shape exists */
/* FIXME we shouldn't always have to rebuild collision shapes when rebuilding objects, but it's needed for constraints to update correctly */
if (rbo->physics_shape == NULL || rebuild)
rigidbody_validate_sim_shape(ob, true);
if (rbo->physics_object && rebuild == false) {
RB_dworld_remove_body(rbw->physics_world, rbo->physics_object);
}
if (!rbo->physics_object || rebuild) {
/* remove rigid body if it already exists before creating a new one */
if (rbo->physics_object) {
RB_body_delete(rbo->physics_object);
}
mat4_to_loc_quat(loc, rot, ob->obmat);
rbo->physics_object = RB_body_new(rbo->physics_shape, loc, rot);
RB_body_set_friction(rbo->physics_object, rbo->friction);
RB_body_set_restitution(rbo->physics_object, rbo->restitution);
RB_body_set_damping(rbo->physics_object, rbo->lin_damping, rbo->ang_damping);
RB_body_set_sleep_thresh(rbo->physics_object, rbo->lin_sleep_thresh, rbo->ang_sleep_thresh);
RB_body_set_activation_state(rbo->physics_object, rbo->flag & RBO_FLAG_USE_DEACTIVATION);
if (rbo->type == RBO_TYPE_PASSIVE || rbo->flag & RBO_FLAG_START_DEACTIVATED)
RB_body_deactivate(rbo->physics_object);
RB_body_set_linear_factor(rbo->physics_object,
(ob->protectflag & OB_LOCK_LOCX) == 0,
(ob->protectflag & OB_LOCK_LOCY) == 0,
(ob->protectflag & OB_LOCK_LOCZ) == 0);
RB_body_set_angular_factor(rbo->physics_object,
(ob->protectflag & OB_LOCK_ROTX) == 0,
(ob->protectflag & OB_LOCK_ROTY) == 0,
(ob->protectflag & OB_LOCK_ROTZ) == 0);
RB_body_set_mass(rbo->physics_object, RBO_GET_MASS(rbo));
RB_body_set_kinematic_state(rbo->physics_object, rbo->flag & RBO_FLAG_KINEMATIC || rbo->flag & RBO_FLAG_DISABLED);
}
if (rbw && rbw->physics_world)
RB_dworld_add_body(rbw->physics_world, rbo->physics_object, rbo->col_groups);
}
/* --------------------- */
static void rigidbody_constraint_set_limits(RigidBodyCon *rbc, void (*set_limits)(rbConstraint*,int,float,float))
{
if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_X)
set_limits(rbc->physics_constraint, RB_LIMIT_LIN_X, rbc->limit_lin_x_lower, rbc->limit_lin_x_upper);
else
set_limits(rbc->physics_constraint, RB_LIMIT_LIN_X, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_Y)
set_limits(rbc->physics_constraint, RB_LIMIT_LIN_Y, rbc->limit_lin_y_lower, rbc->limit_lin_y_upper);
else
set_limits(rbc->physics_constraint, RB_LIMIT_LIN_Y, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_Z)
set_limits(rbc->physics_constraint, RB_LIMIT_LIN_Z, rbc->limit_lin_z_lower, rbc->limit_lin_z_upper);
else
set_limits(rbc->physics_constraint, RB_LIMIT_LIN_Z, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_X)
set_limits(rbc->physics_constraint, RB_LIMIT_ANG_X, rbc->limit_ang_x_lower, rbc->limit_ang_x_upper);
else
set_limits(rbc->physics_constraint, RB_LIMIT_ANG_X, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_Y)
set_limits(rbc->physics_constraint, RB_LIMIT_ANG_Y, rbc->limit_ang_y_lower, rbc->limit_ang_y_upper);
else
set_limits(rbc->physics_constraint, RB_LIMIT_ANG_Y, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_Z)
set_limits(rbc->physics_constraint, RB_LIMIT_ANG_Z, rbc->limit_ang_z_lower, rbc->limit_ang_z_upper);
else
set_limits(rbc->physics_constraint, RB_LIMIT_ANG_Z, 0.0f, -1.0f);
}
/**
* Create physics sim representation of constraint given rigid body constraint settings
*
* \param rebuild Even if an instance already exists, replace it
*/
static void rigidbody_validate_sim_constraint(RigidBodyWorld *rbw, Object *ob, bool rebuild)
{
RigidBodyCon *rbc = (ob) ? ob->rigidbody_constraint : NULL;
float loc[3];
float rot[4];
float lin_lower;
float lin_upper;
float ang_lower;
float ang_upper;
/* sanity checks:
* - object should have a rigid body constraint
* - rigid body constraint should have at least one constrained object
*/
if (rbc == NULL) {
return;
}
if (ELEM(NULL, rbc->ob1, rbc->ob1->rigidbody_object, rbc->ob2, rbc->ob2->rigidbody_object)) {
if (rbc->physics_constraint) {
RB_dworld_remove_constraint(rbw->physics_world, rbc->physics_constraint);
RB_constraint_delete(rbc->physics_constraint);
rbc->physics_constraint = NULL;
}
return;
}
if (rbc->physics_constraint && rebuild == false) {
RB_dworld_remove_constraint(rbw->physics_world, rbc->physics_constraint);
}
if (rbc->physics_constraint == NULL || rebuild) {
rbRigidBody *rb1 = rbc->ob1->rigidbody_object->physics_object;
rbRigidBody *rb2 = rbc->ob2->rigidbody_object->physics_object;
/* remove constraint if it already exists before creating a new one */
if (rbc->physics_constraint) {
RB_constraint_delete(rbc->physics_constraint);
rbc->physics_constraint = NULL;
}
mat4_to_loc_quat(loc, rot, ob->obmat);
if (rb1 && rb2) {
switch (rbc->type) {
case RBC_TYPE_POINT:
rbc->physics_constraint = RB_constraint_new_point(loc, rb1, rb2);
break;
case RBC_TYPE_FIXED:
rbc->physics_constraint = RB_constraint_new_fixed(loc, rot, rb1, rb2);
break;
case RBC_TYPE_HINGE:
rbc->physics_constraint = RB_constraint_new_hinge(loc, rot, rb1, rb2);
if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_Z) {
