rigidbody: Add DNA/RNA/BKE infrastructure for the rigid body sim

This is just the basic structure, the simulation isn't hooked up yet.

Scenes get a pointer to a rigid body world that holds rigid body objects.
Objects get a pointer to a rigdid body object.

Both rigid body world and objects aren't used directly in the simulation
and only hold information to create the actual physics objects.

Physics objects are created when rigid body objects are validated.
In order to keep blender and bullet objects in sync care has to be taken
to either call appropriate set functions or flag objects for validation.

Part of GSoC 2010 and 2012.
Authors: Joshua Leung (aligorith), Sergej Reich (sergof)

1 files changed, 499 insertions, 0 deletions

diff --git a/source/blender/makesrna/intern/rna_rigidbody.c b/source/blender/makesrna/intern/rna_rigidbody.c
new file mode 100644
index 00000000000..c7d6324b881
--- /dev/null
+++ b/source/blender/makesrna/intern/rna_rigidbody.c
@@ -0,0 +1,499 @@
+/*
+ * ***** 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.
+ *
+ * Contributor(s): Blender Foundation 2013, Joshua Leung, Sergej Reich
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+/** \file rna_rigidbody.c
+ *  \ingroup rna
+ *  \brief RNA property definitions for Rigid Body datatypes
+ */
+
+#include <stdlib.h>
+#include <string.h>
+
+#include "RNA_define.h"
+
+#include "rna_internal.h"
+
+#include "DNA_group_types.h"
+#include "DNA_object_types.h"
+#include "DNA_rigidbody_types.h"
+#include "DNA_scene_types.h"
+
+#include "BLI_utildefines.h"
+#include "BLI_math.h"
+
+#include "WM_types.h"
+
+/* roles of objects in RigidBody Sims */
+EnumPropertyItem rigidbody_ob_type_items[] = {
+	{RBO_TYPE_ACTIVE, "ACTIVE", 0, "Active", "Object is directly controlled by simulation results"},
+	{RBO_TYPE_PASSIVE, "PASSIVE", 0, "Passive", "Object is directly controlled by animation system"},
+	{0, NULL, 0, NULL, NULL}};
+
+/* collision shapes of objects in rigid body sim */
+EnumPropertyItem rigidbody_ob_shape_items[] = {
+	{RB_SHAPE_BOX, "BOX", ICON_MESH_CUBE, "Box", "Box-like shapes (i.e. cubes), including planes (i.e. ground planes)"},
+	{RB_SHAPE_SPHERE, "SPHERE", ICON_MESH_UVSPHERE, "Sphere", ""},
+	{RB_SHAPE_CAPSULE, "CAPSULE", ICON_OUTLINER_OB_META, "Capsule", ""},
+	{RB_SHAPE_CYLINDER, "CYLINDER", ICON_MESH_CYLINDER, "Cylinder", ""},
+	{RB_SHAPE_CONE, "CONE", ICON_MESH_CONE, "Cone", ""},
+	{RB_SHAPE_CONVEXH, "CONVEX_HULL", ICON_MESH_ICOSPHERE, "Convex Hull", "A mesh-like surface encompassing (i.e. shrinkwrap over) all verts. Best results with fewer vertices"},
+	{RB_SHAPE_TRIMESH, "MESH", ICON_MESH_MONKEY, "Mesh", "Mesh consisting of triangles only, allowing for more detailed interactions than convex hulls"},
+	{0, NULL, 0, NULL, NULL}};
+
+
+#ifdef RNA_RUNTIME
+
+#include "RBI_api.h"
+
+#include "BKE_depsgraph.h"
+#include "BKE_rigidbody.h"
+
+#define RB_FLAG_SET(dest, value, flag) { \
+	if (value) \
+		dest |= flag; \
+	else \
+		dest &= ~flag; \
+}
+
+
+/* ******************************** */
+
+static void rna_RigidBodyWorld_reset(Main *bmain, Scene *scene, PointerRNA *ptr)
+{
+	RigidBodyWorld *rbw = (RigidBodyWorld *)ptr->data;
+	
+	BKE_rigidbody_cache_reset(rbw);
+}
+
+static char *rna_RigidBodyWorld_path(PointerRNA *ptr)
+{	
+	return BLI_sprintfN("rigidbody_world");
+}
+
+static void rna_RigidBodyWorld_num_solver_iterations_set(PointerRNA *ptr, int value)
+{
