/* * 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. */ /** \file * \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. rbDynamicsWorld *RB_dworld_new(const float gravity[3]); /* Delete the given dynamics world, and free any extra data it may require */ void RB_dworld_delete(rbDynamicsWorld *world); /* Settings ------------------------- */ /* Gravity */ void RB_dworld_get_gravity(rbDynamicsWorld *world, float g_out[3]); void RB_dworld_set_gravity(rbDynamicsWorld *world, const float g_in[3]); /* Constraint Solver */ void RB_dworld_set_solver_iterations(rbDynamicsWorld *world, int num_solver_iterations); /* Split Impulse */ 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 */ 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 */ void RB_dworld_add_body(rbDynamicsWorld *world, rbRigidBody *body, int col_groups); /* Remove RigidBody from dynamics world */ void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *body); /* Collision detection */ void RB_world_convex_sweep_test(rbDynamicsWorld *world, rbRigidBody *object, const float loc_start[3], const float loc_end[3], float v_location[3], float v_hitpoint[3], float v_normal[3], int *r_hit); /* ............ */ /* Create new RigidBody instance */ rbRigidBody *RB_body_new(rbCollisionShape *shape, const float loc[3], const float rot[4]); /* Delete the given RigidBody instance */ void RB_body_delete(rbRigidBody *body); /* Settings ------------------------- */ /* 'Type' */ void RB_body_set_type(rbRigidBody *body, int type, float mass); /* ............ */ /* Collision Shape */ void RB_body_set_collision_shape(rbRigidBody *body, rbCollisionShape *shape); /* ............ */ /* Mass */ float RB_body_get_mass(rbRigidBody *body); void RB_body_set_mass(rbRigidBody *body, float value); /* Friction */ float RB_body_get_friction(rbRigidBody *body); void RB_body_set_friction(rbRigidBody *body, float value); /* Restitution */ float RB_body_get_restitution(rbRigidBody *body); void RB_body_set_restitution(rbRigidBody *body, float value); /* Damping */ float RB_body_get_linear_damping(rbRigidBody *body); void RB_body_set_linear_damping(rbRigidBody *body, float value); float RB_body_get_angular_damping(rbRigidBody *body); void RB_body_set_angular_damping(rbRigidBody *body, float value); void RB_body_set_damping(rbRigidBody *object, float linear, float angular); /* Sleeping Thresholds */ float RB_body_get_linear_sleep_thresh(rbRigidBody *body); void RB_body_set_linear_sleep_thresh(rbRigidBody *body, float value); float RB_body_get_angular_sleep_thresh(rbRigidBody *body); void RB_body_set_angular_sleep_thresh(rbRigidBody *body, float value); void RB_body_set_sleep_thresh(rbRigidBody *body, float linear, float angular); /* Linear Velocity */ void RB_body_get_linear_velocity(rbRigidBody *body, float v_out[3]); void RB_body_set_linear_velocity(rbRigidBody *body, const float v_in[3]); /* Angular Velocity */ void RB_body_get_angular_velocity(rbRigidBody *body, float v_out[3]); void RB_body_set_angular_velocity(rbRigidBody *body, const float v_in[3]); /* Linear/Angular Factor, used to lock translation/rotation axes */ void RB_body_set_linear_factor(rbRigidBody *object, float x, float y, float z); void RB_body_set_angular_factor(rbRigidBody *object, float x, float y, float z); /* Kinematic State */ void RB_body_set_kinematic_state(rbRigidBody *body, int kinematic); /* RigidBody Interface - Rigid Body Activation States */ int RB_body_get_activation_state(rbRigidBody *body); void RB_body_set_activation_state(rbRigidBody *body, int use_deactivation); void RB_body_activate(rbRigidBody *body); void RB_body_deactivate(rbRigidBody *body); /* Simulation ----------------------- */ /* Get current transform matrix of RigidBody to use in Blender (OpenGL format) */ void RB_body_get_transform_matrix(rbRigidBody *body, float m_out[4][4]); /* Set RigidBody's location and rotation */ void RB_body_set_loc_rot(rbRigidBody *body, const float loc[3], const float rot[4]); /* Set RigidBody's local scaling */ 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]); /* ............ */ void RB_body_apply_central_force(rbRigidBody *body, const float v_in[3]); /* ********************************** */ /* Collision Shape Methods */ /* Setup (Standard Shapes) ----------- */ rbCollisionShape *RB_shape_new_box(float x, float y, float z); rbCollisionShape *RB_shape_new_sphere(float radius); rbCollisionShape *RB_shape_new_capsule(float radius, float height); rbCollisionShape *RB_shape_new_cone(float radius, float height); rbCollisionShape *RB_shape_new_cylinder(float radius, float height); /* Setup (Convex Hull) ------------ */ rbCollisionShape *RB_shape_new_convex_hull( float *verts, int stride, int count, float margin, bool *can_embed); /* Setup (Triangle Mesh) ---------- */ /* 1 */ rbMeshData *RB_trimesh_data_new(int num_tris, int num_verts); void RB_trimesh_add_vertices(rbMeshData *mesh, float *vertices, int num_verts, int vert_stride); void RB_trimesh_add_triangle_indices( rbMeshData *mesh, int num, int index0, int index1, int index2); void RB_trimesh_finish(rbMeshData *mesh); /* 2a - Triangle Meshes */ rbCollisionShape *RB_shape_new_trimesh(rbMeshData *mesh); /* 2b - GImpact Meshes */ rbCollisionShape *RB_shape_new_gimpact_mesh(rbMeshData *mesh); /* Cleanup --------------------------- */ void RB_shape_delete(rbCollisionShape *shape); /* Settings --------------------------- */ /* Collision Margin */ float RB_shape_get_margin(rbCollisionShape *shape); void RB_shape_set_margin(rbCollisionShape *shape, float value); void RB_shape_trimesh_update(rbCollisionShape *shape, float *vertices, int num_verts, int vert_stride, float min[3], float max[3]); /* ********************************** */ /* Constraints */ /* Setup ----------------------------- */ /* Add Rigid Body Constraint to simulation world */ void RB_dworld_add_constraint(rbDynamicsWorld *world, rbConstraint *con, int disable_collisions); /* Remove Rigid Body Constraint from simulation world */ void RB_dworld_remove_constraint(rbDynamicsWorld *world, rbConstraint *con); rbConstraint *RB_constraint_new_point(float pivot[3], rbRigidBody *rb1, rbRigidBody *rb2); rbConstraint *RB_constraint_new_fixed(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); rbConstraint *RB_constraint_new_hinge(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); rbConstraint *RB_constraint_new_slider(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); rbConstraint *RB_constraint_new_piston(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); rbConstraint *RB_constraint_new_6dof(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); rbConstraint *RB_constraint_new_6dof_spring(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); rbConstraint *RB_constraint_new_6dof_spring2(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); rbConstraint *RB_constraint_new_motor(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2); /* ............ */ /* Cleanup --------------------------- */ void RB_constraint_delete(rbConstraint *con); /* Settings --------------------------- */ /* Enable or disable constraint */ 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 */ void RB_constraint_set_limits_hinge(rbConstraint *con, float lower, float upper); void RB_constraint_set_limits_slider(rbConstraint *con, float lower, float upper); void RB_constraint_set_limits_piston( rbConstraint *con, float lin_lower, float lin_upper, float ang_lower, float ang_upper); void RB_constraint_set_limits_6dof(rbConstraint *con, int axis, float lower, float upper); /* 6dof spring specific */ void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, int axis, float stiffness); void RB_constraint_set_damping_6dof_spring(rbConstraint *con, int axis, float damping); void RB_constraint_set_spring_6dof_spring(rbConstraint *con, int axis, int enable); void RB_constraint_set_equilibrium_6dof_spring(rbConstraint *con); /* 6dof spring 2 specific */ void RB_constraint_set_limits_6dof_spring2(rbConstraint *con, int axis, float lower, float upper); void RB_constraint_set_stiffness_6dof_spring2(rbConstraint *con, int axis, float stiffness); void RB_constraint_set_damping_6dof_spring2(rbConstraint *con, int axis, float damping); void RB_constraint_set_spring_6dof_spring2(rbConstraint *con, int axis, int enable); void RB_constraint_set_equilibrium_6dof_spring2(rbConstraint *con); /* motors */ void RB_constraint_set_enable_motor(rbConstraint *con, int enable_lin, int enable_ang); void RB_constraint_set_max_impulse_motor(rbConstraint *con, float max_impulse_lin, float max_impulse_ang); void RB_constraint_set_target_velocity_motor(rbConstraint *con, float velocity_lin, float velocity_ang); /* Set number of constraint solver iterations made per step, this overrided world setting * To use default set it to -1 */ 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 */ void RB_constraint_set_breaking_threshold(rbConstraint *con, float threshold); /* ********************************** */ #ifdef __cplusplus } #endif #endif /* __RB_API_H__ */