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Diffstat (limited to 'source/blender/blenkernel/intern/rigidbody.c')
| -rw-r--r-- | source/blender/blenkernel/intern/rigidbody.c | 718 |
1 files changed, 718 insertions, 0 deletions
diff --git a/source/blender/blenkernel/intern/rigidbody.c b/source/blender/blenkernel/intern/rigidbody.c new file mode 100644 index 00000000000..e6f6c9a9a98 --- /dev/null +++ b/source/blender/blenkernel/intern/rigidbody.c @@ -0,0 +1,718 @@ +/* + * ***** 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. + * + * The Original Code is Copyright (C) 2013 Blender Foundation + * All rights reserved. + * + * The Original Code is: all of this file. + * + * Contributor(s): Joshua Leung, Sergej Reich + * + * ***** END GPL LICENSE BLOCK ***** + */ + +/** \file rigidbody.c + * \ingroup blenkernel + * \brief Blender-side interface and methods for dealing with Rigid Body simulations + */ + +#include <stdio.h> +#include <string.h> +#include <stddef.h> +#include <float.h> +#include <math.h> +#include <limits.h> + +#include "MEM_guardedalloc.h" + +#include "BLI_blenlib.h" +#include "BLI_math.h" + +#include "RBI_api.h" + +#include "DNA_anim_types.h" +#include "DNA_group_types.h" +#include "DNA_mesh_types.h" +#include "DNA_meshdata_types.h" +#include "DNA_object_types.h" +#include "DNA_object_force.h" +#include "DNA_rigidbody_types.h" +#include "DNA_scene_types.h" + +#include "BKE_animsys.h" +#include "BKE_cdderivedmesh.h" +#include "BKE_effect.h" +#include "BKE_group.h" +#include "BKE_object.h" +#include "BKE_mesh.h" +#include "BKE_pointcache.h" +#include "BKE_rigidbody.h" +#include "BKE_global.h" +#include "BKE_utildefines.h" + +#include "RNA_access.h" + +/* ************************************** */ +/* Memory Management */ + +/* Freeing Methods --------------------- */ + +/* Free rigidbody world */ +void BKE_rigidbody_free_world(RigidBodyWorld *rbw) +{ + GroupObject *go; + /* sanity check */ + if (!rbw) + return; + + if (rbw->physics_world) { + /* free physics references, we assume that all physics objects in will have been added to the world */ + if (rbw->group) { + for (go = rbw->group->gobject.first; go; go = go->next) { + if (go->ob && go->ob->rigidbody_object) { + RigidBodyOb *rbo = go->ob->rigidbody_object; + + if (rbo->physics_object) + RB_dworld_remove_body(rbw->physics_world, rbo->physics_object); + } + } + } + /* free dynamics world */ + RB_dworld_delete(rbw->physics_world); + } + if (rbw->objects) + free(rbw->objects); + + /* free rigidbody world itself */ + MEM_freeN(rbw); +} + +/* Free RigidBody settings and sim instances */ +void BKE_rigidbody_free_object(Object *ob) +{ + RigidBodyOb *rbo = (ob) ? ob->rigidbody_object : NULL; + + /* sanity check */ + if (rbo == NULL) + return; + + /* free physics references */ + if (rbo->physics_object) { + RB_body_delete(rbo->physics_object); + rbo->physics_object = NULL; + } + + if (rbo->physics_shape) { + RB_shape_delete(rbo->physics_shape); + rbo->physics_shape = NULL; + } + + /* free data itself */ + MEM_freeN(rbo); + ob->rigidbody_object = NULL; +} + +/* Copying Methods --------------------- */ + +/* These just copy the data, clearing out references to physics objects. + * Anything that uses them MUST verify that the copied object will + * be added to relevant groups later... + */ + +RigidBodyOb *BKE_rigidbody_copy_object(Object *ob) +{ + RigidBodyOb *rboN = NULL; + + if (ob->rigidbody_object) { + /* just duplicate the whole struct first (to catch all the settings) */ + rboN = MEM_dupallocN(ob->rigidbody_object); + + /* tag object as needing to be verified */ + rboN->flag |= RBO_FLAG_NEEDS_VALIDATE; + + /* clear out all the fields which need to be revalidated later */ + rboN->physics_object = NULL; + rboN->physics_shape = NULL; + } + + /* return new copy of settings */ + return rboN; +} + +/* ************************************** */ +/* Setup Utilities - Validate Sim Instances */ + +/* create collision shape of mesh - convex hull */ +static rbCollisionShape *rigidbody_get_shape_convexhull_from_mesh(Object *ob, float margin, bool *can_embed) +{ + rbCollisionShape *shape = NULL; + Mesh *me = NULL; + + if (ob->type == OB_MESH && ob->data) { + me = ob->data; + } + else { + printf("ERROR: cannot make Convex Hull collision shape for non-Mesh object\n"); + } + + if (me && me->totvert) { + shape = RB_shape_new_convex_hull((float *)me->mvert, sizeof(MVert), me->totvert, margin, can_embed); + } + else { + printf("ERROR: no vertices to define Convex Hull collision shape with\n"); + } + + return shape; +} + +/* create collision shape of mesh - triangulated mesh + * returns NULL if creation fails. + */ +static rbCollisionShape *rigidbody_get_shape_trimesh_from_mesh(Object *ob) +{ + rbCollisionShape *shape = NULL; + + if (ob->type == OB_MESH) { + DerivedMesh *dm = CDDM_from_mesh(ob->data, ob); + + MVert *mvert; + MFace *mface; + int totvert; + int totface; + + /* ensure mesh validity, then grab data */ + 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; + + /* sanity checking - potential case when no data will be present */ + if ((totvert == 0) || (totface == 0)) { + printf("WARNING: no geometry data converted for Mesh Collision Shape (ob = %s)\n", ob->id.name + 2); + } + else { + rbMeshData *mdata; + int i; + + /* init mesh data for collision shape */ + mdata = RB_trimesh_data_new(); + + /* loop over all faces, adding them as triangles to the collision shape + * (so for some faces, more than triangle will get added) + */ + for (i = 0; (i < totface) && (mface) && (mvert); i++, mface++) { + /* add first triangle - verts 1,2,3 */ + { + MVert *va = (IN_RANGE(mface->v1, 0, totvert)) ? (mvert + mface->v1) : (mvert); + MVert *vb = (IN_RANGE(mface->v2, 0, totvert)) ? (mvert + mface->v2) : (mvert); + MVert *vc = (IN_RANGE(mface->v3, 0, totvert)) ? (mvert + mface->v3) : (mvert); + + RB_trimesh_add_triangle(mdata, va->co, vb->co, vc->co); + } + + /* add second triangle if needed - verts 1,3,4 */ + if (mface->v4) { + MVert *va = (IN_RANGE(mface->v1, 0, totvert)) ? (mvert + mface->v1) : (mvert); + MVert *vb = (IN_RANGE(mface->v3, 0, totvert)) ? (mvert + mface->v3) : (mvert); + MVert *vc = (IN_RANGE(mface->v4, 0, totvert)) ? (mvert + mface->v4) : (mvert); + + RB_trimesh_add_triangle(mdata, va->co, vb->co, vc->co); + } + } + + /* construct collision shape + * + * These have been chosen to get better speed/accuracy tradeoffs with regards + * to limitations of each: + * - BVH-Triangle Mesh: for passive objects only. Despite having greater + * speed/accuracy, they cannot be used for moving objects. + * - GImpact Mesh: for active objects. These are slower and less stable, + * but are more flexible for general usage. + */ + if (ob->rigidbody_object->type == RBO_TYPE_PASSIVE) { + shape = RB_shape_new_trimesh(mdata); + } + else { + shape = RB_shape_new_gimpact_mesh(mdata); + } + } + + /* cleanup temp data */ + if (dm) { + dm->release(dm); + } + } + else { + printf("ERROR: cannot make Triangular Mesh collision shape for non-Mesh object\n"); + } + + return shape; +} + +/* Create new physics sim collision shape for object and store it, + * or remove the existing one first and replace... + */ +void BKE_rigidbody_validate_sim_shape(Object *ob, short rebuild) +{ + RigidBodyOb *rbo = ob->rigidbody_object; + rbCollisionShape *new_shape = NULL; + BoundBox *bb = NULL; + float size[3] = {1.0f, 1.0f, 1.0f}; + float radius = 1.0f; + float height = 1.0f; + float capsule_height; + float hull_margin = 0.0f; + bool can_embed = true; + + /* sanity check */ + if (rbo == NULL) + return; + + /* don't create a new shape if we already have one and don't want to rebuild it */ + if (rbo->physics_shape && !rebuild) + return; + + /* 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 centralised in boundbox) + */ + // XXX: all dimensions are auto-determined now... later can add stored settings for this + /* get object dimensions without scaling */ + bb = BKE_object_boundbox_get(ob); + if (bb) { + size[0] = (bb->vec[4][0] - bb->vec[0][0]); + size[1] = (bb->vec[2][1] - bb->vec[0][1]); + size[2] = (bb->vec[1][2] - bb->vec[0][2]); + } + mul_v3_fl(size, 0.5f); + + if (ELEM3(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]; + } + else if (rbo->shape == RB_SHAPE_SPHERE) { + /* take radius to the the largest dimension to try and encompass everything */ + radius = MAX3(size[0], size[1], size[2]); + } + + /* create new shape */ + switch (rbo->shape) { + case RB_SHAPE_BOX: + new_shape = RB_shape_new_box(size[0], size[1], size[2]); + break; + + case RB_SHAPE_SPHERE: + new_shape = RB_shape_new_sphere(radius); + break; + + case RB_SHAPE_CAPSULE: + capsule_height = (height - radius) * 2.0f; + new_shape = RB_shape_new_capsule(radius, (capsule_height > 0.0f) ? capsule_height : 0.0f); + break; + case RB_SHAPE_CYLINDER: + new_shape = RB_shape_new_cylinder(radius, height); + break; + case RB_SHAPE_CONE: + new_shape = RB_shape_new_cone(radius, height * 2.0f); + break; + + case RB_SHAPE_CONVEXH: + /* try to emged collision margin */ + if (!(rbo->flag & RBO_FLAG_USE_MARGIN)) + hull_margin = 0.04f; + new_shape = rigidbody_get_shape_convexhull_from_mesh(ob, hull_margin, &can_embed); + if (!(rbo->flag & RBO_FLAG_USE_MARGIN)) + rbo->margin = (can_embed) ? 0.04f : 0.0f; /* RB_TODO ideally we shouldn't directly change the margin here */ + break; + case RB_SHAPE_TRIMESH: + new_shape = rigidbody_get_shape_trimesh_from_mesh(ob); + break; + } + /* assign new collision shape if creation was successful */ + if (new_shape) { + if (rbo->physics_shape) + RB_shape_delete(rbo->physics_shape); + rbo->physics_shape = new_shape; + RB_shape_set_margin(rbo->physics_shape, RBO_GET_MARGIN(rbo)); + } +} + +/* --------------------- */ + +/* Create physics sim representation of object given RigidBody settings + * < rebuild: even if an instance already exists, replace it + */ +void BKE_rigidbody_validate_sim_object(RigidBodyWorld *rbw, Object *ob, short rebuild) +{ + RigidBodyOb *rbo = (ob) ? ob->rigidbody_object : NULL; + float loc[3]; + float rot[4]; + + /* sanity checks: + * - object doesn't have RigidBody info already: then why is it here? + */ + if (rbo == NULL) + return; + + /* make sure collision shape exists */ + if (rbo->physics_shape == NULL || rebuild) + BKE_rigidbody_validate_sim_shape(ob, true); + + if (rbo->physics_object) { + if (rebuild == false) + RB_dworld_remove_body(rbw->physics_world, rbo->physics_object); + } + if (!rbo->physics_object || rebuild) { + /* remove rigid body if it already exists before creating a new one */ + if (rbo->physics_object) { + RB_body_delete(rbo->physics_object); + } + + mat4_to_loc_quat(loc, rot, ob->obmat); + + rbo->physics_object = RB_body_new(rbo->physics_shape, loc, rot); + + RB_body_set_friction(rbo->physics_object, rbo->friction); + RB_body_set_restitution(rbo->physics_object, rbo->restitution); + + RB_body_set_damping(rbo->physics_object, rbo->lin_damping, rbo->ang_damping); + RB_body_set_sleep_thresh(rbo->physics_object, rbo->lin_sleep_thresh, rbo->ang_sleep_thresh); + RB_body_set_activation_state(rbo->physics_object, rbo->flag & RBO_FLAG_USE_DEACTIVATION); + + if (rbo->type == RBO_TYPE_PASSIVE || rbo->flag & RBO_FLAG_START_DEACTIVATED) + RB_body_deactivate(rbo->physics_object); + + + RB_body_set_linear_factor(rbo->physics_object, + (ob->protectflag & OB_LOCK_LOCX) == 0, + (ob->protectflag & OB_LOCK_LOCY) == 0, + (ob->protectflag & OB_LOCK_LOCZ) == 0); + RB_body_set_angular_factor(rbo->physics_object, + (ob->protectflag & OB_LOCK_ROTX) == 0, + (ob->protectflag & OB_LOCK_ROTY) == 0, + (ob->protectflag & OB_LOCK_ROTZ) == 0); + + RB_body_set_mass(rbo->physics_object, RBO_GET_MASS(rbo)); + RB_body_set_kinematic_state(rbo->physics_object, rbo->flag & RBO_FLAG_KINEMATIC || rbo->flag & RBO_FLAG_DISABLED); + } + + if (rbw && rbw->physics_world) + RB_dworld_add_body(rbw->physics_world, rbo->physics_object, rbo->col_groups); +} + +/* --------------------- */ + +/* Create physics sim world given RigidBody world settings */ +// NOTE: this does NOT update object references that the scene uses, in case those aren't ready yet! +void BKE_rigidbody_validate_sim_world(Scene *scene, RigidBodyWorld *rbw, short rebuild) +{ + /* sanity checks */ + if (rbw == NULL) + return; + + /* create new sim world */ + if (rebuild || rbw->physics_world == NULL) { + if (rbw->physics_world) + RB_dworld_delete(rbw->physics_world); + rbw->physics_world = RB_dworld_new(scene->physics_settings.gravity); + } + + RB_dworld_set_solver_iterations(rbw->physics_world, rbw->num_solver_iterations); + RB_dworld_set_split_impulse(rbw->physics_world, rbw->flag & RBW_FLAG_USE_SPLIT_IMPULSE); +} + +/* ************************************** */ +/* Setup Utilities - Create Settings Blocks */ + +/* Set up RigidBody world */ +RigidBodyWorld *BKE_rigidbody_create_world(Scene *scene) +{ + /* try to get whatever RigidBody world that might be representing this already */ + RigidBodyWorld *rbw; + + /* sanity checks + * - there must be a valid scene to add world to + * - there mustn't be a sim world using this group already + */ + if (scene == NULL) + return NULL; + + /* create a new sim world */ + rbw = MEM_callocN(sizeof(RigidBodyWorld), "RigidBodyWorld"); + + /* set default settings */ + rbw->ltime = PSFRA; + + rbw->time_scale = 1.0f; + + rbw->steps_per_second = 60; /* Bullet default (60 Hz) */ + rbw->num_solver_iterations = 10; /* 10 is bullet default */ + + /* return this sim world */ + return rbw; +} + +/* Add rigid body settings to the specified object */ +RigidBodyOb *BKE_rigidbody_create_object(Scene *scene, Object *ob, short type) +{ + RigidBodyOb *rbo; + RigidBodyWorld *rbw = scene->rigidbody_world; + + /* sanity checks + * - rigidbody world must exist + * - object must exist + * - cannot add rigid body if it already exists + */ + if (ob == NULL || (ob->rigidbody_object != NULL)) + return NULL; + + /* create new settings data, and link it up */ + rbo = MEM_callocN(sizeof(RigidBodyOb), "RigidBodyOb"); + + /* set default settings */ + rbo->type = type; + + rbo->mass = 1.0f; + + rbo->friction = 0.5f; /* best when non-zero. 0.5 is Bullet default */ + rbo->restitution = 0.0f; /* best when zero. 0.0 is Bullet default */ + + rbo->margin = 0.04f; /* 0.04 (in meters) is Bullet default */ + + rbo->lin_sleep_thresh = 0.4f; /* 0.4 is half of Bullet default */ + rbo->ang_sleep_thresh = 0.5f; /* 0.5 is half of Bullet default */ + + rbo->lin_damping = 0.04f; /* 0.04 is game engine default */ + rbo->ang_damping = 0.1f; /* 0.1 is game engine default */ + + rbo->col_groups = 1; + + /* use triangle meshes for passive objects + * use convex hulls for active objects since dynamic triangle meshes are very unstable + */ + if (type == RBO_TYPE_ACTIVE) + rbo->shape = RB_SHAPE_CONVEXH; + else + rbo->shape = RB_SHAPE_TRIMESH; + + /* set initial transform */ + mat4_to_loc_quat(rbo->pos, rbo->orn, ob->obmat); + + /* flag cache as outdated */ + BKE_rigidbody_cache_reset(rbw); + + /* return this object */ + return rbo; +} + +/* ************************************** */ +/* Utilities API */ + +/* Get RigidBody world for the given scene, creating one if needed + * < scene: Scene to find active Rigid Body world for + */ +RigidBodyWorld *BKE_rigidbody_get_world(Scene *scene) +{ + /* sanity check */ + if (scene == NULL) + return NULL; + + return scene->rigidbody_world; +} + +void BKE_rigidbody_remove_object(Scene *scene, Object *ob) +{ + RigidBodyWorld *rbw = scene->rigidbody_world; + RigidBodyOb *rbo = ob->rigidbody_object; + GroupObject *go; + int i; + + if (rbw) { + /* remove from rigidbody world, free object won't do this */ + if (rbw->physics_world && rbo->physics_object) + RB_dworld_remove_body(rbw->physics_world, rbo->physics_object); + + /* remove object from array */ + if (rbw && rbw->objects) { + for (i = 0; i < rbw->numbodies; i++) { + if (rbw->objects[i] == ob) { + rbw->objects[i] = NULL; + break; + } + } + } + } + /* remove object's settings */ + BKE_rigidbody_free_object(ob); + /* flag cache as outdated */ + BKE_rigidbody_cache_reset(rbw); +} + + +/* ************************************** */ +/* Simulation Interface - Bullet */ + +/* Update object array and rigid body count so they're in sync with the rigid body group */ +static void rigidbody_update_ob_array(RigidBodyWorld *rbw) +{ + GroupObject *go; + int i, n; + + n = BLI_countlist(&rbw->group->gobject); + + if (rbw->numbodies != n) { + rbw->numbodies = n; + rbw->objects = realloc(rbw->objects, sizeof(Object *) * rbw->numbodies); + } + + for (go = rbw->group->gobject.first, i = 0; go; go = go->next, i++) { + Object *ob = go->ob; + rbw->objects[i] = ob; + } +} + +static void rigidbody_update_sim_world(Scene *scene, RigidBodyWorld *rbw) +{ + float adj_gravity[3]; + + /* adjust gravity to take effector weights into account */ + if (scene->physics_settings.flag & PHYS_GLOBAL_GRAVITY) { + copy_v3_v3(adj_gravity, scene->physics_settings.gravity); + } + else { + zero_v3(adj_gravity); + } + + /* update gravity, since this RNA setting is not part of RigidBody settings */ + RB_dworld_set_gravity(rbw->physics_world, adj_gravity); + + /* update object array in case there are changes */ + rigidbody_update_ob_array(rbw); +} + +static void rigidbody_update_sim_ob(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->physics_object == NULL) + return; + + mat4_decompose(loc, rot, scale, ob->obmat); + + /* update scale for all objects */ + RB_body_set_scale(rbo->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->physics_shape, RBO_GET_MARGIN(rbo) * MIN3(scale[0], scale[1], scale[2])); + + /* update rigid body location and rotation for kinematic bodies */ + if (rbo->flag & RBO_FLAG_KINEMATIC) { + RB_body_activate(rbo->physics_object); + RB_body_set_loc_rot(rbo->physics_object, loc, rot); + } + /* NOTE: passive objects don't need to be updated since they don't move */ + + /* NOTE: no other settings need to be explicitly updated here, + * since RNA setters take care of the rest :) + */ +} + +/* Updates and validates world, bodies and shapes. + * < rebuild: rebuild entire simulation + */ +static void rigidbody_update_simulation(Scene *scene, RigidBodyWorld *rbw, int rebuild) +{ + GroupObject *go; + + /* update world */ + if (rebuild) + BKE_rigidbody_validate_sim_world(scene, rbw, true); + rigidbody_update_sim_world(scene, rbw); + + /* update objects */ + for (go = rbw->group->gobject.first; go; go = go->next) { + Object *ob = go->ob; + + if (ob && 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(scene, ob); + + if (rbo == NULL) { + /* Since this object is included in the sim group but doesn't have + * rigid body settings (perhaps it was added manually), add! + * - assume object to be active? That is the default for newly added settings... + */ + ob->rigidbody_object = BKE_rigidbody_create_object(scene, ob, RBO_TYPE_ACTIVE); + BKE_rigidbody_validate_sim_object(rbw, ob, true); + + rbo = ob->rigidbody_object; + } + else { + /* perform simulation data updates as tagged */ + /* refresh object... */ + if (rebuild) { + /* World has been rebuilt so rebuild object */ + BKE_rigidbody_validate_sim_object(rbw, ob, true); + } + else if (rbo->flag & RBO_FLAG_NEEDS_VALIDATE) { + BKE_rigidbody_validate_sim_object(rbw, ob, false); + } + /* refresh shape... */ + if (rbo->flag & RBO_FLAG_NEEDS_RESHAPE) { + /* mesh/shape data changed, so force shape refresh */ + BKE_rigidbody_validate_sim_shape(ob, true); + /* now tell RB sim about it */ + // XXX: we assume that this can only get applied for active/passive shapes that will be included as rigidbodies + RB_body_set_collision_shape(rbo->physics_object, rbo->physics_shape); + } + rbo->flag &= ~(RBO_FLAG_NEEDS_VALIDATE | RBO_FLAG_NEEDS_RESHAPE); + } + + /* update simulation object... */ + rigidbody_update_sim_ob(scene, rbw, ob, rbo); + } + } +} + +/* Sync rigid body and object transformations */ +void BKE_rigidbody_sync_transforms(Scene *scene, Object *ob, float ctime) +{ +// RB_TODO implement this +} + +void BKE_rigidbody_cache_reset(RigidBodyWorld *rbw) +{ +// RB_TODO implement this +} + +/* ------------------ */ + +/* Run RigidBody simulation for the specified physics world */ +void BKE_rigidbody_do_simulation(Scene *scene, float ctime) +{ +// RB_TODO implement this +} +/* ************************************** */ |