RB_constraint_set_limits_hinge(rbc->physics_constraint, rbc->limit_ang_z_lower, rbc->limit_ang_z_upper);
}
else
RB_constraint_set_limits_hinge(rbc->physics_constraint, 0.0f, -1.0f);
break;
case RBC_TYPE_SLIDER:
rbc->physics_constraint = RB_constraint_new_slider(loc, rot, rb1, rb2);
if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_X)
RB_constraint_set_limits_slider(rbc->physics_constraint, rbc->limit_lin_x_lower, rbc->limit_lin_x_upper);
else
RB_constraint_set_limits_slider(rbc->physics_constraint, 0.0f, -1.0f);
break;
case RBC_TYPE_PISTON:
rbc->physics_constraint = RB_constraint_new_piston(loc, rot, rb1, rb2);
if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_X) {
lin_lower = rbc->limit_lin_x_lower;
lin_upper = rbc->limit_lin_x_upper;
}
else {
lin_lower = 0.0f;
lin_upper = -1.0f;
}
if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_X) {
ang_lower = rbc->limit_ang_x_lower;
ang_upper = rbc->limit_ang_x_upper;
}
else {
ang_lower = 0.0f;
ang_upper = -1.0f;
}
RB_constraint_set_limits_piston(rbc->physics_constraint, lin_lower, lin_upper, ang_lower, ang_upper);
break;
case RBC_TYPE_6DOF_SPRING:
rbc->physics_constraint = RB_constraint_new_6dof_spring(loc, rot, rb1, rb2);
RB_constraint_set_spring_6dof_spring(rbc->physics_constraint, RB_LIMIT_LIN_X, rbc->flag & RBC_FLAG_USE_SPRING_X);
RB_constraint_set_stiffness_6dof_spring(rbc->physics_constraint, RB_LIMIT_LIN_X, rbc->spring_stiffness_x);
RB_constraint_set_damping_6dof_spring(rbc->physics_constraint, RB_LIMIT_LIN_X, rbc->spring_damping_x);
RB_constraint_set_spring_6dof_spring(rbc->physics_constraint, RB_LIMIT_LIN_Y, rbc->flag & RBC_FLAG_USE_SPRING_Y);
RB_constraint_set_stiffness_6dof_spring(rbc->physics_constraint, RB_LIMIT_LIN_Y, rbc->spring_stiffness_y);
RB_constraint_set_damping_6dof_spring(rbc->physics_constraint, RB_LIMIT_LIN_Y, rbc->spring_damping_y);
RB_constraint_set_spring_6dof_spring(rbc->physics_constraint, RB_LIMIT_LIN_Z, rbc->flag & RBC_FLAG_USE_SPRING_Z);
RB_constraint_set_stiffness_6dof_spring(rbc->physics_constraint, RB_LIMIT_LIN_Z, rbc->spring_stiffness_z);
RB_constraint_set_damping_6dof_spring(rbc->physics_constraint, RB_LIMIT_LIN_Z, rbc->spring_damping_z);
RB_constraint_set_spring_6dof_spring(rbc->physics_constraint, RB_LIMIT_ANG_X, rbc->flag & RBC_FLAG_USE_SPRING_ANG_X);
RB_constraint_set_stiffness_6dof_spring(rbc->physics_constraint, RB_LIMIT_ANG_X, rbc->spring_stiffness_ang_x);
RB_constraint_set_damping_6dof_spring(rbc->physics_constraint, RB_LIMIT_ANG_X, rbc->spring_damping_ang_x);
RB_constraint_set_spring_6dof_spring(rbc->physics_constraint, RB_LIMIT_ANG_Y, rbc->flag & RBC_FLAG_USE_SPRING_ANG_Y);
RB_constraint_set_stiffness_6dof_spring(rbc->physics_constraint, RB_LIMIT_ANG_Y, rbc->spring_stiffness_ang_y);
RB_constraint_set_damping_6dof_spring(rbc->physics_constraint, RB_LIMIT_ANG_Y, rbc->spring_damping_ang_y);
RB_constraint_set_spring_6dof_spring(rbc->physics_constraint, RB_LIMIT_ANG_Z, rbc->flag & RBC_FLAG_USE_SPRING_ANG_Z);
RB_constraint_set_stiffness_6dof_spring(rbc->physics_constraint, RB_LIMIT_ANG_Z, rbc->spring_stiffness_ang_z);
RB_constraint_set_damping_6dof_spring(rbc->physics_constraint, RB_LIMIT_ANG_Z, rbc->spring_damping_ang_z);
RB_constraint_set_equilibrium_6dof_spring(rbc->physics_constraint);
rigidbody_constraint_set_limits(rbc, RB_constraint_set_limits_6dof_spring);
break;
case RBC_TYPE_6DOF:
rbc->physics_constraint = RB_constraint_new_6dof(loc, rot, rb1, rb2);
rigidbody_constraint_set_limits(rbc, RB_constraint_set_limits_6dof);
break;
case RBC_TYPE_MOTOR:
rbc->physics_constraint = RB_constraint_new_motor(loc, rot, rb1, rb2);
RB_constraint_set_enable_motor(rbc->physics_constraint, rbc->flag & RBC_FLAG_USE_MOTOR_LIN, rbc->flag & RBC_FLAG_USE_MOTOR_ANG);
RB_constraint_set_max_impulse_motor(rbc->physics_constraint, rbc->motor_lin_max_impulse, rbc->motor_ang_max_impulse);
RB_constraint_set_target_velocity_motor(rbc->physics_constraint, rbc->motor_lin_target_velocity, rbc->motor_ang_target_velocity);
break;
}
}
else { /* can't create constraint without both rigid bodies */
return;
}
RB_constraint_set_enabled(rbc->physics_constraint, rbc->flag & RBC_FLAG_ENABLED);
if (rbc->flag & RBC_FLAG_USE_BREAKING)
RB_constraint_set_breaking_threshold(rbc->physics_constraint, rbc->breaking_threshold);
else
RB_constraint_set_breaking_threshold(rbc->physics_constraint, FLT_MAX);
if (rbc->flag & RBC_FLAG_OVERRIDE_SOLVER_ITERATIONS)
RB_constraint_set_solver_iterations(rbc->physics_constraint, rbc->num_solver_iterations);
else
RB_constraint_set_solver_iterations(rbc->physics_constraint, -1);
}
if (rbw && rbw->physics_world && rbc->physics_constraint) {
RB_dworld_add_constraint(rbw->physics_world, rbc->physics_constraint, rbc->flag & RBC_FLAG_DISABLE_COLLISIONS);
}
}
/* --------------------- */
/* Create physics sim world given RigidBody world settings */
// NOTE: this does NOT update object references that the scene uses, in case those aren't ready yet!
