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path: root/source/blender/blenkernel/intern/rigidbody.c
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Diffstat (limited to 'source/blender/blenkernel/intern/rigidbody.c')
-rw-r--r--source/blender/blenkernel/intern/rigidbody.c193
1 files changed, 186 insertions, 7 deletions
diff --git a/source/blender/blenkernel/intern/rigidbody.c b/source/blender/blenkernel/intern/rigidbody.c
index 09293503ad5..3d61b0bdefb 100644
--- a/source/blender/blenkernel/intern/rigidbody.c
+++ b/source/blender/blenkernel/intern/rigidbody.c
@@ -57,6 +57,7 @@
#include "BKE_effect.h"
#include "BKE_global.h"
#include "BKE_library.h"
+#include "BKE_mesh.h"
#include "BKE_object.h"
#include "BKE_pointcache.h"
#include "BKE_rigidbody.h"
@@ -287,10 +288,10 @@ static rbCollisionShape *rigidbody_get_shape_trimesh_from_mesh(Object *ob)
DM_ensure_tessface(dm);
- mvert = (dm) ? dm->getVertArray(dm) : NULL;
- totvert = (dm) ? dm->getNumVerts(dm) : 0;
- mface = (dm) ? dm->getTessFaceArray(dm) : NULL;
- totface = (dm) ? dm->getNumTessFaces(dm) : 0;
+ mvert = dm->getVertArray(dm);
+ totvert = dm->getNumVerts(dm);
+ mface = dm->getTessFaceArray(dm);
+ totface = dm->getNumTessFaces(dm);
/* sanity checking - potential case when no data will be present */
if ((totvert == 0) || (totface == 0)) {
@@ -344,7 +345,7 @@ static rbCollisionShape *rigidbody_get_shape_trimesh_from_mesh(Object *ob)
}
/* cleanup temp data */
- if (dm && ob->rigidbody_object->mesh_source == RBO_MESH_BASE) {
+ if (ob->rigidbody_object->mesh_source == RBO_MESH_BASE) {
dm->release(dm);
}
}
@@ -394,7 +395,7 @@ static void rigidbody_validate_sim_shape(Object *ob, bool rebuild)
}
mul_v3_fl(size, 0.5f);
- if (ELEM3(rbo->shape, RB_SHAPE_CAPSULE, RB_SHAPE_CYLINDER, RB_SHAPE_CONE)) {
+ 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];
@@ -455,6 +456,182 @@ static void rigidbody_validate_sim_shape(Object *ob, bool rebuild)
/* --------------------- */
+/* 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 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;
+ MFace *mface;
+ int totvert, totface;
+
+ /* ensure mesh validity, then grab data */
+ if (dm == NULL)
+ return;
+
+ DM_ensure_tessface(dm);
+
+ mvert = dm->getVertArray(dm);
+ totvert = dm->getNumVerts(dm);
+ mface = dm->getTessFaceArray(dm);
+ totface = dm->getNumTessFaces(dm);
+
+ if (totvert > 0 && totface > 0) {
+ BKE_mesh_calc_volume(mvert, totvert, mface, totface, &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_com[3])
+{
+ RigidBodyOb *rbo = ob->rigidbody_object;
+
+ float size[3] = {1.0f, 1.0f, 1.0f};
+ float height = 1.0f;
+
+ zero_v3(r_com);
+
+ /* 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_com[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;
+ MFace *mface;
+ int totvert, totface;
+
+ /* ensure mesh validity, then grab data */
+ if (dm == NULL)
+ return;
+
+ DM_ensure_tessface(dm);
+
+ mvert = dm->getVertArray(dm);
+ totvert = dm->getNumVerts(dm);
+ mface = dm->getTessFaceArray(dm);
+ totface = dm->getNumTessFaces(dm);
+
+ if (totvert > 0 && totface > 0) {
+ BKE_mesh_calc_volume(mvert, totvert, mface, totface, NULL, r_com);
+ }
+
+ /* 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
*
@@ -543,7 +720,7 @@ static void rigidbody_validate_sim_constraint(RigidBodyWorld *rbw, Object *ob, b
return;
}
- if (ELEM4(NULL, rbc->ob1, rbc->ob1->rigidbody_object, rbc->ob2, rbc->ob2->rigidbody_object)) {
+ 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);
@@ -1414,6 +1591,8 @@ struct RigidBodyOb *BKE_rigidbody_copy_object(Object *ob) { return NULL; }
struct RigidBodyCon *BKE_rigidbody_copy_constraint(Object *ob) { return NULL; }
void BKE_rigidbody_relink_constraint(RigidBodyCon *rbc) {}
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_com[3]) { zero_v3(r_com); }
struct RigidBodyWorld *BKE_rigidbody_create_world(Scene *scene) { return NULL; }
struct RigidBodyWorld *BKE_rigidbody_world_copy(RigidBodyWorld *rbw) { return NULL; }
void BKE_rigidbody_world_groups_relink(struct RigidBodyWorld *rbw) {}
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-22 15:48:27 +0300