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-rw-r--r--source/blender/blenkernel/CMakeLists.txt8
-rw-r--r--source/blender/blenkernel/intern/rigidbody.c165
-rw-r--r--source/blender/blenlib/BLI_math_vector.h4
-rw-r--r--source/blender/blenlib/intern/math_vector_inline.c18
-rw-r--r--source/blender/blenloader/intern/versioning_290.c18
-rw-r--r--source/blender/bmesh/CMakeLists.txt5
-rw-r--r--source/blender/bmesh/operators/bmo_hull.c2
-rw-r--r--source/blender/makesdna/DNA_rigidbody_types.h4
-rw-r--r--source/blender/makesdna/intern/dna_rename_defs.h1
-rw-r--r--source/blender/makesrna/intern/rna_rigidbody.c12
-rw-r--r--source/blender/modifiers/CMakeLists.txt8
11 files changed, 199 insertions, 46 deletions
diff --git a/source/blender/blenkernel/CMakeLists.txt b/source/blender/blenkernel/CMakeLists.txt
index 6f32eb8a90f..bf3077b7743 100644
--- a/source/blender/blenkernel/CMakeLists.txt
+++ b/source/blender/blenkernel/CMakeLists.txt
@@ -482,9 +482,15 @@ if(WITH_BULLET)
list(APPEND INC
../../../intern/rigidbody
)
+
+ if(NOT WITH_SYSTEM_BULLET)
+ list(APPEND LIB
+ extern_bullet
+ )
+ endif()
+
list(APPEND LIB
bf_intern_rigidbody
- extern_bullet
${BULLET_LIBRARIES}
)
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);
diff --git a/source/blender/blenlib/BLI_math_vector.h b/source/blender/blenlib/BLI_math_vector.h
index 3399287dd46..1425e7da1bc 100644
--- a/source/blender/blenlib/BLI_math_vector.h
+++ b/source/blender/blenlib/BLI_math_vector.h
@@ -367,6 +367,10 @@ MINLINE bool compare_len_v3v3(const float a[3],
const float b[3],
const float limit) ATTR_WARN_UNUSED_RESULT;
+MINLINE bool compare_size_v3v3(const float a[3],
+ const float b[3],
+ const float limit) ATTR_WARN_UNUSED_RESULT;
+
MINLINE float line_point_side_v2(const float l1[2],
const float l2[2],
const float pt[2]) ATTR_WARN_UNUSED_RESULT;
diff --git a/source/blender/blenlib/intern/math_vector_inline.c b/source/blender/blenlib/intern/math_vector_inline.c
index 13a87b9ec6a..d3c975e3249 100644
--- a/source/blender/blenlib/intern/math_vector_inline.c
+++ b/source/blender/blenlib/intern/math_vector_inline.c
@@ -1372,6 +1372,24 @@ MINLINE bool compare_len_v3v3(const float v1[3], const float v2[3], const float
return (dot_v3v3(d, d) <= (limit * limit));
}
+MINLINE bool compare_size_v3v3(const float v1[3], const float v2[3], const float limit)
+{
+ for (int i = 0; i < 3; i++) {
+ if (v2[i] == 0.0f) {
+ /* Catch division by zero. */
+ if (v1[i] != v2[i]) {
+ return false;
+ }
+ }
+ else {
+ if (fabsf(v1[i] / v2[i] - 1.0f) > limit) {
+ return false;
+ }
+ }
+ }
+ return true;
+}
+
/** \name Vector Clamping
* \{ */
diff --git a/source/blender/blenloader/intern/versioning_290.c b/source/blender/blenloader/intern/versioning_290.c
index 3c326565557..269c2083ef4 100644
--- a/source/blender/blenloader/intern/versioning_290.c
+++ b/source/blender/blenloader/intern/versioning_290.c
@@ -33,6 +33,7 @@
#include "DNA_gpencil_types.h"
#include "DNA_modifier_types.h"
#include "DNA_object_types.h"
+#include "DNA_rigidbody_types.h"
#include "DNA_screen_types.h"
#include "DNA_shader_fx_types.h"
@@ -518,6 +519,23 @@ void blo_do_versions_290(FileData *fd, Library *UNUSED(lib), Main *bmain)
}
}
+ for (Scene *scene = bmain->scenes.first; scene; scene = scene->id.next) {
+ RigidBodyWorld *rbw = scene->rigidbody_world;
+
+ if (rbw == NULL) {
+ continue;
+ }
+
+ /* The substep method changed from "per second" to "per frame".
+ * To get the new value simply divide the old bullet sim fps with the scene fps.
+ */
+ rbw->substeps_per_frame /= FPS;
+
+ if (rbw->substeps_per_frame <= 0) {
+ rbw->substeps_per_frame = 1;
+ }
+ }
+
/**
* Versioning code until next subversion bump goes here.