void BKE_rigidbody_validate_sim_world(Scene *scene, RigidBodyWorld *rbw, bool rebuild)
{
/* sanity checks */
if (rbw == NULL)
return;
/* create new sim world */
if (rebuild || rbw->physics_world == NULL) {
if (rbw->physics_world)
RB_dworld_delete(rbw->physics_world);
rbw->physics_world = RB_dworld_new(scene->physics_settings.gravity);
}
RB_dworld_set_solver_iterations(rbw->physics_world, rbw->num_solver_iterations);
RB_dworld_set_split_impulse(rbw->physics_world, rbw->flag & RBW_FLAG_USE_SPLIT_IMPULSE);
}
/* ************************************** */
/* Setup Utilities - Create Settings Blocks */
/* Set up RigidBody world */
RigidBodyWorld *BKE_rigidbody_create_world(Scene *scene)
{
/* try to get whatever RigidBody world that might be representing this already */
RigidBodyWorld *rbw;
/* sanity checks
* - there must be a valid scene to add world to
* - there mustn't be a sim world using this group already
*/
if (scene == NULL)
return NULL;
/* create a new sim world */
rbw = MEM_callocN(sizeof(RigidBodyWorld), "RigidBodyWorld");
/* set default settings */
rbw->effector_weights = BKE_add_effector_weights(NULL);
rbw->ltime = PSFRA;
rbw->time_scale = 1.0f;
rbw->steps_per_second = 60; /* Bullet default (60 Hz) */
rbw->num_solver_iterations = 10; /* 10 is bullet default */
rbw->pointcache = BKE_ptcache_add(&(rbw->ptcaches));
rbw->pointcache->step = 1;
/* return this sim world */
return rbw;
}
RigidBodyWorld *BKE_rigidbody_world_copy(RigidBodyWorld *rbw, const int flag)
{
RigidBodyWorld *rbw_copy = MEM_dupallocN(rbw);
if (rbw->effector_weights) {
rbw_copy->effector_weights = MEM_dupallocN(rbw->effector_weights);
}
if ((flag & LIB_ID_CREATE_NO_USER_REFCOUNT) == 0) {
id_us_plus((ID *)rbw_copy->group);
id_us_plus((ID *)rbw_copy->constraints);
}
/* XXX Never copy caches here? */
rbw_copy->pointcache = BKE_ptcache_copy_list(&rbw_copy->ptcaches, &rbw->ptcaches, flag & ~LIB_ID_COPY_CACHES);
rbw_copy->objects = NULL;
rbw_copy->physics_world = NULL;
rbw_copy->numbodies = 0;
return rbw_copy;
}
void BKE_rigidbody_world_groups_relink(RigidBodyWorld *rbw)
{
ID_NEW_REMAP(rbw->group);
ID_NEW_REMAP(rbw->constraints);
ID_NEW_REMAP(rbw->effector_weights->group);
}
void BKE_rigidbody_world_id_loop(RigidBodyWorld *rbw, RigidbodyWorldIDFunc func, void *userdata)
{
func(rbw, (ID **)&rbw->group, userdata, IDWALK_CB_NOP);
func(rbw, (ID **)&rbw->constraints, userdata, IDWALK_CB_NOP);
func(rbw, (ID **)&rbw->effector_weights->group, userdata, IDWALK_CB_NOP);
if (rbw->objects) {
int i;
for (i = 0; i < rbw->numbodies; i++) {
func(rbw, (ID **)&rbw->objects[i], userdata, IDWALK_CB_NOP);
}
}
}
/* Add rigid body settings to the specified object */
RigidBodyOb *BKE_rigidbody_create_object(Scene *scene, Object *ob, short type)
{
RigidBodyOb *rbo;
RigidBodyWorld *rbw = scene->rigidbody_world;
/* sanity checks
* - rigidbody world must exist
* - object must exist
* - cannot add rigid body if it already exists
*/
if (ob == NULL || (ob->rigidbody_object != NULL))
return NULL;
/* create new settings data, and link it up */
rbo = MEM_callocN(sizeof(RigidBodyOb), "RigidBodyOb");
/* set default settings */
rbo->type = type;
rbo->mass = 1.0f;
rbo->friction = 0.5f; /* best when non-zero. 0.5 is Bullet default */
rbo->restitution = 0.0f; /* best when zero. 0.0 is Bullet default */
rbo->margin = 0.04f; /* 0.04 (in meters) is Bullet default */
rbo->lin_sleep_thresh = 0.4f; /* 0.4 is half of Bullet default */
rbo->ang_sleep_thresh = 0.5f; /* 0.5 is half of Bullet default */
rbo->lin_damping = 0.04f; /* 0.04 is game engine default */
rbo->ang_damping = 0.1f; /* 0.1 is game engine default */
rbo->col_groups = 1;
/* use triangle meshes for passive objects
* use convex hulls for active objects since dynamic triangle meshes are very unstable
*/
if (type == RBO_TYPE_ACTIVE)
rbo->shape = RB_SHAPE_CONVEXH;
else
rbo->shape = RB_SHAPE_TRIMESH;
rbo->mesh_source = RBO_MESH_DEFORM;
/* set initial transform */
mat4_to_loc_quat(rbo->pos, rbo->orn, ob->obmat);
/* flag cache as outdated */
BKE_rigidbody_cache_reset(rbw);
/* return this object */
