From 26a283deae7a3b78a197d4bcf4bfd288c598aedc Mon Sep 17 00:00:00 2001 From: Alexander Gavrilov Date: Sat, 31 Mar 2018 12:08:16 +0300 Subject: Use the newer version of the bullet 6dof spring constraint for rigidbody. The new constraint is slower and not backward compatible, but should be better, especially in the damping side. The new constraint also has a different valid range of the damping coefficient, and a limit implementation that bounces instead of making the object stationary. Reviewers: sergof Differential Revision: https://developer.blender.org/D3125 --- source/blender/blenkernel/intern/rigidbody.c | 70 +++++++++++++++------------- 1 file changed, 38 insertions(+), 32 deletions(-) (limited to 'source/blender/blenkernel/intern/rigidbody.c') diff --git a/source/blender/blenkernel/intern/rigidbody.c b/source/blender/blenkernel/intern/rigidbody.c index c10f54a99eb..b8873cca0fb 100644 --- a/source/blender/blenkernel/intern/rigidbody.c +++ b/source/blender/blenkernel/intern/rigidbody.c @@ -700,6 +700,39 @@ static void rigidbody_validate_sim_object(RigidBodyWorld *rbw, Object *ob, bool /* --------------------- */ +static void rigidbody_constraint_set_limits(RigidBodyCon *rbc, void (*set_limits)(rbConstraint*,int,float,float)) +{ + if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_X) + set_limits(rbc->physics_constraint, RB_LIMIT_LIN_X, rbc->limit_lin_x_lower, rbc->limit_lin_x_upper); + else + set_limits(rbc->physics_constraint, RB_LIMIT_LIN_X, 0.0f, -1.0f); + + if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_Y) + set_limits(rbc->physics_constraint, RB_LIMIT_LIN_Y, rbc->limit_lin_y_lower, rbc->limit_lin_y_upper); + else + set_limits(rbc->physics_constraint, RB_LIMIT_LIN_Y, 0.0f, -1.0f); + + if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_Z) + set_limits(rbc->physics_constraint, RB_LIMIT_LIN_Z, rbc->limit_lin_z_lower, rbc->limit_lin_z_upper); + else + set_limits(rbc->physics_constraint, RB_LIMIT_LIN_Z, 0.0f, -1.0f); + + if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_X) + set_limits(rbc->physics_constraint, RB_LIMIT_ANG_X, rbc->limit_ang_x_lower, rbc->limit_ang_x_upper); + else + set_limits(rbc->physics_constraint, RB_LIMIT_ANG_X, 0.0f, -1.0f); + + if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_Y) + set_limits(rbc->physics_constraint, RB_LIMIT_ANG_Y, rbc->limit_ang_y_lower, rbc->limit_ang_y_upper); + else + set_limits(rbc->physics_constraint, RB_LIMIT_ANG_Y, 0.0f, -1.0f); + + if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_Z) + set_limits(rbc->physics_constraint, RB_LIMIT_ANG_Z, rbc->limit_ang_z_lower, rbc->limit_ang_z_upper); + else + set_limits(rbc->physics_constraint, RB_LIMIT_ANG_Z, 0.0f, -1.0f); +} + /** * Create physics sim representation of constraint given rigid body constraint settings * @@ -818,40 +851,13 @@ static void rigidbody_validate_sim_constraint(RigidBodyWorld *rbw, Object *ob, b RB_constraint_set_damping_6dof_spring(rbc->physics_constraint, RB_LIMIT_ANG_Z, rbc->spring_damping_ang_z); RB_constraint_set_equilibrium_6dof_spring(rbc->physics_constraint); - ATTR_FALLTHROUGH; - case RBC_TYPE_6DOF: - if (rbc->type == RBC_TYPE_6DOF) /* a litte awkward but avoids duplicate code for limits */ - rbc->physics_constraint = RB_constraint_new_6dof(loc, rot, rb1, rb2); - - if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_X) - RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_LIN_X, rbc->limit_lin_x_lower, rbc->limit_lin_x_upper); - else - RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_LIN_X, 0.0f, -1.0f); - - if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_Y) - RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_LIN_Y, rbc->limit_lin_y_lower, rbc->limit_lin_y_upper); - else - RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_LIN_Y, 0.0f, -1.0f); - - if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_Z) - RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_LIN_Z, rbc->limit_lin_z_lower, rbc->limit_lin_z_upper); - else - RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_LIN_Z, 0.0f, -1.0f); - - if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_X) - RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_ANG_X, rbc->limit_ang_x_lower, rbc->limit_ang_x_upper); - else - RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_ANG_X, 0.0f, -1.0f); - if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_Y) - RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_ANG_Y, rbc->limit_ang_y_lower, rbc->limit_ang_y_upper); - else - RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_ANG_Y, 0.0f, -1.0f); + rigidbody_constraint_set_limits(rbc, RB_constraint_set_limits_6dof_spring); + break; + case RBC_TYPE_6DOF: + rbc->physics_constraint = RB_constraint_new_6dof(loc, rot, rb1, rb2); - if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_Z) - RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_ANG_Z, rbc->limit_ang_z_lower, rbc->limit_ang_z_upper); - else - RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_ANG_Z, 0.0f, -1.0f); + rigidbody_constraint_set_limits(rbc, RB_constraint_set_limits_6dof); break; case RBC_TYPE_MOTOR: rbc->physics_constraint = RB_constraint_new_motor(loc, rot, rb1, rb2); -- cgit v1.2.3