diff options
Diffstat (limited to 'source/blender/blenkernel/intern/rigidbody.c')
| -rw-r--r-- | source/blender/blenkernel/intern/rigidbody.c | 165 |
1 files changed, 132 insertions, 33 deletions
diff --git a/source/blender/blenkernel/intern/rigidbody.c b/source/blender/blenkernel/intern/rigidbody.c index 95a8b3b3c15..00b993296d0 100644 --- a/source/blender/blenkernel/intern/rigidbody.c +++ b/source/blender/blenkernel/intern/rigidbody.c @@ -1180,7 +1180,10 @@ RigidBodyWorld *BKE_rigidbody_create_world(Scene *scene) rbw->time_scale = 1.0f; - rbw->steps_per_second = 60; /* Bullet default (60 Hz) */ + /* Most high quality Bullet example files has an internal framerate of 240hz. + * The blender default scene has a frame rate of 24, so take 10 substeps (24fps * 10). + */ + rbw->substeps_per_frame = 10; rbw->num_solver_iterations = 10; /* 10 is bullet default */ rbw->shared->pointcache = BKE_ptcache_add(&(rbw->shared->ptcaches)); @@ -1651,10 +1654,6 @@ static void rigidbody_update_sim_world(Scene *scene, RigidBodyWorld *rbw) static void rigidbody_update_sim_ob( Depsgraph *depsgraph, 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->shared->physics_object == NULL) { return; @@ -1680,14 +1679,21 @@ static void rigidbody_update_sim_ob( } } - mat4_decompose(loc, rot, scale, ob->obmat); + if (!(rbo->flag & RBO_FLAG_KINEMATIC)) { + /* update scale for all non kinematic objects */ + float new_scale[3], old_scale[3]; + mat4_to_size(new_scale, ob->obmat); + RB_body_get_scale(rbo->shared->physics_object, old_scale); - /* update scale for all objects */ - RB_body_set_scale(rbo->shared->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->shared->physics_shape, - RBO_GET_MARGIN(rbo) * MIN3(scale[0], scale[1], scale[2])); + /* Avoid updating collision shape AABBs if scale didn't change. */ + if (!compare_size_v3v3(old_scale, new_scale, 0.001f)) { + RB_body_set_scale(rbo->shared->physics_object, new_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->shared->physics_shape, + RBO_GET_MARGIN(rbo) * MIN3(new_scale[0], new_scale[1], new_scale[2])); + } + } } /* Make transformed objects temporarily kinmatic @@ -1697,11 +1703,6 @@ static void rigidbody_update_sim_ob( 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 || (is_selected && (G.moving & G_TRANSFORM_OBJ))) { - RB_body_activate(rbo->shared->physics_object); - RB_body_set_loc_rot(rbo->shared->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 && @@ -1765,8 +1766,6 @@ static void rigidbody_update_simulation(Depsgraph *depsgraph, RigidBodyWorld *rbw, bool rebuild) { - float ctime = DEG_get_ctime(depsgraph); - /* update world */ /* Note physics_world can get NULL when undoing the deletion of the last object in it (see * T70667). */ @@ -1799,9 +1798,6 @@ static void rigidbody_update_simulation(Depsgraph *depsgraph, if (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_time(depsgraph, scene, ob, ctime); /* TODO remove this whole block once we are sure we never get NULL rbo here anymore. */ /* This cannot be done in CoW evaluation context anymore... */ @@ -1859,9 +1855,6 @@ static void rigidbody_update_simulation(Depsgraph *depsgraph, FOREACH_COLLECTION_OBJECT_RECURSIVE_BEGIN (rbw->constraints, 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_time(depsgraph, scene, ob, ctime); /* TODO remove this whole block once we are sure we never get NULL rbo here anymore. */ /* This cannot be done in CoW evaluation context anymore... */ @@ -1891,6 +1884,104 @@ static void rigidbody_update_simulation(Depsgraph *depsgraph, FOREACH_COLLECTION_OBJECT_RECURSIVE_END; } +typedef struct KinematicSubstepData { + RigidBodyOb *rbo; + float old_pos[3]; + float new_pos[3]; + float old_rot[4]; + float new_rot[4]; + bool scale_changed; + float old_scale[3]; + float new_scale[3]; +} KinematicSubstepData; + +static ListBase rigidbody_create_substep_data(RigidBodyWorld *rbw) +{ + /* Objects that we want to update substep