return rbo;
}
/* Add rigid body constraint to the specified object */
RigidBodyCon *BKE_rigidbody_create_constraint(Scene *scene, Object *ob, short type)
{
RigidBodyCon *rbc;
RigidBodyWorld *rbw = scene->rigidbody_world;
/* sanity checks
* - rigidbody world must exist
* - object must exist
* - cannot add constraint if it already exists
*/
if (ob == NULL || (ob->rigidbody_constraint != NULL))
return NULL;
/* create new settings data, and link it up */
rbc = MEM_callocN(sizeof(RigidBodyCon), "RigidBodyCon");
/* set default settings */
rbc->type = type;
rbc->ob1 = NULL;
rbc->ob2 = NULL;
rbc->flag |= RBC_FLAG_ENABLED;
rbc->flag |= RBC_FLAG_DISABLE_COLLISIONS;
rbc->breaking_threshold = 10.0f; /* no good default here, just use 10 for now */
rbc->num_solver_iterations = 10; /* 10 is Bullet default */
rbc->limit_lin_x_lower = -1.0f;
rbc->limit_lin_x_upper = 1.0f;
rbc->limit_lin_y_lower = -1.0f;
rbc->limit_lin_y_upper = 1.0f;
rbc->limit_lin_z_lower = -1.0f;
rbc->limit_lin_z_upper = 1.0f;
rbc->limit_ang_x_lower = -M_PI_4;
rbc->limit_ang_x_upper = M_PI_4;
rbc->limit_ang_y_lower = -M_PI_4;
rbc->limit_ang_y_upper = M_PI_4;
rbc->limit_ang_z_lower = -M_PI_4;
rbc->limit_ang_z_upper = M_PI_4;
rbc->spring_damping_x = 0.5f;
rbc->spring_damping_y = 0.5f;
rbc->spring_damping_z = 0.5f;
rbc->spring_damping_ang_x = 0.5f;
rbc->spring_damping_ang_y = 0.5f;
rbc->spring_damping_ang_z = 0.5f;
rbc->spring_stiffness_x = 10.0f;
rbc->spring_stiffness_y = 10.0f;
rbc->spring_stiffness_z = 10.0f;
rbc->spring_stiffness_ang_x = 10.0f;
rbc->spring_stiffness_ang_y = 10.0f;
rbc->spring_stiffness_ang_z = 10.0f;
rbc->motor_lin_max_impulse = 1.0f;
rbc->motor_lin_target_velocity = 1.0f;
rbc->motor_ang_max_impulse = 1.0f;
rbc->motor_ang_target_velocity = 1.0f;
/* flag cache as outdated */
BKE_rigidbody_cache_reset(rbw);
/* return this object */
return rbc;
}
/* ************************************** */
/* Utilities API */
/* Get RigidBody world for the given scene, creating one if needed
*
* \param scene Scene to find active Rigid Body world for
*/
RigidBodyWorld *BKE_rigidbody_get_world(Scene *scene)
{
/* sanity check */
if (scene == NULL)
return NULL;
return scene->rigidbody_world;
}
void BKE_rigidbody_remove_object(Scene *scene, Object *ob)
{
RigidBodyWorld *rbw = scene->rigidbody_world;
RigidBodyOb *rbo = ob->rigidbody_object;
RigidBodyCon *rbc;
GroupObject *go;
int i;
if (rbw) {
/* remove from rigidbody world, free object won't do this */
if (rbw->physics_world && rbo->physics_object)
RB_dworld_remove_body(rbw->physics_world, rbo->physics_object);
/* remove object from array */
if (rbw && rbw->objects) {
for (i = 0; i < rbw->numbodies; i++) {
if (rbw->objects[i] == ob) {
rbw->objects[i] = NULL;
break;
}
}
}
/* remove object from rigid body constraints */
if (rbw->constraints) {
for (go = rbw->constraints->gobject.first; go; go = go->next) {
Object *obt = go->ob;
if (obt && obt->rigidbody_constraint) {
rbc = obt->rigidbody_constraint;
if (ELEM(ob, rbc->ob1, rbc->ob2)) {
BKE_rigidbody_remove_constraint(scene, obt);
}
}
}
}
}
/* remove object's settings */
BKE_rigidbody_free_object(ob);
/* flag cache as outdated */
BKE_rigidbody_cache_reset(rbw);
}
void BKE_rigidbody_remove_constraint(Scene *scene, Object *ob)
{
RigidBodyWorld *rbw = scene->rigidbody_world;
RigidBodyCon *rbc = ob->rigidbody_constraint;
/* remove from rigidbody world, free object won't do this */
if (rbw && rbw->physics_world && rbc->physics_constraint) {
RB_dworld_remove_constraint(rbw->physics_world, rbc->physics_constraint);
}
/* remove object's settings */
BKE_rigidbody_free_constraint(ob);
/* flag cache as outdated */
BKE_rigidbody_cache_reset(rbw);
}
/* ************************************** */
/* Simulation Interface - Bullet */
/* Update object array and rigid body count so they're in sync with the rigid body group */
static void rigidbody_update_ob_array(RigidBodyWorld *rbw)
{
GroupObject *go;
int i, n;
n = BLI_listbase_count(&rbw->group->gobject);
if (rbw->numbodies != n) {
rbw->numbodies = n;
rbw->objects = realloc(rbw->objects, sizeof(Object *) * rbw->numbodies);
