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Diffstat (limited to 'source/blender/rigidbody/rb_bullet_api.cpp')
| -rw-r--r-- | source/blender/rigidbody/rb_bullet_api.cpp | 949 |
1 files changed, 0 insertions, 949 deletions
diff --git a/source/blender/rigidbody/rb_bullet_api.cpp b/source/blender/rigidbody/rb_bullet_api.cpp deleted file mode 100644 index c4a4532bad1..00000000000 --- a/source/blender/rigidbody/rb_bullet_api.cpp +++ /dev/null @@ -1,949 +0,0 @@ -/* - * ***** 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 rb_bullet_api.cpp - * \ingroup RigidBody - * \brief Rigid Body API implementation for Bullet - */ - -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -/* This file defines the "RigidBody interface" for the - * Bullet Physics Engine. This API is designed to be used - * from C-code in Blender as part of the Rigid Body simulation - * system. - * - * It is based on the Bullet C-API, but is heavily modified to - * give access to more data types and to offer a nicer interface. - * - * -- Joshua Leung, June 2010 - */ - -#include <stdio.h> - -#include "RBI_api.h" - -#include "btBulletDynamicsCommon.h" - -#include "LinearMath/btVector3.h" -#include "LinearMath/btScalar.h" -#include "LinearMath/btMatrix3x3.h" -#include "LinearMath/btTransform.h" -#include "LinearMath/btConvexHullComputer.h" - -#include "BulletCollision/Gimpact/btGImpactShape.h" -#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h" -#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" - -struct rbDynamicsWorld { - btDiscreteDynamicsWorld *dynamicsWorld; - btDefaultCollisionConfiguration *collisionConfiguration; - btDispatcher *dispatcher; - btBroadphaseInterface *pairCache; - btConstraintSolver *constraintSolver; - btOverlapFilterCallback *filterCallback; -}; -struct rbRigidBody { - btRigidBody *body; - int col_groups; -}; - -struct rbCollisionShape { - btCollisionShape *cshape; - btTriangleMesh *mesh; -}; - -struct rbFilterCallback : public btOverlapFilterCallback -{ - virtual bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const - { - rbRigidBody *rb0 = (rbRigidBody *)((btRigidBody *)proxy0->m_clientObject)->getUserPointer(); - rbRigidBody *rb1 = (rbRigidBody *)((btRigidBody *)proxy1->m_clientObject)->getUserPointer(); - - bool collides; - collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0; - collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask); - collides = collides && (rb0->col_groups & rb1->col_groups); - - return collides; - } -}; - -static inline void copy_v3_btvec3(float vec[3], const btVector3 &btvec) -{ - vec[0] = (float)btvec[0]; - vec[1] = (float)btvec[1]; - vec[2] = (float)btvec[2]; -} -static inline void copy_quat_btquat(float quat[3], const btQuaternion &btquat) -{ - quat[0] = btquat.getW(); - quat[1] = btquat.getX(); - quat[2] = btquat.getY(); - quat[3] = btquat.getZ(); -} - -/* ********************************** */ -/* Dynamics World Methods */ - -/* Setup ---------------------------- */ - -rbDynamicsWorld *RB_dworld_new(const float gravity[3]) -{ - rbDynamicsWorld *world = new rbDynamicsWorld; - - /* collision detection/handling */ - world->collisionConfiguration = new btDefaultCollisionConfiguration(); - - world->dispatcher = new btCollisionDispatcher(world->collisionConfiguration); - btGImpactCollisionAlgorithm::registerAlgorithm((btCollisionDispatcher *)world->dispatcher); // XXX: experimental - - world->pairCache = new btDbvtBroadphase(); - - world->filterCallback = new rbFilterCallback(); - world->pairCache->getOverlappingPairCache()->setOverlapFilterCallback(world->filterCallback); - - /* constraint solving */ - world->constraintSolver = new btSequentialImpulseConstraintSolver(); - - /* world */ - world->dynamicsWorld = new btDiscreteDynamicsWorld(world->dispatcher, - world->pairCache, - world->constraintSolver, - world->collisionConfiguration); - - RB_dworld_set_gravity(world, gravity); - - return