rigidbody: Add motor constraint

It's implemented as a separate constraint instead of adding properties
to the existing constraints.
Motors only apply linear and angular impulses and don't limit the
movement of rigid bodies, so it's best to use them in conjunction with
other constraints to limit the degrees of freedom.

Thanks to Markus Kasten (markus111) for the initial patch.

1 files changed, 128 insertions, 0 deletions

diff --git a/source/blender/makesrna/intern/rna_rigidbody.c b/source/blender/makesrna/intern/rna_rigidbody.c
index 7270ccadb81..f5cf247b5a1 100644
--- a/source/blender/makesrna/intern/rna_rigidbody.c
+++ b/source/blender/makesrna/intern/rna_rigidbody.c
@@ -72,6 +72,7 @@ EnumPropertyItem rigidbody_con_type_items[] = {
 	{RBC_TYPE_6DOF, "GENERIC", ICON_NONE, "Generic", "Restrict translation and rotation to specified axes"},
 	{RBC_TYPE_6DOF_SPRING, "GENERIC_SPRING", ICON_NONE, "Generic Spring",
 	                       "Restrict translation and rotation to specified axes with springs"},
+	{RBC_TYPE_MOTOR, "MOTOR", ICON_NONE, "Motor", "Drive rigid body around or along an axis"},
 	{0, NULL, 0, NULL, NULL}};
 
 
@@ -501,6 +502,85 @@ static void rna_RigidBodyCon_spring_damping_z_set(PointerRNA *ptr, float value)
 #endif
 }
 
+static void rna_RigidBodyCon_motor_lin_max_impulse_set(PointerRNA *ptr, float value)
+{
+	RigidBodyCon *rbc = (RigidBodyCon *)ptr->data;
+
+	rbc->motor_lin_max_impulse = value;
+
+#ifdef WITH_BULLET
+	if (rbc->physics_constraint && rbc->type == RBC_TYPE_MOTOR) {
+		RB_constraint_set_max_impulse_motor(rbc->physics_constraint, value, rbc->motor_ang_max_impulse);
+	}
+#endif
+}
+
+static void rna_RigidBodyCon_use_motor_lin_set(PointerRNA *ptr, int value)
+{
+	RigidBodyCon *rbc = (RigidBodyCon *)ptr->data;
+
+	RB_FLAG_SET(rbc->flag, value, RBC_FLAG_USE_MOTOR_LIN);
+
+#ifdef WITH_BULLET
+	if (rbc->physics_constraint) {
+		RB_constraint_set_enable_motor(rbc->physics_constraint, rbc->flag & RBC_FLAG_USE_MOTOR_LIN, rbc->flag & RBC_FLAG_USE_MOTOR_ANG);
+	}
+#endif
+}
+
+static void rna_RigidBodyCon_use_motor_ang_set(PointerRNA *ptr, int value)
+{
+	RigidBodyCon *rbc = (RigidBodyCon *)ptr->data;
+
+	RB_FLAG_SET(rbc->flag, value, RBC_FLAG_USE_MOTOR_ANG);
+
+#ifdef WITH_BULLET
+	if (rbc->physics_constraint) {
+		RB_constraint_set_enable_motor(rbc->physics_constraint, rbc->flag & RBC_FLAG_USE_MOTOR_LIN, rbc->flag & RBC_FLAG_USE_MOTOR_ANG);
+	}
+#endif
+}
+
+static void rna_RigidBodyCon_motor_lin_target_velocity_set(PointerRNA *ptr, float value)
+{
+	RigidBodyCon *rbc = (RigidBodyCon *)ptr->data;
+
+	rbc->motor_lin_target_velocity = value;
+
+#ifdef WITH_BULLET
+	if (rbc->physics_constraint && rbc->type == RBC_TYPE_MOTOR) {
+		RB_constraint_set_target_velocity_motor(rbc->physics_constraint, value, rbc->motor_ang_target_velocity);
+	}
+#endif
+}
+
+static void rna_RigidBodyCon_motor_ang_max_impulse_set(PointerRNA *ptr, float value)
+{
+	RigidBodyCon *rbc = (RigidBodyCon *)ptr->data;
+
+	rbc->motor_ang_max_impulse = value;
+
+#ifdef WITH_BULLET
+	if (rbc->physics_constraint && rbc->type == RBC_TYPE_MOTOR) {
+		RB_constraint_set_max_impulse_motor(rbc->physics_constraint, rbc->motor_lin_max_impulse, value);
+	}
+#endif
+}
+
+static void rna_RigidBodyCon_motor_ang_target_velocity_set(PointerRNA *ptr, float value)
+{
+	RigidBodyCon *rbc = (RigidBodyCon *)ptr->data;
+
+	rbc->motor_ang_target_velocity = value;
+
+#ifdef WITH_BULLET
+	if (rbc->physics_constraint && rbc->type == RBC_TYPE_MOTOR) {
+		RB_constraint_set_target_velocity_motor(rbc->physics_constraint, rbc->motor_lin_target_velocity, value);
+	}
+#endif
+}
+
+
 #else
 