}
for (go = rbw->group->gobject.first, i = 0; go; go = go->next, i++) {
Object *ob = go->ob;
rbw->objects[i] = ob;
}
}
static void rigidbody_update_sim_world(Scene *scene, RigidBodyWorld *rbw)
{
float adj_gravity[3];
/* adjust gravity to take effector weights into account */
if (scene->physics_settings.flag & PHYS_GLOBAL_GRAVITY) {
copy_v3_v3(adj_gravity, scene->physics_settings.gravity);
mul_v3_fl(adj_gravity, rbw->effector_weights->global_gravity * rbw->effector_weights->weight[0]);
}
else {
zero_v3(adj_gravity);
}
/* update gravity, since this RNA setting is not part of RigidBody settings */
RB_dworld_set_gravity(rbw->physics_world, adj_gravity);
/* update object array in case there are changes */
rigidbody_update_ob_array(rbw);
}
static void rigidbody_update_sim_ob(Scene *scene, RigidBodyWorld *rbw, Object *ob, RigidBodyOb *rbo)
{
float loc[3];
float rot[4];
float scale[3];
/* only update if rigid body exists */
if (rbo->physics_object == NULL)
return;
if (rbo->shape == RB_SHAPE_TRIMESH && rbo->flag & RBO_FLAG_USE_DEFORM) {
DerivedMesh *dm = ob->derivedDeform;
if (dm) {
MVert *mvert = dm->getVertArray(dm);
int totvert = dm->getNumVerts(dm);
BoundBox *bb = BKE_object_boundbox_get(ob);
RB_shape_trimesh_update(rbo->physics_shape, (float *)mvert, totvert, sizeof(MVert), bb->vec[0], bb->vec[6]);
}
}
mat4_decompose(loc, rot, scale, ob->obmat);
/* update scale for all objects */
RB_body_set_scale(rbo->physics_object, scale);
/* compensate for embedded convex hull collision margin */
if (!(rbo->flag & RBO_FLAG_USE_MARGIN) && rbo->shape == RB_SHAPE_CONVEXH)
RB_shape_set_margin(rbo->physics_shape, RBO_GET_MARGIN(rbo) * MIN3(scale[0], scale[1], scale[2]));
/* make transformed objects temporarily kinmatic so that they can be moved by the user during simulation */
if (ob->flag & SELECT && G.moving & G_TRANSFORM_OBJ) {
RB_body_set_kinematic_state(rbo->physics_object, true);
RB_body_set_mass(rbo->physics_object, 0.0f);
}
/* update rigid body location and rotation for kinematic bodies */
if (rbo->flag & RBO_FLAG_KINEMATIC || (ob->flag & SELECT && G.moving & G_TRANSFORM_OBJ)) {
RB_body_activate(rbo->physics_object);
RB_body_set_loc_rot(rbo->physics_object, loc, rot);
}
/* update influence of effectors - but don't do it on an effector */
/* only dynamic bodies need effector update */
else if (rbo->type == RBO_TYPE_ACTIVE && ((ob->pd == NULL) || (ob->pd->forcefield == PFIELD_NULL))) {
EffectorWeights *effector_weights = rbw->effector_weights;
EffectedPoint epoint;
ListBase *effectors;
/* get effectors present in the group specified by effector_weights */
effectors = pdInitEffectors(scene, ob, NULL, effector_weights, true);
if (effectors) {
float eff_force[3] = {0.0f, 0.0f, 0.0f};
float eff_loc[3], eff_vel[3];
/* create dummy 'point' which represents last known position of object as result of sim */
// XXX: this can create some inaccuracies with sim position, but is probably better than using unsimulated vals?
RB_body_get_position(rbo->physics_object, eff_loc);
RB_body_get_linear_velocity(rbo->physics_object, eff_vel);
pd_point_from_loc(scene, eff_loc, eff_vel, 0, &epoint);
/* calculate net force of effectors, and apply to sim object
* - we use 'central force' since apply force requires a "relative position" which we don't have...
*/
pdDoEffectors(effectors, NULL, effector_weights, &epoint, eff_force, NULL);
if (G.f & G_DEBUG)
printf("\tapplying force (%f,%f,%f) to '%s'\n", eff_force[0], eff_force[1], eff_force[2], ob->id.name + 2);
/* activate object in case it is deactivated */
if (!is_zero_v3(eff_force))
RB_body_activate(rbo->physics_object);
RB_body_apply_central_force(rbo->physics_object, eff_force);
}
else if (G.f & G_DEBUG)
printf("\tno forces to apply to '%s'\n", ob->id.name + 2);
/* cleanup */
pdEndEffectors(&effectors);
}
/* NOTE: passive objects don't need to be updated since they don't move */
/* NOTE: no other settings need to be explicitly updated here,
* since RNA setters take care of the rest :)
*/
}
/**
* Updates and validates world, bodies and shapes.
