Setting object position is propagated to the physics simulation even for dynmamic objects.interactive_physics

The velocity is also reset to 0, which makes sense after forcing a dynamic object position.
Known issues:
- in interactive mode, changing an object position by rna causes a simulation step
- setting any part of the object position or orientation causes the full matrix to be applied to physics => missing true rigid body API

3 files changed, 41 insertions, 22 deletions

diff --git a/source/blender/blenkernel/intern/rigidbody.c b/source/blender/blenkernel/intern/rigidbody.c
index 737359aae93..bd2d3d65244 100644
--- a/source/blender/blenkernel/intern/rigidbody.c
+++ b/source/blender/blenkernel/intern/rigidbody.c
@@ -1313,13 +1313,13 @@ static void rigidbody_update_sim_ob(Depsgraph *depsgraph, Scene *scene, RigidBod
 		RB_shape_set_margin(rbo->shared->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->transflag & OB_PHYS_MOVING) {
+	if ((ob->transflag & OB_PHYS_MOVING) || (ob->id.recalc & ID_RECALC_PHYS)) {
 		RB_body_set_kinematic_state(rbo->shared->physics_object, true);
 		RB_body_set_mass(rbo->shared->physics_object, 0.0f);
 	}
 
 	/* update rigid body location and rotation for kinematic bodies */
-	if (rbo->flag & RBO_FLAG_KINEMATIC || (ob->transflag & OB_PHYS_MOVING)) {
+	if (rbo->flag & RBO_FLAG_KINEMATIC || (ob->transflag & OB_PHYS_MOVING) || (ob->id.recalc & ID_RECALC_PHYS)) {
 		RB_body_activate(rbo->shared->physics_object);
 		RB_body_set_loc_rot(rbo->shared->physics_object, loc, rot);
 	}
@@ -1484,14 +1484,18 @@ static void rigidbody_update_simulation(Depsgraph *depsgraph, Scene *scene, Rigi
 
 static void rigidbody_update_simulation_post_step(Depsgraph *depsgraph, RigidBodyWorld *rbw)
 {
+	static float null_vel[3] = {0.f, 0.f, 0.f};
+
 	FOREACH_COLLECTION_OBJECT_RECURSIVE_BEGIN(rbw->group, ob)
 	{
 		RigidBodyOb *rbo = ob->rigidbody_object;
 		/* Reset kinematic state for transformed objects. */
 		if (rbo) {
-			if (ob->transflag & OB_PHYS_MOVING) {
+			if ((ob->transflag & OB_PHYS_MOVING) || (ob->id.recalc & ID_RECALC_PHYS)) {
 				RB_body_set_kinematic_state(rbo->shared->physics_object, rbo->flag & RBO_FLAG_KINEMATIC || rbo->flag & RBO_FLAG_DISABLED);
 				RB_body_set_mass(rbo->shared->physics_object, RBO_GET_MASS(rbo));
+				RB_body_set_linear_velocity(rbo->shared->physics_object, null_vel);
+				RB_body_set_angular_velocity(rbo->shared->physics_object, null_vel);
 				/* Deactivate passive objects so they don't interfere with deactivation of active objects. */
 				if (rbo->type == RBO_TYPE_PASSIVE)
 					RB_body_deactivate(rbo->shared->physics_object);
@@ -1520,7 +1524,7 @@ void BKE_rigidbody_sync_transforms(RigidBodyWorld *rbw, Object *ob, float ctime)
 		return;
 
 	/* use rigid body transform after cache start frame if objects is not being transformed */
-	if (BKE_rigidbody_check_sim_running(rbw, ctime) && !(ob->transflag & OB_PHYS_MOVING)) {
+	if (BKE_rigidbody_check_sim_running(rbw, ctime) && !(ob->transflag & OB_PHYS_MOVING) && !(ob->id.recalc & ID_RECALC_PHYS)) {
 		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
@@ -1624,6 +1628,12 @@ void BKE_rigidbody_rebuild_world(Depsgraph *depsgraph, Scene *scene, float ctime
 	PTCacheID pid;
 	int startframe, endframe;
 