+	RigidBodyWorld *rbw = (RigidBodyWorld *)ptr->data;
+	
+	rbw->num_solver_iterations = value;
+	
+	if (rbw->physics_world)
+		RB_dworld_set_solver_iterations(rbw->physics_world, value);
+}
+
+static void rna_RigidBodyWorld_split_impulse_set(PointerRNA *ptr, int value)
+{
+	RigidBodyWorld *rbw = (RigidBodyWorld *)ptr->data;
+	
+	RB_FLAG_SET(rbw->flag, value, RBW_FLAG_USE_SPLIT_IMPULSE);
+	
+	if (rbw->physics_world)
+		RB_dworld_set_split_impulse(rbw->physics_world, value);
+}
+
+/* ******************************** */
+
+static void rna_RigidBodyOb_reset(Main *bmain, Scene *scene, PointerRNA *ptr)
+{
+	RigidBodyWorld *rbw = scene->rigidbody_world;
+	
+	BKE_rigidbody_cache_reset(rbw);
+}
+
+static void rna_RigidBodyOb_shape_reset(Main *bmain, Scene *scene, PointerRNA *ptr)
+{
+	RigidBodyWorld *rbw = scene->rigidbody_world;
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	
+	BKE_rigidbody_cache_reset(rbw);
+	if (rbo->physics_shape)
+		rbo->flag |= RBO_FLAG_NEEDS_RESHAPE;
+}
+
+static char *rna_RigidBodyOb_path(PointerRNA *ptr)
+{
+	/* NOTE: this hardcoded path should work as long as only Objects have this */
+	return BLI_sprintfN("rigid_body");
+}
+
+static void rna_RigidBodyOb_type_set(PointerRNA *ptr, int value)
+{
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	
+	rbo->type = value;
+	rbo->flag |= RBO_FLAG_NEEDS_VALIDATE;
+	
+	/* do physics sim updates */
+	if (rbo->physics_object)
+		RB_body_set_mass(rbo->physics_object, RBO_GET_MASS(rbo));
+}
+
+static void rna_RigidBodyOb_disabled_set(PointerRNA *ptr, int value)
+{
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	
+	RB_FLAG_SET(rbo->flag, !value, RBO_FLAG_DISABLED);
+	
+	/* update kinematic state if necessary - only needed for active bodies */
+	if ((rbo->physics_object) && (rbo->type == RBO_TYPE_ACTIVE)) {
+		RB_body_set_mass(rbo->physics_object, RBO_GET_MASS(rbo));
+		RB_body_set_kinematic_state(rbo->physics_object, !value);
+		rbo->flag |= RBO_FLAG_NEEDS_VALIDATE;
+	}
+}
+
+static void rna_RigidBodyOb_shape_set(PointerRNA *ptr, int value)
+{
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	Object *ob = (Object *)ptr->id.data;
+	
+	rbo->shape = value;
+	
+	/* force creation of new collision shape reflecting this */
+	BKE_rigidbody_validate_sim_shape(ob, TRUE);
+	
+	/* now tell RB sim about it */
+	if (rbo->physics_object && rbo->physics_shape)
+		RB_body_set_collision_shape(rbo->physics_object, rbo->physics_shape);
+}
+
+
+static void rna_RigidBodyOb_mass_set(PointerRNA *ptr, float value)
+{
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	
+	rbo->mass = value;
+	
+	/* only active bodies need mass update */
+	if ((rbo->physics_object) && (rbo->type == RBO_TYPE_ACTIVE))
+		RB_body_set_mass(rbo->physics_object, RBO_GET_MASS(rbo));
+}
+
+static void rna_RigidBodyOb_friction_set(PointerRNA *ptr, float value)
+{
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	
+	rbo->friction = value;
+	
+	if (rbo->physics_object)
+		RB_body_set_friction(rbo->physics_object, value);
+}
+
+static void rna_RigidBodyOb_restitution_set(PointerRNA *ptr, float value)
+{
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	
+	rbo->restitution = value;
+	
+	if (rbo->physics_object)
+		RB_body_set_restitution(rbo->physics_object, value);
+}
+
+static void rna_RigidBodyOb_collision_margin_set(PointerRNA *ptr, float value)
+{
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	
+	rbo->margin = value;
+	
+	if (rbo->physics_shape)