*
* \param rebuild Rebuild entire simulation
*/
static void rigidbody_update_simulation(Scene *scene, RigidBodyWorld *rbw, bool rebuild)
{
GroupObject *go;
/* update world */
if (rebuild)
BKE_rigidbody_validate_sim_world(scene, rbw, true);
rigidbody_update_sim_world(scene, rbw);
/* XXX TODO For rebuild: remove all constraints first.
* Otherwise we can end up deleting objects that are still
* referenced by constraints, corrupting bullet's internal list.
*
* Memory management needs redesign here, this is just a dirty workaround.
*/
if (rebuild && rbw->constraints) {
for (go = rbw->constraints->gobject.first; go; go = go->next) {
Object *ob = go->ob;
if (ob) {
RigidBodyCon *rbc = ob->rigidbody_constraint;
if (rbc && rbc->physics_constraint) {
RB_dworld_remove_constraint(rbw->physics_world, rbc->physics_constraint);
RB_constraint_delete(rbc->physics_constraint);
rbc->physics_constraint = NULL;
}
}
}
}
/* update objects */
for (go = rbw->group->gobject.first; go; go = go->next) {
Object *ob = go->ob;
if (ob && ob->type == OB_MESH) {
/* validate that we've got valid object set up here... */
RigidBodyOb *rbo = ob->rigidbody_object;
/* update transformation matrix of the object so we don't get a frame of lag for simple animations */
BKE_object_where_is_calc(scene, ob);
if (rbo == NULL) {
/* Since this object is included in the sim group but doesn't have
* rigid body settings (perhaps it was added manually), add!
* - assume object to be active? That is the default for newly added settings...
*/
ob->rigidbody_object = BKE_rigidbody_create_object(scene, ob, RBO_TYPE_ACTIVE);
rigidbody_validate_sim_object(rbw, ob, true);
rbo = ob->rigidbody_object;
}
else {
/* perform simulation data updates as tagged */
/* refresh object... */
if (rebuild) {
/* World has been rebuilt so rebuild object */
rigidbody_validate_sim_object(rbw, ob, true);
}
else if (rbo->flag & RBO_FLAG_NEEDS_VALIDATE) {
rigidbody_validate_sim_object(rbw, ob, false);
}
/* refresh shape... */
if (rbo->flag & RBO_FLAG_NEEDS_RESHAPE) {
/* mesh/shape data changed, so force shape refresh */
rigidbody_validate_sim_shape(ob, true);
/* now tell RB sim about it */
// XXX: we assume that this can only get applied for active/passive shapes that will be included as rigidbodies
RB_body_set_collision_shape(rbo->physics_object, rbo->physics_shape);
}
rbo->flag &= ~(RBO_FLAG_NEEDS_VALIDATE | RBO_FLAG_NEEDS_RESHAPE);
}
/* update simulation object... */
rigidbody_update_sim_ob(scene, rbw, ob, rbo);
}
}
/* update constraints */
if (rbw->constraints == NULL) /* no constraints, move on */
return;
for (go = rbw->constraints->gobject.first; go; go = go->next) {
Object *ob = go->ob;
if (ob) {
/* validate that we've got valid object set up here... */
RigidBodyCon *rbc = ob->rigidbody_constraint;
/* update transformation matrix of the object so we don't get a frame of lag for simple animations */
BKE_object_where_is_calc(scene, ob);
if (rbc == NULL) {
/* Since this object is included in the group but doesn't have
* constraint settings (perhaps it was added manually), add!
*/
ob->rigidbody_constraint = BKE_rigidbody_create_constraint(scene, ob, RBC_TYPE_FIXED);
rigidbody_validate_sim_constraint(rbw, ob, true);
rbc = ob->rigidbody_constraint;
}
else {
/* perform simulation data updates as tagged */
if (rebuild) {
/* World has been rebuilt so rebuild constraint */
rigidbody_validate_sim_constraint(rbw, ob, true);
}
else if (rbc->flag & RBC_FLAG_NEEDS_VALIDATE) {
rigidbody_validate_sim_constraint(rbw, ob, false);
}
rbc->flag &= ~RBC_FLAG_NEEDS_VALIDATE;
}
}
}
}
static void rigidbody_update_simulation_post_step(RigidBodyWorld *rbw)
{
GroupObject *go;
for (go = rbw->group->gobject.first; go; go = go->next) {
Object *ob = go->ob;
if (ob) {
RigidBodyOb *rbo = ob->rigidbody_object;
/* reset kinematic state for transformed objects */
if (rbo && (ob->flag & SELECT) && (G.moving & G_TRANSFORM_OBJ)) {
RB_body_set_kinematic_state(rbo->physics_object, rbo->flag & RBO_FLAG_KINEMATIC || rbo->flag & RBO_FLAG_DISABLED);
RB_body_set_mass(rbo->physics_object, RBO_GET_MASS(rbo));
/* deactivate passive objects so they don't interfere with deactivation of active objects */
if (rbo->type == RBO_TYPE_PASSIVE)
RB_body_deactivate(rbo->physics_object);
}
}
}
}
bool BKE_rigidbody_check_sim_running(RigidBodyWorld *rbw, float ctime)
{
return (rbw && (rbw->flag & RBW_FLAG_MUTED) == 0 && ctime > rbw->pointcache->startframe);
}
/* Sync rigid body and object transformations */