location/rotation for. */ + ListBase substep_targets = {NULL, NULL}; + + FOREACH_COLLECTION_OBJECT_RECURSIVE_BEGIN (rbw->group, ob) { + RigidBodyOb *rbo = ob->rigidbody_object; + /* only update if rigid body exists */ + if (!rbo || rbo->shared->physics_object == NULL) { + continue; + } + + if (rbo->flag & RBO_FLAG_KINEMATIC) { + float loc[3], rot[4], scale[3]; + + KinematicSubstepData *data = MEM_callocN(sizeof(KinematicSubstepData), + "RigidBody Substep data"); + + data->rbo = rbo; + + RB_body_get_position(rbo->shared->physics_object, loc); + RB_body_get_orientation(rbo->shared->physics_object, rot); + RB_body_get_scale(rbo->shared->physics_object, scale); + + copy_v3_v3(data->old_pos, loc); + copy_v4_v4(data->old_rot, rot); + copy_v3_v3(data->old_scale, scale); + + mat4_decompose(loc, rot, scale, ob->obmat); + + copy_v3_v3(data->new_pos, loc); + copy_v4_v4(data->new_rot, rot); + copy_v3_v3(data->new_scale, scale); + + data->scale_changed = !compare_size_v3v3(data->old_scale, data->new_scale, 0.001f); + + LinkData *ob_link = BLI_genericNodeN(data); + BLI_addtail(&substep_targets, ob_link); + } + } + FOREACH_COLLECTION_OBJECT_RECURSIVE_END; + + return substep_targets; +} + +static void rigidbody_update_kinematic_obj_substep(ListBase *substep_targets, float interp_fac) +{ + LISTBASE_FOREACH (LinkData *, link, substep_targets) { + KinematicSubstepData *data = link->data; + RigidBodyOb *rbo = data->rbo; + + float loc[3], rot[4]; + + interp_v3_v3v3(loc, data->old_pos, data->new_pos, interp_fac); + interp_qt_qtqt(rot, data->old_rot, data->new_rot, interp_fac); + + RB_body_activate(rbo->shared->physics_object); + RB_body_set_loc_rot(rbo->shared->physics_object, loc, rot); + + if (!data->scale_changed) { + /* Avoid having to rebuild the collision shape AABBs if scale didn't change. */ + continue; + } + + float scale[3]; + + interp_v3_v3v3(scale, data->old_scale, data->new_scale, interp_fac); + + RB_body_set_scale(rbo->shared->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->shared->physics_shape, + RBO_GET_MARGIN(rbo) * MIN3(scale[0], scale[1], scale[2])); + } + } +} + +static void rigidbody_free_substep_data(ListBase *substep_targets) +{ + LISTBASE_FOREACH (LinkData *, link, substep_targets) { + KinematicSubstepData *data = link->data; + MEM_freeN(data); + } + + BLI_freelistN(substep_targets); +} static void rigidbody_update_simulation_post_step(Depsgraph *depsgraph, RigidBodyWorld *rbw) { ViewLayer *view_layer = DEG_get_input_view_layer(depsgraph); @@ -2072,7 +2163,6 @@ void BKE_rigidbody_rebuild_world(Depsgraph *depsgraph, Scene *scene, float ctime /* Run RigidBody simulation for the specified physics world */ void BKE_rigidbody_do_simulation(Depsgraph *depsgraph, Scene *scene, float ctime) { - float timestep; RigidBodyWorld *rbw = scene->rigidbody_world; PointCache *cache; PTCacheID pid; @@ -2125,14 +2215,23 @@ void BKE_rigidbody_do_simulation(Depsgraph *depsgraph, Scene *scene, float ctime /* update and validate simulation */ rigidbody_update_simulation(depsgraph, scene, rbw, false); + const float frame_diff = ctime - rbw->ltime; /* 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->shared->physics_world, - timestep, - INT_MAX, - 1.0f / (float)rbw->steps_per_second * min_ff(rbw->time_scale, 1.0f)); + const float timestep = 1.0f / (float)FPS * frame_diff * rbw->time_scale; + + const float substep = timestep / rbw->substeps_per_frame; + + ListBase substep_targets = rigidbody_create_substep_data(rbw); + + const float interp_step = 1.0f / rbw->substeps_per_frame; + float cur_interp_val = interp_step; + + for (int i = 0; i < rbw->substeps_per_frame; i++) { + rigidbody_update_kinematic_obj_substep(&substep_targets, cur_interp_val); + RB_dworld_step_simulation(rbw->shared->physics_world, substep, 0, substep); + cur_interp_val += interp_step; + } + rigidbody_free_substep_data(&substep_targets); rigidbody_update_simulation_post_step(depsgraph, rbw); |