 static void rna_def_rigidbody_world(BlenderRNA *brna)
@@ -866,6 +946,18 @@ static void rna_def_rigidbody_constraint(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Z Spring", "Enable spring on Z axis");
 	RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
 
+	prop = RNA_def_property(srna, "use_motor_lin", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", RBC_FLAG_USE_MOTOR_LIN);
+	RNA_def_property_boolean_funcs(prop, NULL, "rna_RigidBodyCon_use_motor_lin_set");
+	RNA_def_property_ui_text(prop, "Linear Motor", "Enables linear motor");
+	RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
+
+	prop = RNA_def_property(srna, "use_motor_ang", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", RBC_FLAG_USE_MOTOR_ANG);
+	RNA_def_property_boolean_funcs(prop, NULL, "rna_RigidBodyCon_use_motor_ang_set");
+	RNA_def_property_ui_text(prop, "Angular Motor", "Enables angular motor");
+	RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
+
 	prop = RNA_def_property(srna, "limit_lin_x_lower", PROP_FLOAT, PROP_UNIT_LENGTH);
 	RNA_def_property_float_sdna(prop, NULL, "limit_lin_x_lower");
 	RNA_def_property_float_default(prop, -1.0f);
@@ -994,6 +1086,42 @@ static void rna_def_rigidbody_constraint(BlenderRNA *brna)
 	RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyCon_spring_damping_z_set", NULL);
 	RNA_def_property_ui_text(prop, "Damping Z", "Damping on the Z axis");
 	RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
+
+	prop = RNA_def_property(srna, "motor_lin_target_velocity", PROP_FLOAT, PROP_UNIT_VELOCITY);
+	RNA_def_property_float_sdna(prop, NULL, "motor_lin_target_velocity");
+	RNA_def_property_range(prop, -FLT_MAX, FLT_MAX);
+	RNA_def_property_ui_range(prop, -100.0f, 100.0f, 1, 3);
+	RNA_def_property_float_default(prop, 1.0f);
+	RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyCon_motor_lin_target_velocity_set", NULL);
+	RNA_def_property_ui_text(prop, "Target Velocity", "Target linear motor velocity");
+	RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
+
+	prop = RNA_def_property(srna, "motor_lin_max_impulse", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "motor_lin_max_impulse");
+	RNA_def_property_range(prop, 0.0f, FLT_MAX);
+	RNA_def_property_ui_range(prop, 0.0f, 100.0f, 1, 3);
+	RNA_def_property_float_default(prop, 1.0f);
+	RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyCon_motor_lin_max_impulse_set", NULL);
+	RNA_def_property_ui_text(prop, "Max Impulse", "Maximum linear motor impulse");
+	RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
+
+	prop = RNA_def_property(srna, "motor_ang_target_velocity", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "motor_ang_target_velocity");
+	RNA_def_property_range(prop, -FLT_MAX, FLT_MAX);
+	RNA_def_property_ui_range(prop, -100.0f, 100.0f, 1, 3);
+	RNA_def_property_float_default(prop, 1.0f);
+	RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyCon_motor_ang_target_velocity_set", NULL);
+	RNA_def_property_ui_text(prop, "Target Velocity", "Target angular motor velocity");
+	RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
+
+	prop = RNA_def_property(srna, "motor_ang_max_impulse", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "motor_ang_max_impulse");
+	RNA_def_property_range(prop, 0.0f, FLT_MAX);
+	RNA_def_property_ui_range(prop, 0.0f, 100.0f, 1, 3);
+	RNA_def_property_float_default(prop, 1.0f);
+	RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyCon_motor_ang_max_impulse_set", NULL);
+	RNA_def_property_ui_text(prop, "Max Impulse", "Maximum angular motor impulse");
+	RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
 }
 
 void RNA_def_rigidbody(BlenderRNA *brna)