diff options
Diffstat (limited to 'source')
-rw-r--r-- | source/blender/blenkernel/CMakeLists.txt | 8 | ||||
-rw-r--r-- | source/blender/blenkernel/intern/rigidbody.c | 165 | ||||
-rw-r--r-- | source/blender/blenlib/BLI_math_vector.h | 4 | ||||
-rw-r--r-- | source/blender/blenlib/intern/math_vector_inline.c | 18 | ||||
-rw-r--r-- | source/blender/blenloader/intern/versioning_290.c | 18 | ||||
-rw-r--r-- | source/blender/bmesh/CMakeLists.txt | 5 | ||||
-rw-r--r-- | source/blender/bmesh/operators/bmo_hull.c | 2 | ||||
-rw-r--r-- | source/blender/makesdna/DNA_rigidbody_types.h | 4 | ||||
-rw-r--r-- | source/blender/makesdna/intern/dna_rename_defs.h | 1 | ||||
-rw-r--r-- | source/blender/makesrna/intern/rna_rigidbody.c | 12 | ||||
-rw-r--r-- | source/blender/modifiers/CMakeLists.txt | 8 |
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() |