world; -} - -void RB_dworld_delete(rbDynamicsWorld *world) -{ - /* bullet doesn't like if we free these in a different order */ - delete world->dynamicsWorld; - delete world->constraintSolver; - delete world->pairCache; - delete world->dispatcher; - delete world->collisionConfiguration; - delete world->filterCallback; - delete world; -} - -/* Settings ------------------------- */ - -/* Gravity */ -void RB_dworld_get_gravity(rbDynamicsWorld *world, float g_out[3]) -{ - copy_v3_btvec3(g_out, world->dynamicsWorld->getGravity()); -} - -void RB_dworld_set_gravity(rbDynamicsWorld *world, const float g_in[3]) -{ - world->dynamicsWorld->setGravity(btVector3(g_in[0], g_in[1], g_in[2])); -} - -/* Constraint Solver */ -void RB_dworld_set_solver_iterations(rbDynamicsWorld *world, int num_solver_iterations) -{ - btContactSolverInfo& info = world->dynamicsWorld->getSolverInfo(); - - info.m_numIterations = num_solver_iterations; -} - -/* Split Impulse */ -void RB_dworld_set_split_impulse(rbDynamicsWorld *world, int split_impulse) -{ - btContactSolverInfo& info = world->dynamicsWorld->getSolverInfo(); - - info.m_splitImpulse = split_impulse; -} - -/* Simulation ----------------------- */ - -void RB_dworld_step_simulation(rbDynamicsWorld *world, float timeStep, int maxSubSteps, float timeSubStep) -{ - world->dynamicsWorld->stepSimulation(timeStep, maxSubSteps, timeSubStep); -} - -/* Export -------------------------- */ - -/* Exports entire dynamics world to Bullet's "*.bullet" binary format - * which is similar to Blender's SDNA system... - * < rbDynamicsWorld: dynamics world to write to file - * < filename: assumed to be a valid filename, with .bullet extension - */ -void RB_dworld_export(rbDynamicsWorld *world, const char *filename) -{ - //create a large enough buffer. There is no method to pre-calculate the buffer size yet. - int maxSerializeBufferSize = 1024 * 1024 * 5; - - btDefaultSerializer *serializer = new btDefaultSerializer(maxSerializeBufferSize); - world->dynamicsWorld->serialize(serializer); - - FILE *file = fopen(filename, "wb"); - fwrite(serializer->getBufferPointer(), serializer->getCurrentBufferSize(), 1, file); - fclose(file); -} - -/* ********************************** */ -/* Rigid Body Methods */ - -/* Setup ---------------------------- */ - -void RB_dworld_add_body(rbDynamicsWorld *world, rbRigidBody *object, int col_groups) -{ - btRigidBody *body = object->body; - object->col_groups = col_groups; - - world->dynamicsWorld->addRigidBody(body); -} - -void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *object) -{ - btRigidBody *body = object->body; - - world->dynamicsWorld->removeRigidBody(body); -} - -/* ............ */ - -rbRigidBody *RB_body_new(rbCollisionShape *shape, const float loc[3], const float rot[4]) -{ - rbRigidBody *object = new rbRigidBody; - /* current transform */ - btTransform trans; - trans.setOrigin(btVector3(loc[0], loc[1], loc[2])); - trans.setRotation(btQuaternion(rot[1], rot[2], rot[3], rot[0])); - - /* create motionstate, which is necessary for interpolation (includes reverse playback) */ - btDefaultMotionState *motionState = new btDefaultMotionState(trans); - - /* make rigidbody */ - btRigidBody::btRigidBodyConstructionInfo rbInfo(1.0f, motionState, shape->cshape); - - object->body = new btRigidBody(rbInfo); - - object->body->setUserPointer(object); - - return object; -} - -void RB_body_delete(rbRigidBody *object) -{ - btRigidBody *body = object->body; - - /* motion state */ - btMotionState *ms = body->getMotionState(); - if (ms) - delete ms; - - /* collision shape is done elsewhere... */ - - /* body itself */ - - /* manually remove constraint refs of the rigid body, normally this happens when removing constraints from the world - * but since we delete everything when the world