+		RB_shape_set_margin(rbo->physics_shape, RBO_GET_MARGIN(rbo));
+}
+
+static void rna_RigidBodyOb_kinematic_state_set(PointerRNA *ptr, int value)
+{
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	
+	RB_FLAG_SET(rbo->flag, value, RBO_FLAG_KINEMATIC);
+	
+	/* update kinematic state if necessary */
+	if (rbo->physics_object) {
+		RB_body_set_mass(rbo->physics_object, RBO_GET_MASS(rbo));
+		RB_body_set_kinematic_state(rbo->physics_object, value);
+		rbo->flag |= RBO_FLAG_NEEDS_VALIDATE;
+	}
+}
+
+static void rna_RigidBodyOb_activation_state_set(PointerRNA *ptr, int value)
+{
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	
+	RB_FLAG_SET(rbo->flag, value, RBO_FLAG_USE_DEACTIVATION);
+	
+	/* update activation state if necessary - only active bodies can be deactivated */
+	if ((rbo->physics_object) && (rbo->type == RBO_TYPE_ACTIVE))
+		RB_body_set_activation_state(rbo->physics_object, value);
+}
+
+static void rna_RigidBodyOb_linear_sleepThresh_set(PointerRNA *ptr, float value)
+{
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	
+	rbo->lin_sleep_thresh = value;
+	
+	/* only active bodies need sleep threshold update */
+	if ((rbo->physics_object) && (rbo->type == RBO_TYPE_ACTIVE))
+		RB_body_set_linear_sleep_thresh(rbo->physics_object, value);
+}
+
+static void rna_RigidBodyOb_angular_sleepThresh_set(PointerRNA *ptr, float value)
+{
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	
+	rbo->ang_sleep_thresh = value;
+	
+	/* only active bodies need sleep threshold update */
+	if ((rbo->physics_object) && (rbo->type == RBO_TYPE_ACTIVE))
+		RB_body_set_angular_sleep_thresh(rbo->physics_object, value);
+}
+
+static void rna_RigidBodyOb_linear_damping_set(PointerRNA *ptr, float value)
+{
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	
+	rbo->lin_damping = value;
+	
+	/* only active bodies need damping update */
+	if ((rbo->physics_object) && (rbo->type == RBO_TYPE_ACTIVE))
+		RB_body_set_linear_damping(rbo->physics_object, value);
+}
+
+static void rna_RigidBodyOb_angular_damping_set(PointerRNA *ptr, float value)
+{
+	RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
+	
+	rbo->ang_damping = value;
+	
+	/* only active bodies need damping update */
+	if ((rbo->physics_object) && (rbo->type == RBO_TYPE_ACTIVE))
+		RB_body_set_angular_damping(rbo->physics_object, value);
+}
+
+#else
+
+static void rna_def_rigidbody_world(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	
+	srna = RNA_def_struct(brna, "RigidBodyWorld", NULL);
+	RNA_def_struct_sdna(srna, "RigidBodyWorld");
+	RNA_def_struct_ui_text(srna, "Rigid Body World", "Self-contained rigid body simulation environment and settings");
+	RNA_def_struct_path_func(srna, "rna_RigidBodyWorld_path");
+	
+	/* groups */
+	prop = RNA_def_property(srna, "group", PROP_POINTER, PROP_NONE);
+	RNA_def_property_struct_type(prop, "Group");
+	RNA_def_property_flag(prop, PROP_EDITABLE|PROP_ID_SELF_CHECK);
+	RNA_def_property_ui_text(prop, "Group", "Group containing objects participating in this simulation");
+	RNA_def_property_update(prop, NC_SCENE, "rna_RigidBodyWorld_reset");
+	
+	/* booleans */
+	prop = RNA_def_property(srna, "enabled", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_negative_sdna(prop, NULL, "flag", RBW_FLAG_MUTED);
+	RNA_def_property_ui_text(prop, "Enabled", "Simulation will be evaluated");
+	RNA_def_property_update(prop, NC_SCENE, NULL);
+	
+	/* time scale */