void BKE_rigidbody_sync_transforms(RigidBodyWorld *rbw, Object *ob, float ctime)
{
RigidBodyOb *rbo = ob->rigidbody_object;
/* keep original transform for kinematic and passive objects */
if (ELEM(NULL, rbw, rbo) || rbo->flag & RBO_FLAG_KINEMATIC || rbo->type == RBO_TYPE_PASSIVE)
return;
/* use rigid body transform after cache start frame if objects is not being transformed */
if (BKE_rigidbody_check_sim_running(rbw, ctime) && !(ob->flag & SELECT && G.moving & G_TRANSFORM_OBJ)) {
float mat[4][4], size_mat[4][4], size[3];
normalize_qt(rbo->orn); // RB_TODO investigate why quaternion isn't normalized at this point
quat_to_mat4(mat, rbo->orn);
copy_v3_v3(mat[3], rbo->pos);
mat4_to_size(size, ob->obmat);
size_to_mat4(size_mat, size);
mul_m4_m4m4(mat, mat, size_mat);
copy_m4_m4(ob->obmat, mat);
}
/* otherwise set rigid body transform to current obmat */
else {
mat4_to_loc_quat(rbo->pos, rbo->orn, ob->obmat);
}
}
/* Used when canceling transforms - return rigidbody and object to initial states */
void BKE_rigidbody_aftertrans_update(Object *ob, float loc[3], float rot[3], float quat[4], float rotAxis[3], float rotAngle)
{
RigidBodyOb *rbo = ob->rigidbody_object;
bool correct_delta = !(rbo->flag & RBO_FLAG_KINEMATIC || rbo->type == RBO_TYPE_PASSIVE);
/* return rigid body and object to their initial states */
copy_v3_v3(rbo->pos, ob->loc);
copy_v3_v3(ob->loc, loc);
if (correct_delta) {
add_v3_v3(rbo->pos, ob->dloc);
}
if (ob->rotmode > 0) {
float qt[4];
eulO_to_quat(qt, ob->rot, ob->rotmode);
if (correct_delta) {
float dquat[4];
eulO_to_quat(dquat, ob->drot, ob->rotmode);
mul_qt_qtqt(rbo->orn, dquat, qt);
}
else {
copy_qt_qt(rbo->orn, qt);
}
copy_v3_v3(ob->rot, rot);
}
else if (ob->rotmode == ROT_MODE_AXISANGLE) {
float qt[4];
axis_angle_to_quat(qt, ob->rotAxis, ob->rotAngle);
if (correct_delta) {
float dquat[4];
axis_angle_to_quat(dquat, ob->drotAxis, ob->drotAngle);
mul_qt_qtqt(rbo->orn, dquat, qt);
}
else {
copy_qt_qt(rbo->orn, qt);
}
copy_v3_v3(ob->rotAxis, rotAxis);
ob->rotAngle = rotAngle;
}
else {
if (correct_delta) {
mul_qt_qtqt(rbo->orn, ob->dquat, ob->quat);
}
else {
copy_qt_qt(rbo->orn, ob->quat);
}
copy_qt_qt(ob->quat, quat);
}
if (rbo->physics_object) {
/* allow passive objects to return to original transform */
if (rbo->type == RBO_TYPE_PASSIVE)
RB_body_set_kinematic_state(rbo->physics_object, true);
RB_body_set_loc_rot(rbo->physics_object, rbo->pos, rbo->orn);
}
// RB_TODO update rigid body physics object's loc/rot for dynamic objects here as well (needs to be done outside bullet's update loop)
}
void BKE_rigidbody_cache_reset(RigidBodyWorld *rbw)
{
if (rbw) {
rbw->pointcache->flag |= PTCACHE_OUTDATED;
}
}
/* ------------------ */
/* Rebuild rigid body world */
/* NOTE: this needs to be called before frame update to work correctly */
void BKE_rigidbody_rebuild_world(Scene *scene, float ctime)
{
RigidBodyWorld *rbw = scene->rigidbody_world;
PointCache *cache;
PTCacheID pid;
int startframe, endframe;
BKE_ptcache_id_from_rigidbody(&pid, NULL, rbw);
BKE_ptcache_id_time(&pid, scene, ctime, &startframe, &endframe, NULL);
cache = rbw->pointcache;
/* flag cache as outdated if we don't have a world or number of objects in the simulation has changed */
if (rbw->physics_world == NULL || rbw->numbodies != BLI_listbase_count(&rbw->group->gobject)) {
cache->flag |= PTCACHE_OUTDATED;
}
if (ctime == startframe + 1 && rbw->ltime == startframe) {
if (cache->flag & PTCACHE_OUTDATED) {
BKE_ptcache_id_reset(scene, &pid, PTCACHE_RESET_OUTDATED);
rigidbody_update_simulation(scene, rbw, true);
BKE_ptcache_validate(cache, (int)ctime);
cache->last_exact = 0;
cache->flag &= ~PTCACHE_REDO_NEEDED;
}
}
}
/* Run RigidBody simulation for the specified physics world */
void BKE_rigidbody_do_simulation(Scene *scene, float ctime)
{
float timestep;
RigidBodyWorld *rbw = scene->rigidbody_world;
PointCache *cache;
PTCacheID pid;
int startframe, endframe;
BKE_ptcache_id_from_rigidbody(&pid, NULL, rbw);
BKE_ptcache_id_time(&pid, scene, ctime, &startframe, &endframe, NULL);
cache = rbw->pointcache;
if (ctime <= startframe) {
rbw->ltime = startframe;
return;
}
/* make sure we don't go out of cache frame range */
else if (ctime > endframe) {
ctime = endframe;
}
/* don't try to run the simulation if we don't have a world yet but allow reading baked cache */
if (rbw->physics_world == NULL && !(cache->flag & PTCACHE_BAKED))
return;
else if (rbw->objects == NULL)