is rebult, we need to do it manually here */ - for (int i = body->getNumConstraintRefs() - 1; i >= 0; i--) { - btTypedConstraint *con = body->getConstraintRef(i); - body->removeConstraintRef(con); - } - - delete body; - delete object; -} - -/* Settings ------------------------- */ - -void RB_body_set_collision_shape(rbRigidBody *object, rbCollisionShape *shape) -{ - btRigidBody *body = object->body; - - /* set new collision shape */ - body->setCollisionShape(shape->cshape); - - /* recalculate inertia, since that depends on the collision shape... */ - RB_body_set_mass(object, RB_body_get_mass(object)); -} - -/* ............ */ - -float RB_body_get_mass(rbRigidBody *object) -{ - btRigidBody *body = object->body; - - /* there isn't really a mass setting, but rather 'inverse mass' - * which we convert back to mass by taking the reciprocal again - */ - float value = (float)body->getInvMass(); - - if (value) - value = 1.0 / value; - - return value; -} - -void RB_body_set_mass(rbRigidBody *object, float value) -{ - btRigidBody *body = object->body; - btVector3 localInertia(0, 0, 0); - - /* calculate new inertia if non-zero mass */ - if (value) { - btCollisionShape *shape = body->getCollisionShape(); - shape->calculateLocalInertia(value, localInertia); - } - - body->setMassProps(value, localInertia); - body->updateInertiaTensor(); -} - - -float RB_body_get_friction(rbRigidBody *object) -{ - btRigidBody *body = object->body; - return body->getFriction(); -} - -void RB_body_set_friction(rbRigidBody *object, float value) -{ - btRigidBody *body = object->body; - body->setFriction(value); -} - - -float RB_body_get_restitution(rbRigidBody *object) -{ - btRigidBody *body = object->body; - return body->getRestitution(); -} - -void RB_body_set_restitution(rbRigidBody *object, float value) -{ - btRigidBody *body = object->body; - body->setRestitution(value); -} - - -float RB_body_get_linear_damping(rbRigidBody *object) -{ - btRigidBody *body = object->body; - return body->getLinearDamping(); -} - -void RB_body_set_linear_damping(rbRigidBody *object, float value) -{ - RB_body_set_damping(object, value, RB_body_get_linear_damping(object)); -} - -float RB_body_get_angular_damping(rbRigidBody *object) -{ - btRigidBody *body = object->body; - return body->getAngularDamping(); -} - -void RB_body_set_angular_damping(rbRigidBody *object, float value) -{ - RB_body_set_damping(object, RB_body_get_linear_damping(object), value); -} - -void RB_body_set_damping(rbRigidBody *object, float linear, float angular) -{ - btRigidBody *body = object->body; - body->setDamping(linear, angular); -} - - -float RB_body_get_linear_sleep_thresh(rbRigidBody *object) -{ - btRigidBody *body = object->body; - return body->getLinearSleepingThreshold(); -} - -void RB_body_set_linear_sleep_thresh(rbRigidBody *object, float value) -{ - RB_body_set_sleep_thresh(object, value, RB_body_get_angular_sleep_thresh(object)); -} - -float RB_body_get_angular_sleep_thresh(rbRigidBody *object) -{ - btRigidBody *body = object->body; - return body->getAngularSleepingThreshold(); -} - -void RB_body_set_angular_sleep_thresh(rbRigidBody *object, float value) -{ - RB_body_set_sleep_thresh(object, RB_body_get_linear_sleep_thresh(object), value); -} - -void RB_body_set_sleep_thresh(rbRigidBody *object, float linear, float angular) -{ - btRigidBody *body = object->body; - body->setSleepingThresholds(linear, angular); -} - -/* ............ */ - -void RB_body_get_linear_velocity(rbRigidBody *object, float v_out[3]) -{ - btRigidBody *body = object->body; - - copy_v3_btvec3(v_out, body->getLinearVelocity()); -} - -void RB_body_set_linear_velocity(rbRigidBody *object, const float v_in[3]) -{ - btRigidBody *body = object->body; - - body->setLinearVelocity(btVector3(v_in[0], v_in[1], v_in[2])); -} - - -void RB_body_get_angular_velocity(rbRigidBody *object, float v_out[3]) -{ - btRigidBody *body = object->body; - - copy_v3_btvec3(v_out, body->getAngularVelocity()); -} - -void RB_body_set_angular_velocity(rbRigidBody *object, const float v_in[3]) -{ - btRigidBody *body = object->body; - - body->setAngularVelocity(btVector3(v_in[0], v_in[1], v_in[2])); -} - -void RB_body_set_linear_factor(rbRigidBody *object, float x, float y, float z) -{ - btRigidBody *body = object->body; - body->setLinearFactor(btVector3(x, y, z)); -} - -void RB_body_set_angular_factor(rbRigidBody *object, float x, float y, float z) -{ - btRigidBody *body = object->body; - body->setAngularFactor(btVector3(x, y, z)); -} - -/* ............ */ - -void RB_body_set_kinematic_state(rbRigidBody *object, int kinematic) -{ - btRigidBody *body = object->body; - if (kinematic) - body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); - else - body->setCollisionFlags(body->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT); -} - -/* ............ */ - -void RB_body_set_activation_state(rbRigidBody *object, int use_deactivation) -{ - btRigidBody *body = object->body; - if (use_deactivation) - body->forceActivationState(ACTIVE_TAG); - else - body->setActivationState(DISABLE_DEACTIVATION); -} -void RB_body_activate(rbRigidBody *object) -{ - btRigidBody *body = object->body; - body->setActivationState(ACTIVE_TAG); -} -void RB_body_deactivate(rbRigidBody *object) -{ - btRigidBody *body = object->body; - body->setActivationState(ISLAND_SLEEPING); -} - -/* ............ */ - - - -/* Simulation ----------------------- */ - -/* The transform matrices Blender uses are OpenGL-style matrices, - * while Bullet uses the Right-Handed coordinate system style instead. - */ - -void RB_body_get_transform_matrix(rbRigidBody *object, float m_out[4][4]) -{ - btRigidBody *body = object->body; - btMotionState *ms = body->getMotionState(); - - btTransform trans; - ms->getWorldTransform(trans); - - trans.getOpenGLMatrix((btScalar *)m_out); -} - -void RB_body_set_loc_rot(rbRigidBody *object, const float loc[3], const float rot[4]) -{ - btRigidBody *body = object->body; - btMotionState *ms = body->getMotionState(); - - /* set transform matrix */ - btTransform trans; - trans.setOrigin(btVector3(loc[0], loc[1], loc[2])); - trans.setRotation(btQuaternion(rot[1], rot[2], rot[3], rot[0])); - - ms->setWorldTransform(trans); -} - -void RB_body_set_scale(rbRigidBody *object, const float scale[3]) -{ - btRigidBody *body = object->body; - - /* apply scaling factor from matrix above to the collision shape */ - btCollisionShape *cshape = body->getCollisionShape(); - if (cshape) { - cshape->setLocalScaling(btVector3(scale[0], scale[1], scale[2])); - - /* GIimpact shapes have to be updated to take scaling into account */ - if (cshape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) - ((btGImpactMeshShape *)cshape)->updateBound(); - } -} - -/* ............ */ -/* Read-only state info about status of simulation */ - -void RB_body_get_position(rbRigidBody *object, float v_out[3]) -{ - btRigidBody *body = object->body; - - copy_v3_btvec3(v_out, body->getWorldTransform().getOrigin()); -} - -void RB_body_get_orientation(rbRigidBody *object, float v_out[4]) -{ - btRigidBody *body = object->body; - - copy_quat_btquat(v_out, body->getWorldTransform().getRotation()); -} - -/* ............ */ -/* Overrides for simulation */ - -void RB_body_apply_central_force(rbRigidBody *object, const float v_in[3]) -{ - btRigidBody *body = object->body; - - body->applyCentralForce(btVector3(v_in[0], v_in[1], v_in[2])); -} - -/* ********************************** */ -/* Collision Shape Methods */ - -/* Setup (Standard Shapes) ----------- */ - -rbCollisionShape *RB_shape_new_box(float x, float y, float z) -{ - rbCollisionShape *shape = new rbCollisionShape; - shape->cshape = new btBoxShape(btVector3(x, y, z)); - shape->mesh = NULL; - return shape; -} - -rbCollisionShape *RB_shape_new_sphere(float radius) -{ - rbCollisionShape *shape = new rbCollisionShape; - shape->cshape = new btSphereShape(radius); - shape->mesh = NULL; - return shape; -} - -rbCollisionShape *RB_shape_new_capsule(float radius, float height) -{ - rbCollisionShape *shape = new rbCollisionShape; - shape->cshape = new btCapsuleShapeZ(radius, height); - shape->mesh = NULL; - return shape; -} - -rbCollisionShape *RB_shape_new_cone(float radius, float height) -{ - rbCollisionShape *shape = new rbCollisionShape; - shape->cshape = new btConeShapeZ(radius, height); - shape->mesh = NULL; - return shape; -} - -rbCollisionShape *RB_shape_new_cylinder(float radius, float height) -{ - rbCollisionShape *shape = new rbCollisionShape; - shape->cshape = new btCylinderShapeZ(btVector3(radius, radius, height)); - shape->mesh = NULL; - return shape; -} - -/* Setup (Convex Hull) ------------ */ - -rbCollisionShape *RB_shape_new_convex_hull(float *verts, int stride, int count, float margin, bool *can_embed) -{ - btConvexHullComputer hull_computer = btConvexHullComputer(); - - // try to embed the margin, if that fails don't shrink the hull - if (hull_computer.compute(verts, stride, count, margin, 0.0f) < 0.0f) { - hull_computer.compute(verts, stride, count, 0.0f, 0.0f); - *can_embed = false; - } - - rbCollisionShape *shape = new rbCollisionShape; - btConvexHullShape *hull_shape = new btConvexHullShape(&(hull_computer.vertices[0].getX()), hull_computer.vertices.size()); - - shape->cshape = hull_shape; - shape->mesh = NULL; - return shape; -} - -/* Setup (Triangle Mesh) ---------- */ - -/* Need to call rbTriMeshNewData() followed by rbTriMeshAddTriangle() several times - * to set up the mesh buffer BEFORE calling rbShapeNewTriMesh(). Otherwise, - * we get nasty crashes... - */ - -rbMeshData *RB_trimesh_data_new() -{ - // XXX: welding threshold? - return (rbMeshData *) new btTriangleMesh(true, false); -} - -void RB_trimesh_add_triangle(rbMeshData *mesh, const float v1[3], const float v2[3], const float v3[3]) -{ - btTriangleMesh *meshData = reinterpret_cast<btTriangleMesh*>(mesh); - - /* cast vertices to usable forms for Bt-API */ - btVector3 vtx1((btScalar)v1[0], (btScalar)v1[1], (btScalar)v1[2]); - btVector3 vtx2((btScalar)v2[0], (btScalar)v2[1], (btScalar)v2[2]); - btVector3 vtx3((btScalar)v3[0], (btScalar)v3[1], (btScalar)v3[2]); - - /* add to the mesh - * - remove duplicated verts is enabled - */ - meshData->addTriangle(vtx1, vtx2, vtx3, false); -} - -rbCollisionShape *RB_shape_new_trimesh(rbMeshData *mesh) -{ - rbCollisionShape *shape = new rbCollisionShape; - btTriangleMesh *tmesh = reinterpret_cast<btTriangleMesh*>(mesh); - - /* triangle-mesh we create is a BVH wrapper for triangle mesh data (for faster lookups) */ - // RB_TODO perhaps we need to allow saving out this for performance when rebuilding? - btBvhTriangleMeshShape *unscaledShape = new btBvhTriangleMeshShape(tmesh, true, true); - - shape->cshape = new btScaledBvhTriangleMeshShape(unscaledShape, btVector3(1.0f, 1.0f, 1.0f)); - shape->mesh = tmesh; - return shape; -} - -rbCollisionShape *RB_shape_new_gimpact_mesh(rbMeshData *mesh) -{ - rbCollisionShape *shape = new rbCollisionShape; - /* interpret mesh buffer as btTriangleIndexVertexArray (i.e. an impl of btStridingMeshInterface) */ - btTriangleMesh *tmesh = reinterpret_cast<btTriangleMesh*>(mesh); - - btGImpactMeshShape *gimpactShape = new btGImpactMeshShape(tmesh); - gimpactShape->updateBound(); // TODO: add this to the update collision margin call? - - shape->cshape = gimpactShape; - shape->mesh = tmesh; - return shape; -} - -/* Cleanup --------------------------- */ - -void RB_shape_delete(rbCollisionShape *shape) -{ - if (shape->cshape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE) { - btBvhTriangleMeshShape *child_shape = ((btScaledBvhTriangleMeshShape *)shape->cshape)->getChildShape(); - if (child_shape) - delete child_shape; - } - if (shape->mesh) - delete shape->mesh; - delete shape->cshape; - delete shape; -} - -/* Settings --------------------------- */ - -float RB_shape_get_margin(rbCollisionShape *shape) -{ - return shape->cshape->getMargin(); -} - -void RB_shape_set_margin(rbCollisionShape *shape, float value) -{ - shape->cshape->setMargin(value); -} - -/* ********************************** */ -/* Constraints */ - -/* Setup ----------------------------- */ - -void RB_dworld_add_constraint(rbDynamicsWorld *world, rbConstraint *con, int disable_collisions) -{ - btTypedConstraint *constraint = reinterpret_cast<btTypedConstraint*>(con); - - world->dynamicsWorld->addConstraint(constraint, disable_collisions); -} - -void RB_dworld_remove_constraint(rbDynamicsWorld *world, rbConstraint *con) -{ - btTypedConstraint *constraint = reinterpret_cast<btTypedConstraint*>(con); - - world->dynamicsWorld->removeConstraint(constraint); -} - -/* ............ */ - -static void make_constraint_transforms(btTransform &transform1, btTransform &transform2, btRigidBody *body1, btRigidBody *body2, float pivot[3], float orn[4]) -{ - btTransform pivot_transform = btTransform(); - pivot_transform.setOrigin(btVector3(pivot[0], pivot[1], pivot[2])); - pivot_transform.setRotation(btQuaternion(orn[1], orn[2], orn[3], orn[0])); - - transform1 = body1->getWorldTransform().inverse() * pivot_transform; - transform2 = body2->getWorldTransform().inverse() * pivot_transform; -} - -rbConstraint *RB_constraint_new_point(float pivot[3], rbRigidBody *rb1, rbRigidBody *rb2) -{ - btRigidBody *body1 = rb1->body; - btRigidBody *body2 = rb2->body; - - btVector3 pivot1 = body1->getWorldTransform().inverse() * btVector3(pivot[0], pivot[1], pivot[2]); - btVector3 pivot2 = body2->getWorldTransform().inverse() * btVector3(pivot[0], pivot[1], pivot[2]); - - btTypedConstraint *con = new btPoint2PointConstraint(*body1, *body2, pivot1, pivot2); - - return (rbConstraint *)con; -} - -rbConstraint *RB_constraint_new_fixed(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2) -{ - btRigidBody *body1 = rb1->body; - btRigidBody *body2 = rb2->body; - btTransform transform1; - btTransform transform2; - - make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn); - - btGeneric6DofConstraint *con = new btGeneric6DofConstraint(*body1, *body2, transform1, transform2, true); - - /* lock all axes */ - for (int i = 0; i < 6; i++) - con->setLimit(i, 0, 0); - - return (rbConstraint *)con; -} - -rbConstraint *RB_constraint_new_hinge(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2) -{ - btRigidBody *body1 = rb1->body; - btRigidBody *body2 = rb2->body; - btTransform transform1; - btTransform transform2; - - make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn); - - btHingeConstraint *con = new btHingeConstraint(*body1, *body2, transform1, transform2); - - return (rbConstraint *)con; -} - -rbConstraint *RB_constraint_new_slider(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2) -{ - btRigidBody *body1 = rb1->body; - btRigidBody *body2 = rb2->body; - btTransform transform1; - btTransform transform2; - - make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn); - - btSliderConstraint *con = new btSliderConstraint(*body1, *body2, transform1, transform2, true); - - return (rbConstraint *)con; -} - -rbConstraint *RB_constraint_new_piston(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2) -{ - btRigidBody *body1 = rb1->body; - btRigidBody *body2 = rb2->body; - btTransform transform1; - btTransform transform2; - - make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn); - - btSliderConstraint *con = new btSliderConstraint(*body1, *body2, transform1, transform2, true); - con->setUpperAngLimit(-1.0f); // unlock rotation axis - - return (rbConstraint *)con; -} - -rbConstraint *RB_constraint_new_6dof(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2) -{ - btRigidBody *body1 = rb1->body; - btRigidBody *body2 = rb2->body; - btTransform transform1; - btTransform transform2; - - make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn); - - btTypedConstraint *con = new btGeneric6DofConstraint(*body1, *body2, transform1, transform2, true); - - return (rbConstraint *)con; -} - -rbConstraint *RB_constraint_new_6dof_spring(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2) -{ - btRigidBody *body1 = rb1->body; - btRigidBody *body2 = rb2->body; - btTransform transform1; - btTransform transform2; - - make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn); - - btTypedConstraint *con = new btGeneric6DofSpringConstraint(*body1, *body2, transform1, transform2, true); - - return (rbConstraint *)con; -} - -/* Cleanup ----------------------------- */ - -void RB_constraint_delete(rbConstraint *con) -{ - btTypedConstraint *constraint = reinterpret_cast<btTypedConstraint*>(con); - delete constraint; -} - -/* Settings ------------------------- */ - -void RB_constraint_set_enabled(rbConstraint *con, int enabled) -{ - btTypedConstraint *constraint = reinterpret_cast<btTypedConstraint*>(con); - - constraint->setEnabled(enabled); -} - -void RB_constraint_set_limits_hinge(rbConstraint *con, float lower, float upper) -{ - btHingeConstraint *constraint = reinterpret_cast<btHingeConstraint*>(con); - - // RB_TODO expose these - float softness = 0.9f; - float bias_factor = 0.3f; - float relaxation_factor = 1.0f; - - constraint->setLimit(lower, upper, softness, bias_factor, relaxation_factor); -} - -void RB_constraint_set_limits_slider(rbConstraint *con, float lower, float upper) -{ - btSliderConstraint *constraint = reinterpret_cast<btSliderConstraint*>(con); - - constraint->setLowerLinLimit(lower); - constraint->setUpperLinLimit(upper); -} - -void RB_constraint_set_limits_piston(rbConstraint *con, float lin_lower, float lin_upper, float ang_lower, float ang_upper) -{ - btSliderConstraint *constraint = reinterpret_cast<btSliderConstraint*>(con); - - constraint->setLowerLinLimit(lin_lower); - constraint->setUpperLinLimit(lin_upper); - constraint->setLowerAngLimit(ang_lower); - constraint->setUpperAngLimit(ang_upper); -} - -void RB_constraint_set_limits_6dof(rbConstraint *con, float axis, float lower, float upper) -{ - btGeneric6DofConstraint *constraint = reinterpret_cast<btGeneric6DofConstraint*>(con); - - constraint->setLimit(axis, lower, upper); -} - -void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, float axis, float stiffness) -{ - btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con); - - constraint->setStiffness(axis, stiffness); -} - -void RB_constraint_set_damping_6dof_spring(rbConstraint *con, float axis, float damping) -{ - btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con); - - constraint->setDamping(axis, damping); -} - -void RB_constraint_set_spring_6dof_spring(rbConstraint *con, float axis, int enable) -{ - btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con); - - constraint->enableSpring(axis, enable); -} - -void RB_constraint_set_equilibrium_6dof_spring(rbConstraint *con) -{ - btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con); - - constraint->setEquilibriumPoint(); -} - -void RB_constraint_set_solver_iterations(rbConstraint *con, int num_solver_iterations) -{ - btTypedConstraint *constraint = reinterpret_cast<btTypedConstraint*>(con); - - constraint->setOverrideNumSolverIterations(num_solver_iterations); -} - -void RB_constraint_set_breaking_threshold(rbConstraint *con, float threshold) -{ - btTypedConstraint *constraint = reinterpret_cast<btTypedConstraint*>(con); - - constraint->setBreakingImpulseThreshold(threshold); -} - -/* ********************************** */ |