+	prop = RNA_def_property(srna, "time_scale", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "time_scale");
+	RNA_def_property_range(prop, 0.0f, 100.0f);
+	RNA_def_property_ui_range(prop, 0.0f, 10.0f, 1, 3);
+	RNA_def_property_float_default(prop, 1.0f);
+	RNA_def_property_ui_text(prop, "Time Scale", "Changes the speed of the simulation");
+	RNA_def_property_update(prop, NC_SCENE, "rna_RigidBodyWorld_reset");
+	
+	/* timestep */
+	prop = RNA_def_property(srna, "steps_per_second", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "steps_per_second");
+	RNA_def_property_range(prop, 1, SHRT_MAX);
+	RNA_def_property_ui_range(prop, 60, 1000, 1, 0);
+	RNA_def_property_int_default(prop, 60);
+	RNA_def_property_ui_text(prop, "Steps Per Second", "Number of simulation steps taken per second (higher values are more accurate but slower)");
+	RNA_def_property_update(prop, NC_SCENE, "rna_RigidBodyWorld_reset");
+	
+	/* constraint solver iterations */
+	prop = RNA_def_property(srna, "num_solver_iterations", PROP_INT, PROP_NONE);
+	RNA_def_property_int_sdna(prop, NULL, "num_solver_iterations");
+	RNA_def_property_range(prop, 1, 1000);
+	RNA_def_property_ui_range(prop, 10, 100, 1, 0);
+	RNA_def_property_int_default(prop, 10);
+	RNA_def_property_int_funcs(prop, NULL, "rna_RigidBodyWorld_num_solver_iterations_set", NULL);
+	RNA_def_property_ui_text(prop, "Solver Iterations", "Number of constraint solver iterations made per simulation step (higher values are more accurate but slower)");
+	RNA_def_property_update(prop, NC_SCENE, "rna_RigidBodyWorld_reset");
+	
+	/* split impulse */
+	prop = RNA_def_property(srna, "use_split_impulse", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", RBW_FLAG_USE_SPLIT_IMPULSE);
+	RNA_def_property_boolean_funcs(prop, NULL, "rna_RigidBodyWorld_split_impulse_set");
+	RNA_def_property_ui_text(prop, "Split Impulse", "Reduces extra velocity that can build up when objects collide (lowers simulation stabilty a litte so use only when necessary)");
+	RNA_def_property_update(prop, NC_SCENE, "rna_RigidBodyWorld_reset");
+}
+
+static void rna_def_rigidbody_object(BlenderRNA *brna)
+{
+	StructRNA *srna;
+	PropertyRNA *prop;
+	
+	
+	srna = RNA_def_struct(brna, "RigidBodyObject", NULL);
+	RNA_def_struct_sdna(srna, "RigidBodyOb");
+	RNA_def_struct_ui_text(srna, "Rigid Body Object", "Settings for object participating in Rigid Body Simulation");
+	RNA_def_struct_path_func(srna, "rna_RigidBodyOb_path");
+	
+	/* Enums */
+	prop = RNA_def_property(srna, "type", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "type");
+	RNA_def_property_enum_items(prop, rigidbody_ob_type_items);
+	RNA_def_property_enum_funcs(prop, NULL, "rna_RigidBodyOb_type_set", NULL);
+	RNA_def_property_ui_text(prop, "Type", "Role of object in Rigid Body Simulations");
+	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	
+	/* booleans */
+	prop = RNA_def_property(srna, "enabled", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_negative_sdna(prop, NULL, "flag", RBO_FLAG_DISABLED);
+	RNA_def_property_boolean_funcs(prop, NULL, "rna_RigidBodyOb_disabled_set");
+	RNA_def_property_ui_text(prop, "Enabled", "Rigid Body actively participated in the simulation");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	
+	prop = RNA_def_property(srna, "collision_shape", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "shape");
+	RNA_def_property_enum_items(prop, rigidbody_ob_shape_items);
