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Diffstat (limited to 'source/blender/rigidbody/RBI_api.h')
| -rw-r--r-- | source/blender/rigidbody/RBI_api.h | 309 |
1 files changed, 309 insertions, 0 deletions
diff --git a/source/blender/rigidbody/RBI_api.h b/source/blender/rigidbody/RBI_api.h new file mode 100644 index 00000000000..ee5006f2838 --- /dev/null +++ b/source/blender/rigidbody/RBI_api.h @@ -0,0 +1,309 @@ +/* + * ***** 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 RBI_api.h + * \ingroup RigidBody + * \brief Rigid Body API for interfacing with external Physics Engines + */ + +#ifndef __RB_API_H__ +#define __RB_API_H__ + +#ifdef __cplusplus +extern "C" { +#endif + +/* API Notes: + * Currently, this API is optimised for Bullet RigidBodies, and doesn't + * take into account other Physics Engines. Some tweaking may be necessary + * to allow other systems to be used, in particular there may be references + * to datatypes that aren't used here... + * + * -- Joshua Leung (22 June 2010) + */ + +/* ********************************** */ +/* Partial Type Defines - Aliases for the type of data we store */ + +// ---------- + +/* Dynamics World */ +typedef struct rbDynamicsWorld rbDynamicsWorld; + +/* Rigid Body */ +typedef struct rbRigidBody rbRigidBody; + +/* Collision Shape */ +typedef struct rbCollisionShape rbCollisionShape; + +/* Mesh Data (for Collision Shapes of Meshes) */ +typedef struct rbMeshData rbMeshData; + +/* Constraint */ +typedef struct rbConstraint rbConstraint; + +/* ********************************** */ +/* Dynamics World Methods */ + +/* Setup ---------------------------- */ + +/* Create a new dynamics world instance */ +// TODO: add args to set the type of constraint solvers, etc. +extern rbDynamicsWorld *RB_dworld_new(const float gravity[3]); + +/* Delete the given dynamics world, and free any extra data it may require */ +extern void RB_dworld_delete(rbDynamicsWorld *world); + +/* Settings ------------------------- */ + +/* Gravity */ +extern void RB_dworld_get_gravity(rbDynamicsWorld *world, float g_out[3]); +extern void RB_dworld_set_gravity(rbDynamicsWorld *world, const float g_in[3]); + +/* Constraint Solver */ +extern void RB_dworld_set_solver_iterations(rbDynamicsWorld *world, int num_solver_iterations); +/* Split Impulse */ +extern void RB_dworld_set_split_impulse(rbDynamicsWorld *world, int split_impulse); + +/* Simulation ----------------------- */ + +/* Step the simulation by the desired amount (in seconds) with extra controls on substep sizes and maximum substeps */ +extern void RB_dworld_step_simulation(rbDynamicsWorld *world, float timeStep, int maxSubSteps, float timeSubStep); + +/* Export -------------------------- */ + +/* Exports the dynamics world to physics simulator's serialisation format */ +void RB_dworld_export(rbDynamicsWorld *world, const char *filename); + +/* ********************************** */ +/* Rigid Body Methods */ + +/* Setup ---------------------------- */ + +/* Add RigidBody to dynamics world */ +extern void RB_dworld_add_body(rbDynamicsWorld *world, rbRigidBody *body, int col_groups); + +/* Remove RigidBody from dynamics world */ +extern void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *body); + +/* ............ */ + +/* Create new RigidBody instance */ +extern rbRigidBody *RB_body_new(rbCollisionShape *shape, const float loc[3], const float rot[4]); + +/* Delete the given RigidBody instance */ +extern void RB_body_delete(rbRigidBody *body); + +/* Settings ------------------------- */ + +/* 'Type' */ +extern void RB_body_set_type(rbRigidBody *body, int type, float mass); + +/* ............ */ + +/* Collision Shape */ +extern void RB_body_set_collision_shape(rbRigidBody *body, rbCollisionShape *shape); + +/* ............ */ + +/* Mass */ +extern float RB_body_get_mass(rbRigidBody *body); +extern void RB_body_set_mass(rbRigidBody *body, float value); + +/* Friction */ +extern float RB_body_get_friction(rbRigidBody *body); +extern void RB_body_set_friction(rbRigidBody *body, float value); + +/* Restitution */ +extern float RB_body_get_restitution(rbRigidBody *body); +extern void RB_body_set_restitution(rbRigidBody *body, float value); + +/* Damping */ +extern float RB_body_get_linear_damping(rbRigidBody *body); +extern void RB_body_set_linear_damping(rbRigidBody *body, float value); + +extern float RB_body_get_angular_damping(rbRigidBody *body); +extern void RB_body_set_angular_damping(rbRigidBody *body, float value); + +extern void RB_body_set_damping(rbRigidBody *object, float linear, float angular); + +/* Sleeping Thresholds */ +extern float RB_body_get_linear_sleep_thresh(rbRigidBody *body); +extern void RB_body_set_linear_sleep_thresh(rbRigidBody *body, float value); + +extern float RB_body_get_angular_sleep_thresh(rbRigidBody *body); +extern void RB_body_set_angular_sleep_thresh(rbRigidBody *body, float value); + +extern void RB_body_set_sleep_thresh(rbRigidBody *body, float linear, float angular); + +/* Linear Velocity */ +extern void RB_body_get_linear_velocity(rbRigidBody *body, float v_out[3]); +extern void RB_body_set_linear_velocity(rbRigidBody *body, const float v_in[3]); + +/* Angular Velocity */ +extern void RB_body_get_angular_velocity(rbRigidBody *body, float v_out[3]); +extern void RB_body_set_angular_velocity(rbRigidBody *body, const float v_in[3]); + +/* Linear/Angular Factor, used to lock translation/roation axes */ +extern void RB_body_set_linear_factor(rbRigidBody *object, float x, float y, float z); +extern void RB_body_set_angular_factor(rbRigidBody *object, float x, float y, float z); + +/* Kinematic State */ +extern void RB_body_set_kinematic_state(rbRigidBody *body, int kinematic); + +/* RigidBody Interface - Rigid Body Activation States */ +extern int RB_body_get_activation_state(rbRigidBody *body); +extern void RB_body_set_activation_state(rbRigidBody *body, int use_deactivation); +extern void RB_body_activate(rbRigidBody *body); +extern void RB_body_deactivate(rbRigidBody *body); + + +/* Simulation ----------------------- */ + +/* Get current transform matrix of RigidBody to use in Blender (OpenGL format) */ +extern void RB_body_get_transform_matrix(rbRigidBody *body, float m_out[4][4]); + +/* Set RigidBody's location and rotation */ +extern void RB_body_set_loc_rot(rbRigidBody *body, const float loc[3], const float rot[4]); +/* Set RigidBody's local scaling */ +extern void RB_body_set_scale(rbRigidBody *body, const float scale[3]); + +/* ............ */ + +/* Get RigidBody's position as vector */ +void RB_body_get_position(rbRigidBody *body, float v_out[3]); +/* Get RigidBody's orientation as quaternion */ +void RB_body_get_orientation(rbRigidBody *body, float v_out[4]); + +/* ............ */ + +extern void RB_body_apply_central_force(rbRigidBody *body, const float v_in[3]); + +/* ********************************** */ +/* Collision Shape Methods */ + +/* Setup (Standard Shapes) ----------- */ + +extern rbCollisionShape *RB_shape_new_box(float x, float y, float z); +extern rbCollisionShape *RB_shape_new_sphere(float radius); +extern rbCollisionShape *RB_shape_new_capsule(float radius, float height); +extern rbCollisionShape *RB_shape_new_cone(float radius, float height); +extern rbCollisionShape *RB_shape_new_cylinder(float radius, float height); + +/* Setup (Convex Hull) ------------ */ + +extern rbCollisionShape *RB_shape_new_convex_hull(float *verts, int stride, int count, float margin, bool *can_embed); + +/* Setup (Triangle Mesh) ---------- */ + +/* 1 */ +extern rbMeshData *RB_trimesh_data_new(void); +extern void RB_trimesh_add_triangle(rbMeshData *mesh, const float v1[3], const float v2[3], const float v3[3]); +/* 2a - Triangle Meshes */ +extern rbCollisionShape *RB_shape_new_trimesh(rbMeshData *mesh); +/* 2b - GImpact Meshes */ +extern rbCollisionShape *RB_shape_new_gimpact_mesh(rbMeshData *mesh); + + +/* Cleanup --------------------------- */ + +extern void RB_shape_delete(rbCollisionShape *shape); + +/* Settings --------------------------- */ + +/* Collision Margin */ +extern float RB_shape_get_margin(rbCollisionShape *shape); +extern void RB_shape_set_margin(rbCollisionShape *shape, float value); + +/* ********************************** */ +/* Constraints */ + +/* Setup ----------------------------- */ + +/* Add Rigid Body Constraint to simulation world */ +extern void RB_dworld_add_constraint(rbDynamicsWorld *world, rbConstraint *con, int disable_collisions); + +/* Remove Rigid Body Constraint from simulation world */ +extern void RB_dworld_remove_constraint(rbDynamicsWorld *world, rbConstraint *con); + +extern rbConstraint *RB_constraint_new_point(float pivot[3], rbRigidBody *rb1, rbRigidBody *rb2); +extern rbConstraint *RB_constraint_new_fixed(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); +extern rbConstraint *RB_constraint_new_hinge(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); +extern rbConstraint *RB_constraint_new_slider(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); +extern rbConstraint *RB_constraint_new_piston(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); +extern rbConstraint *RB_constraint_new_6dof(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); +extern rbConstraint *RB_constraint_new_6dof_spring(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); + +/* ............ */ + +/* Cleanup --------------------------- */ + +extern void RB_constraint_delete(rbConstraint *con); + +/* Settings --------------------------- */ + +/* Enable or disable constraint */ +extern void RB_constraint_set_enabled(rbConstraint *con, int enabled); + +/* Limits */ +#define RB_LIMIT_LIN_X 0 +#define RB_LIMIT_LIN_Y 1 +#define RB_LIMIT_LIN_Z 2 +#define RB_LIMIT_ANG_X 3 +#define RB_LIMIT_ANG_Y 4 +#define RB_LIMIT_ANG_Z 5 +/* Bullet uses the following convention: + * - lower limit == upper limit -> axis is locked + * - lower limit > upper limit -> axis is free + * - lower limit < upper limit -> axis is limited in given range + */ +extern void RB_constraint_set_limits_hinge(rbConstraint *con, float lower, float upper); +extern void RB_constraint_set_limits_slider(rbConstraint *con, float lower, float upper); +extern void RB_constraint_set_limits_piston(rbConstraint *con, float lin_lower, float lin_upper, float ang_lower, float ang_upper); +extern void RB_constraint_set_limits_6dof(rbConstraint *con, float axis, float lower, float upper); + +/* 6dof spring specific */ +extern void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, float axis, float stiffness); +extern void RB_constraint_set_damping_6dof_spring(rbConstraint *con, float axis, float damping); +extern void RB_constraint_set_spring_6dof_spring(rbConstraint *con, float axis, int enable); +extern void RB_constraint_set_equilibrium_6dof_spring(rbConstraint *con); + +/* Set number of constraint solver iterations made per step, this overrided world setting + * To use default set it to -1 */ +extern void RB_constraint_set_solver_iterations(rbConstraint *con, int num_solver_iterations); + +/* Set breaking impulse threshold, if constraint shouldn't break it can be set to FLT_MAX */ +extern void RB_constraint_set_breaking_threshold(rbConstraint *con, float threshold); + +/* ********************************** */ + +#ifdef __cplusplus +} +#endif + +#endif /* __RB_API_H__ */ + |