+	if (scene->flag & SCE_INTERACTIVE) {
+		if (rbw->shared->physics_world == NULL)
+			rigidbody_update_simulation(depsgraph, scene, rbw, true);
+		return;
+	}
+
 	BKE_ptcache_id_from_rigidbody(&pid, NULL, rbw);
 	BKE_ptcache_id_time(&pid, scene, ctime, &startframe, &endframe, NULL);
 	cache = rbw->shared->pointcache;
diff --git a/source/blender/makesdna/DNA_ID.h b/source/blender/makesdna/DNA_ID.h
index 9e5e822c4d5..2f802eaba2a 100644
--- a/source/blender/makesdna/DNA_ID.h
+++ b/source/blender/makesdna/DNA_ID.h
@@ -515,6 +515,8 @@ enum {
 	ID_RECALC_GEOMETRY    = 1 << 4,
 	ID_RECALC_TRANSFORM   = 1 << 5,
 	ID_RECALC_COPY_ON_WRITE = 1 << 6,
+	/* copy object matrix to physics simulation */
+	ID_RECALC_PHYS        = 1 << 7,
 	/* Special flag to check if SOMETHING was changed. */
 	ID_RECALC_ALL   = (~(int)0),
 };
diff --git a/source/blender/makesrna/intern/rna_object.c b/source/blender/makesrna/intern/rna_object.c
index 16fbec0baa5..661138fe523 100644
--- a/source/blender/makesrna/intern/rna_object.c
+++ b/source/blender/makesrna/intern/rna_object.c
@@ -239,6 +239,13 @@ static void rna_Object_internal_update(Main *UNUSED(bmain), Scene *UNUSED(scene)
 	DEG_id_tag_update(ptr->id.data, OB_RECALC_OB);
 }
 
+static void rna_Object_internal_transform_update(Main *UNUSED(bmain), Scene *UNUSED(scene), PointerRNA *ptr)
+{
+	DEG_id_tag_update(ptr->id.data, OB_RECALC_OB);
+	/* propagate new object position to physics simulation */
+	((ID *)ptr->id.data)->recalc |= ID_RECALC_PHYS;
+}
+
 static void rna_Object_internal_update_draw(Main *UNUSED(bmain), Scene *UNUSED(scene), PointerRNA *ptr)
 {
 	DEG_id_tag_update(ptr->id.data, OB_RECALC_OB);
@@ -249,7 +256,7 @@ static void rna_Object_matrix_world_update(Main *bmain, Scene *scene, PointerRNA
 {
 	/* don't use compat so we get predictable rotation */
 	BKE_object_apply_mat4(ptr->id.data, ((Object *)ptr->id.data)->obmat, false, true);
-	rna_Object_internal_update(bmain, scene, ptr);
+	rna_Object_internal_transform_update(bmain, scene, ptr);
 }
 