+	RNA_def_property_enum_funcs(prop, NULL, "rna_RigidBodyOb_shape_set", NULL);
+	RNA_def_property_ui_text(prop, "Collision Shape", "Collision Shape of object in Rigid Body Simulations");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	
+	prop = RNA_def_property(srna, "kinematic", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", RBO_FLAG_KINEMATIC);
+	RNA_def_property_boolean_funcs(prop, NULL, "rna_RigidBodyOb_kinematic_state_set");
+	RNA_def_property_ui_text(prop, "Kinematic", "Allows rigid body to be controlled by the animation system");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	
+	/* Physics Parameters */
+	prop = RNA_def_property(srna, "mass", PROP_FLOAT, PROP_UNIT_MASS);
+	RNA_def_property_float_sdna(prop, NULL, "mass");
+	RNA_def_property_range(prop, 0.001f, FLT_MAX); // range must always be positive (and non-zero)
+	RNA_def_property_float_default(prop, 1.0f);
+	RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyOb_mass_set", NULL);
+	RNA_def_property_ui_text(prop, "Mass", "How much the object 'weighs' irrespective of gravity");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	
+	/* Dynamics Parameters - Activation */
+	// TODO: define and figure out how to implement these
+	
+	/* Dynamics Parameters - Deactivation */
+	prop = RNA_def_property(srna, "use_deactivation", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", RBO_FLAG_USE_DEACTIVATION);
+	RNA_def_property_boolean_default(prop, TRUE);
+	RNA_def_property_boolean_funcs(prop, NULL, "rna_RigidBodyOb_activation_state_set");
+	RNA_def_property_ui_text(prop, "Enable Deactivation", "Enables deactivation of resting rigid bodies (increases performance and stability but can cause glitches)");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	
+	prop = RNA_def_property(srna, "start_deactivated", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", RBO_FLAG_START_DEACTIVATED);
+	RNA_def_property_ui_text(prop, "Start Deactivated", "Deactivates rigid body at the start of the simulation");
+	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	
+	prop = RNA_def_property(srna, "deactivate_linear_velocity", PROP_FLOAT, PROP_UNIT_VELOCITY);
+	RNA_def_property_float_sdna(prop, NULL, "lin_sleep_thresh");
+	RNA_def_property_range(prop, FLT_MIN, FLT_MAX); // range must always be positive (and non-zero)
+	RNA_def_property_float_default(prop, 0.4f);
+	RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyOb_linear_sleepThresh_set", NULL);
+	RNA_def_property_ui_text(prop, "Linear Velocity Deactivation Threshold", "Linear Velocity below which simulation stops simulating object");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	
+	prop = RNA_def_property(srna, "deactivate_angular_velocity", PROP_FLOAT, PROP_UNIT_VELOCITY);
+	RNA_def_property_float_sdna(prop, NULL, "ang_sleep_thresh");
+	RNA_def_property_range(prop, FLT_MIN, FLT_MAX); // range must always be positive (and non-zero)
+	RNA_def_property_float_default(prop, 0.5f);
+	RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyOb_angular_sleepThresh_set", NULL);
+	RNA_def_property_ui_text(prop, "Angular Velocity Deactivation Threshold", "Angular Velocity below which simulation stops simulating object");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	
+	/* Dynamics Parameters - Damping Parameters */
+	prop = RNA_def_property(srna, "linear_damping", PROP_FLOAT, PROP_FACTOR);
+	RNA_def_property_float_sdna(prop, NULL, "lin_damping");
+	RNA_def_property_range(prop, 0.0f, 1.0f);