rigidbody_update_ob_array(rbw);
/* try to read from cache */
// RB_TODO deal with interpolated, old and baked results
bool can_simulate = (ctime == rbw->ltime + 1) && !(cache->flag & PTCACHE_BAKED);
if (BKE_ptcache_read(&pid, ctime, can_simulate) == PTCACHE_READ_EXACT) {
BKE_ptcache_validate(cache, (int)ctime);
rbw->ltime = ctime;
return;
}
/* advance simulation, we can only step one frame forward */
if (can_simulate) {
/* write cache for first frame when on second frame */
if (rbw->ltime == startframe && (cache->flag & PTCACHE_OUTDATED || cache->last_exact == 0)) {
BKE_ptcache_write(&pid, startframe);
}
/* update and validate simulation */
rigidbody_update_simulation(scene, rbw, false);
/* calculate how much time elapsed since last step in seconds */
timestep = 1.0f / (float)FPS * (ctime - rbw->ltime) * rbw->time_scale;
/* step simulation by the requested timestep, steps per second are adjusted to take time scale into account */
RB_dworld_step_simulation(rbw->physics_world, timestep, INT_MAX, 1.0f / (float)rbw->steps_per_second * min_ff(rbw->time_scale, 1.0f));
rigidbody_update_simulation_post_step(rbw);
/* write cache for current frame */
BKE_ptcache_validate(cache, (int)ctime);
BKE_ptcache_write(&pid, (unsigned int)ctime);
rbw->ltime = ctime;
}
}
/* ************************************** */
#else /* WITH_BULLET */
/* stubs */
#if defined(__GNUC__) || defined(__clang__)
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wunused-parameter"
#endif
struct RigidBodyOb *BKE_rigidbody_copy_object(const Object *ob, const int flag) { return NULL; }
struct RigidBodyCon *BKE_rigidbody_copy_constraint(const Object *ob, const int flag) { return NULL; }
void BKE_rigidbody_validate_sim_world(Scene *scene, RigidBodyWorld *rbw, bool rebuild) {}
void BKE_rigidbody_calc_volume(Object *ob, float *r_vol) { if (r_vol) *r_vol = 0.0f; }
void BKE_rigidbody_calc_center_of_mass(Object *ob, float r_center[3]) { zero_v3(r_center); }
struct RigidBodyWorld *BKE_rigidbody_create_world(Scene *scene) { return NULL; }
struct RigidBodyWorld *BKE_rigidbody_world_copy(RigidBodyWorld *rbw, const int flag) { return NULL; }
void BKE_rigidbody_world_groups_relink(struct RigidBodyWorld *rbw) {}
void BKE_rigidbody_world_id_loop(struct RigidBodyWorld *rbw, RigidbodyWorldIDFunc func, void *userdata) {}
struct RigidBodyOb *BKE_rigidbody_create_object(Scene *scene, Object *ob, short type) { return NULL; }
struct RigidBodyCon *BKE_rigidbody_create_constraint(Scene *scene, Object *ob, short type) { return NULL; }
struct RigidBodyWorld *BKE_rigidbody_get_world(Scene *scene) { return NULL; }
void BKE_rigidbody_remove_object(Scene *scene, Object *ob) {}
void BKE_rigidbody_remove_constraint(Scene *scene, Object *ob) {}
void BKE_rigidbody_sync_transforms(RigidBodyWorld *rbw, Object *ob, float ctime) {}
void BKE_rigidbody_aftertrans_update(Object *ob, float loc[3], float rot[3], float quat[4], float rotAxis[3], float rotAngle) {}
bool BKE_rigidbody_check_sim_running(RigidBodyWorld *rbw, float ctime) { return false; }
void BKE_rigidbody_cache_reset(RigidBodyWorld *rbw) {}
void BKE_rigidbody_rebuild_world(Scene *scene, float ctime) {}
void BKE_rigidbody_do_simulation(Scene *scene, float ctime) {}
#if defined(__GNUC__) || defined(__clang__)
# pragma GCC diagnostic pop
#endif
#endif /* WITH_BULLET */
/* -------------------- */
/* Depsgraph evaluation */
void BKE_rigidbody_rebuild_sim(EvaluationContext *UNUSED(eval_ctx),
Scene *scene)
{
float ctime = BKE_scene_frame_get(scene);
DEG_debug_print_eval_time(__func__, scene->id.name, scene, ctime);
/* rebuild sim data (i.e. after resetting to start of timeline) */
if (BKE_scene_check_rigidbody_active(scene)) {
BKE_rigidbody_rebuild_world(scene, ctime);
}
}
void BKE_rigidbody_eval_simulation(EvaluationContext *UNUSED(eval_ctx),
Scene *scene)
{
float ctime = BKE_scene_frame_get(scene);
DEG_debug_print_eval_time(__func__, scene->id.name, scene, ctime);
/* evaluate rigidbody sim */
if (BKE_scene_check_rigidbody_active(scene)) {
BKE_rigidbody_do_simulation(scene, ctime);
}
}
void BKE_rigidbody_object_sync_transforms(EvaluationContext *UNUSED(eval_ctx),
Scene *scene,
Object *ob)
{
RigidBodyWorld *rbw = scene->rigidbody_world;
float ctime = BKE_scene_frame_get(scene);
DEG_debug_print_eval_time(__func__, ob->id.name, ob, ctime);
/* read values pushed into RBO from sim/cache... */
BKE_rigidbody_sync_transforms(rbw, ob, ctime);
}
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