 static void rna_Object_hide_update(Main *bmain, Scene *UNUSED(scene), PointerRNA *ptr)
@@ -2251,7 +2258,7 @@ static void rna_def_object(BlenderRNA *brna)
 	RNA_def_property_override_flag(prop, PROPOVERRIDE_OVERRIDABLE_STATIC);
 	RNA_def_property_ui_text(prop, "Location", "Location of the object");
 	RNA_def_property_ui_range(prop, -FLT_MAX, FLT_MAX, 1, RNA_TRANSLATION_PREC_DEFAULT);
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	prop = RNA_def_property(srna, "rotation_quaternion", PROP_FLOAT, PROP_QUATERNION);
 	RNA_def_property_float_sdna(prop, NULL, "quat");
@@ -2259,7 +2266,7 @@ static void rna_def_object(BlenderRNA *brna)
 	RNA_def_property_override_flag(prop, PROPOVERRIDE_OVERRIDABLE_STATIC);
 	RNA_def_property_float_array_default(prop, default_quat);
 	RNA_def_property_ui_text(prop, "Quaternion Rotation", "Rotation in Quaternions");
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	/* XXX: for axis-angle, it would have been nice to have 2 separate fields for UI purposes, but
 	 * having a single one is better for Keyframing and other property-management situations...
@@ -2272,21 +2279,21 @@ static void rna_def_object(BlenderRNA *brna)
 	RNA_def_property_float_array_default(prop, default_axisAngle);
 	RNA_def_property_override_flag(prop, PROPOVERRIDE_OVERRIDABLE_STATIC);
 	RNA_def_property_ui_text(prop, "Axis-Angle Rotation", "Angle of Rotation for Axis-Angle rotation representation");
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	prop = RNA_def_property(srna, "rotation_euler", PROP_FLOAT, PROP_EULER);
 	RNA_def_property_float_sdna(prop, NULL, "rot");
 	RNA_def_property_editable_array_func(prop, "rna_Object_rotation_euler_editable");
 	RNA_def_property_override_flag(prop, PROPOVERRIDE_OVERRIDABLE_STATIC);
 	RNA_def_property_ui_text(prop, "Euler Rotation", "Rotation in Eulers");
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	prop = RNA_def_property(srna, "rotation_mode", PROP_ENUM, PROP_NONE);
 	RNA_def_property_enum_sdna(prop, NULL, "rotmode");
 	RNA_def_property_enum_items(prop, prop_rotmode_items); /* XXX move to using a single define of this someday */
 	RNA_def_property_enum_funcs(prop, NULL, "rna_Object_rotation_mode_set", NULL);
 	RNA_def_property_ui_text(prop, "Rotation Mode", "");
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	prop = RNA_def_property(srna, "scale", PROP_FLOAT, PROP_XYZ);
 	RNA_def_property_float_sdna(prop, NULL, "size");
@@ -2296,7 +2303,7 @@ static void rna_def_object(BlenderRNA *brna)
 	RNA_def_property_ui_range(prop, -FLT_MAX, FLT_MAX, 1, 3);
 	RNA_def_property_float_array_default(prop, default_scale);
 	RNA_def_property_ui_text(prop, "Scale", "Scaling of the object");
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	prop = RNA_def_property(srna, "dimensions", PROP_FLOAT, PROP_XYZ_LENGTH);
 	RNA_def_property_array(prop, 3);
@@ -2305,7 +2312,7 @@ static void rna_def_object(BlenderRNA *brna)
 	RNA_def_property_float_funcs(prop, "rna_Object_dimensions_get", "rna_Object_dimensions_set", NULL);
 	RNA_def_property_ui_range(prop, 0.0f, FLT_MAX, 1, RNA_TRANSLATION_PREC_DEFAULT);
 	RNA_def_property_ui_text(prop, "Dimensions", "Absolute bounding box dimensions of the object");
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 
 	/* delta transforms */
@@ -2313,20 +2320,20 @@ static void rna_def_object(BlenderRNA *brna)
 	RNA_def_property_float_sdna(prop, NULL, "dloc");
 	RNA_def_property_ui_text(prop, "Delta Location", "Extra translation added to the location of the object");
 	RNA_def_property_ui_range(prop, -FLT_MAX, FLT_MAX, 1, RNA_TRANSLATION_PREC_DEFAULT);
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	prop = RNA_def_property(srna, "delta_rotation_euler", PROP_FLOAT, PROP_EULER);
 	RNA_def_property_float_sdna(prop, NULL, "drot");
 	RNA_def_property_ui_text(prop, "Delta Rotation (Euler)",
 	                         "Extra rotation added to the rotation of the object (when using Euler rotations)");
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	prop = RNA_def_property(srna, "delta_rotation_quaternion", PROP_FLOAT, PROP_QUATERNION);
 	RNA_def_property_float_sdna(prop, NULL, "dquat");
 	RNA_def_property_float_array_default(prop, default_quat);
 	RNA_def_property_ui_text(prop, "Delta Rotation (Quaternion)",
 	                         "Extra rotation added to the rotation of the object (when using Quaternion rotations)");
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 #if 0 /* XXX not supported well yet... */
 	prop = RNA_def_property(srna, "delta_rotation_axis_angle", PROP_FLOAT, PROP_AXISANGLE);
@@ -2335,7 +2342,7 @@ static void rna_def_object(BlenderRNA *brna)
 	RNA_def_property_float_array_default(prop, default_axisAngle);
 	RNA_def_property_ui_text(prop, "Delta Rotation (Axis Angle)",
 	                         "Extra rotation added to the rotation of the object (when using Axis-Angle rotations)");
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 #endif
 