+	RNA_def_property_float_default(prop, 0.04f);
+	RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyOb_linear_damping_set", NULL);
+	RNA_def_property_ui_text(prop, "Linear Damping", "Amount of linear velocity that is lost over time");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	
+	prop = RNA_def_property(srna, "angular_damping", PROP_FLOAT, PROP_FACTOR);
+	RNA_def_property_float_sdna(prop, NULL, "ang_damping");
+	RNA_def_property_range(prop, 0.0f, 1.0f);
+	RNA_def_property_float_default(prop, 0.1f);
+	RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyOb_angular_damping_set", NULL);
+	RNA_def_property_ui_text(prop, "Angular Damping", "Amount of angular velocity that is lost over time");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	
+	/* Collision Parameters - Surface Parameters */
+	prop = RNA_def_property(srna, "friction", PROP_FLOAT, PROP_FACTOR);
+	RNA_def_property_float_sdna(prop, NULL, "friction");
+	RNA_def_property_range(prop, 0.0f, FLT_MAX);
+	RNA_def_property_ui_range(prop, 0.0f, 1.0f, 1, 3);
+	RNA_def_property_float_default(prop, 0.5f);
+	RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyOb_friction_set", NULL);
+	RNA_def_property_ui_text(prop, "Friction", "Resistance of object to movement");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	
+	prop = RNA_def_property(srna, "restitution", PROP_FLOAT, PROP_FACTOR);
+	RNA_def_property_float_sdna(prop, NULL, "restitution");
+	RNA_def_property_range(prop, 0.0f, FLT_MAX);
+	RNA_def_property_ui_range(prop, 0.0f, 1.0f, 1, 3);
+	RNA_def_property_float_default(prop, 0.0f);
+	RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyOb_restitution_set", NULL);
+	RNA_def_property_ui_text(prop, "Restitution", "Tendency of object to bounce after colliding with another (0 = stays still, 1 = perfectly elastic)");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	
+	/* Collision Parameters - Sensitivity */
+	prop = RNA_def_property(srna, "use_margin", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", RBO_FLAG_USE_MARGIN);
+	RNA_def_property_boolean_default(prop, FALSE);
+	RNA_def_property_ui_text(prop, "Collision Margin", "Use custom collision margin (some shapes will have a visible gap around them)");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_shape_reset");
+	
+	prop = RNA_def_property(srna, "collision_margin", PROP_FLOAT, PROP_UNIT_LENGTH);
+	RNA_def_property_float_sdna(prop, NULL, "margin");
+	RNA_def_property_range(prop, 0.0f, 1.0f);
+	RNA_def_property_ui_range(prop, 0.0f, 1.0f, 0.01, 3);
+	RNA_def_property_float_default(prop, 0.04f);
+	RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyOb_collision_margin_set", NULL);
+	RNA_def_property_ui_text(prop, "Collision Margin", "Threshold of distance near surface where collisions are still considered (best results when non-zero)");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_shape_reset");
+	
+	prop = RNA_def_property(srna, "collision_groups", PROP_BOOLEAN, PROP_LAYER_MEMBER);
+	RNA_def_property_boolean_sdna(prop, NULL, "col_groups", 1);
+	RNA_def_property_array(prop, 20);
+	RNA_def_property_ui_text(prop, "Collison Groups", "Collision Groups Rigid Body belongs to");
+	RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
+	RNA_def_property_flag(prop, PROP_LIB_EXCEPTION);
+}
+
+void RNA_def_rigidbody(BlenderRNA *brna)
+{
+	rna_def_rigidbody_world(brna);
+	rna_def_rigidbody_object(brna);
+}
+
+
+#endif