*
diff --git a/source/blender/bmesh/CMakeLists.txt b/source/blender/bmesh/CMakeLists.txt
index d2b747aa68f..92c52f5d8d0 100644
--- a/source/blender/bmesh/CMakeLists.txt
+++ b/source/blender/bmesh/CMakeLists.txt
@@ -189,10 +189,15 @@ endif()
if(WITH_BULLET)
list(APPEND INC_SYS
${BULLET_INCLUDE_DIRS}
+ "../../../intern/rigidbody/"
)
+ if(NOT WITH_SYSTEM_BULLET)
list(APPEND LIB
extern_bullet
+ )
+ endif()
+ list(APPEND LIB
${BULLET_LIBRARIES}
)
add_definitions(-DWITH_BULLET)
diff --git a/source/blender/bmesh/operators/bmo_hull.c b/source/blender/bmesh/operators/bmo_hull.c
index 98d4431803a..84938084aec 100644
--- a/source/blender/bmesh/operators/bmo_hull.c
+++ b/source/blender/bmesh/operators/bmo_hull.c
@@ -28,7 +28,7 @@
# include "BLI_listbase.h"
# include "BLI_math.h"
-# include "Bullet-C-Api.h"
+# include "RBI_hull_api.h"
/* XXX: using 128 for totelem and pchunk of mempool, no idea what good
* values would be though */
diff --git a/source/blender/makesdna/DNA_rigidbody_types.h b/source/blender/makesdna/DNA_rigidbody_types.h
index 02a4a158d8c..cd11c18578a 100644
--- a/source/blender/makesdna/DNA_rigidbody_types.h
+++ b/source/blender/makesdna/DNA_rigidbody_types.h
@@ -75,8 +75,8 @@ typedef struct RigidBodyWorld {
/** Number of objects in rigid body group. */
int numbodies;
- /** Number of simulation steps thaken per second. */
- short steps_per_second;
+ /** Number of simulation substeps steps taken per frame. */
+ short substeps_per_frame;
/** Number of constraint solver iterations made per simulation step. */
short num_solver_iterations;
diff --git a/source/blender/makesdna/intern/dna_rename_defs.h b/source/blender/makesdna/intern/dna_rename_defs.h
index a73fc747f84..a0e983e7d3b 100644
--- a/source/blender/makesdna/intern/dna_rename_defs.h
+++ b/source/blender/makesdna/intern/dna_rename_defs.h
@@ -125,3 +125,4 @@ DNA_STRUCT_RENAME_ELEM(bTheme, tstatusbar, space_statusbar)
DNA_STRUCT_RENAME_ELEM(bTheme, ttopbar, space_topbar)
DNA_STRUCT_RENAME_ELEM(bTheme, tuserpref, space_preferences)
DNA_STRUCT_RENAME_ELEM(bTheme, tv3d, space_view3d)
+DNA_STRUCT_RENAME_ELEM(RigidBodyWorld, steps_per_second, substeps_per_frame)
diff --git a/source/blender/makesrna/intern/rna_rigidbody.c b/source/blender/makesrna/intern/rna_rigidbody.c
index fb550b38b31..6c8b8e6859d 100644
--- a/source/blender/makesrna/intern/rna_rigidbody.c
+++ b/source/blender/makesrna/intern/rna_rigidbody.c
@@ -906,15 +906,15 @@ static void rna_def_rigidbody_world(BlenderRNA *brna)
RNA_def_property_update(prop, NC_SCENE, "rna_RigidBodyWorld_reset");
/* timestep */
- prop = RNA_def_property(srna, "steps_per_second", PROP_INT, PROP_NONE);
- RNA_def_property_int_sdna(prop, NULL, "steps_per_second");
+ prop = RNA_def_property(srna, "substeps_per_frame", PROP_INT, PROP_NONE);
+ RNA_def_property_int_sdna(prop, NULL, "substeps_per_frame");
RNA_def_property_range(prop, 1, SHRT_MAX);
- RNA_def_property_ui_range(prop, 60, 1000, 1, -1);
- RNA_def_property_int_default(prop, 60);
+ RNA_def_property_ui_range(prop, 1, 1000, 1, -1);
+ RNA_def_property_int_default(prop, 10);
RNA_def_property_ui_text(
prop,
- "Steps Per Second",
- "Number of simulation steps taken per second (higher values are more accurate "
+ "Substeps Per Frame",
+ "Number of simulation steps taken per frame (higher values are more accurate "
"but slower)");
RNA_def_property_update(prop, NC_SCENE, "rna_RigidBodyWorld_reset");
diff --git a/source/blender/modifiers/CMakeLists.txt b/source/blender/modifiers/CMakeLists.txt
index d2ac9dc85de..01770abeca0 100644
--- a/source/blender/modifiers/CMakeLists.txt
+++ b/source/blender/modifiers/CMakeLists.txt
@@ -156,9 +156,11 @@ if(WITH_OPENSUBDIV)
endif()
if(WITH_BULLET)
- list(APPEND LIB
- extern_bullet
- )
+ if(NOT WITH_SYSTEM_BULLET)
+ list(APPEND LIB
+ extern_bullet
+ )
+ endif()
add_definitions(-DWITH_BULLET)
endif()
generated by cgit v1.2.3 (git 2.25.1) at 2024-08-31 00:19:30 +0300