 	prop = RNA_def_property(srna, "delta_scale", PROP_FLOAT, PROP_XYZ);
@@ -2344,7 +2351,7 @@ static void rna_def_object(BlenderRNA *brna)
 	RNA_def_property_ui_range(prop, -FLT_MAX, FLT_MAX, 1, 3);
 	RNA_def_property_float_array_default(prop, default_scale);
 	RNA_def_property_ui_text(prop, "Delta Scale", "Extra scaling added to the scale of the object");
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	/* transform locks */
 	prop = RNA_def_property(srna, "lock_location", PROP_BOOLEAN, PROP_NONE);
@@ -2352,14 +2359,14 @@ static void rna_def_object(BlenderRNA *brna)
 	RNA_def_property_array(prop, 3);
 	RNA_def_property_ui_text(prop, "Lock Location", "Lock editing of location in the interface");
 	RNA_def_property_ui_icon(prop, ICON_UNLOCKED, 1);
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	prop = RNA_def_property(srna, "lock_rotation", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "protectflag", OB_LOCK_ROTX);
 	RNA_def_property_array(prop, 3);
 	RNA_def_property_ui_text(prop, "Lock Rotation", "Lock editing of rotation in the interface");
 	RNA_def_property_ui_icon(prop, ICON_UNLOCKED, 1);
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	/* XXX this is sub-optimal - it really should be included above,
 	 *     but due to technical reasons we can't do this! */
@@ -2379,7 +2386,7 @@ static void rna_def_object(BlenderRNA *brna)
 	RNA_def_property_array(prop, 3);
 	RNA_def_property_ui_text(prop, "Lock Scale", "Lock editing of scale in the interface");
 	RNA_def_property_ui_icon(prop, ICON_UNLOCKED, 1);
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	/* matrix */
 	prop = RNA_def_property(srna, "matrix_world", PROP_FLOAT, PROP_MATRIX);
@@ -2405,14 +2412,14 @@ static void rna_def_object(BlenderRNA *brna)
 	                         "Matrix access to location, rotation and scale (including deltas), "
 	                         "before constraints and parenting are applied");
 	RNA_def_property_float_funcs(prop, "rna_Object_matrix_basis_get", "rna_Object_matrix_basis_set", NULL);
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	/*parent_inverse*/
 	prop = RNA_def_property(srna, "matrix_parent_inverse", PROP_FLOAT, PROP_MATRIX);
 	RNA_def_property_float_sdna(prop, NULL, "parentinv");
 	RNA_def_property_multi_array(prop, 2, rna_matrix_dimsize_4x4);
 	RNA_def_property_ui_text(prop, "Matrix", "Inverse of object's parent matrix at time of parenting");
-	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_update");
+	RNA_def_property_update(prop, NC_OBJECT | ND_TRANSFORM, "rna_Object_internal_transform_update");
 
 	/* modifiers */
 	prop = RNA_def_property(srna, "modifiers", PROP_COLLECTION, PROP_NONE);