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|
/*
* ***** 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 rigidbody.c
* \ingroup blenkernel
* \brief Blender-side interface and methods for dealing with Rigid Body simulations
*/
#include <stdio.h>
#include <string.h>
#include <stddef.h>
#include <float.h>
#include <math.h>
#include <limits.h>
#include "MEM_guardedalloc.h"
#include "BLI_blenlib.h"
#include "BLI_math.h"
#include "RBI_api.h"
#include "DNA_anim_types.h"
#include "DNA_group_types.h"
#include "DNA_mesh_types.h"
#include "DNA_meshdata_types.h"
#include "DNA_object_types.h"
#include "DNA_object_force.h"
#include "DNA_rigidbody_types.h"
#include "DNA_scene_types.h"
#include "BKE_animsys.h"
#include "BKE_cdderivedmesh.h"
#include "BKE_effect.h"
#include "BKE_group.h"
#include "BKE_object.h"
#include "BKE_mesh.h"
#include "BKE_pointcache.h"
#include "BKE_rigidbody.h"
#include "BKE_global.h"
#include "BKE_utildefines.h"
#include "RNA_access.h"
/* ************************************** */
/* Memory Management */
/* Freeing Methods --------------------- */
/* Free rigidbody world */
void BKE_rigidbody_free_world(RigidBodyWorld *rbw)
{
GroupObject *go;
/* sanity check */
if (!rbw)
return;
if (rbw->physics_world) {
/* free physics references, we assume that all physics objects in will have been added to the world */
if (rbw->group) {
for (go = rbw->group->gobject.first; go; go = go->next) {
if (go->ob && go->ob->rigidbody_object) {
RigidBodyOb *rbo = go->ob->rigidbody_object;
if (rbo->physics_object)
RB_dworld_remove_body(rbw->physics_world, rbo->physics_object);
}
}
}
/* free dynamics world */
RB_dworld_delete(rbw->physics_world);
}
if (rbw->objects)
free(rbw->objects);
/* free cache */
BKE_ptcache_free_list(&(rbw->ptcaches));
rbw->pointcache = NULL;
/* free effector weights */
if (rbw->effector_weights)
MEM_freeN(rbw->effector_weights);
/* free rigidbody world itself */
MEM_freeN(rbw);
}
/* Free RigidBody settings and sim instances */
void BKE_rigidbody_free_object(Object *ob)
{
RigidBodyOb *rbo = (ob) ? ob->rigidbody_object : NULL;
/* sanity check */
if (rbo == NULL)
return;
/* free physics references */
if (rbo->physics_object) {
RB_body_delete(rbo->physics_object);
rbo->physics_object = NULL;
}
if (rbo->physics_shape) {
RB_shape_delete(rbo->physics_shape);
rbo->physics_shape = NULL;
}
/* free data itself */
MEM_freeN(rbo);
ob->rigidbody_object = NULL;
}
/* Copying Methods --------------------- */
/* These just copy the data, clearing out references to physics objects.
* Anything that uses them MUST verify that the copied object will
* be added to relevant groups later...
*/
RigidBodyOb *BKE_rigidbody_copy_object(Object *ob)
{
RigidBodyOb *rboN = NULL;
if (ob->rigidbody_object) {
/* just duplicate the whole struct first (to catch all the settings) */
rboN = MEM_dupallocN(ob->rigidbody_object);
/* tag object as needing to be verified */
rboN->flag |= RBO_FLAG_NEEDS_VALIDATE;
/* clear out all the fields which need to be revalidated later */
rboN->physics_object = NULL;
rboN->physics_shape = NULL;
}
/* return new copy of settings */
return rboN;
}
/* ************************************** */
/* Setup Utilities - Validate Sim Instances */
/* create collision shape of mesh - convex hull */
static rbCollisionShape *rigidbody_get_shape_convexhull_from_mesh(Object *ob, float margin, bool *can_embed)
{
rbCollisionShape *shape = NULL;
Mesh *me = NULL;
if (ob->type == OB_MESH && ob->data) {
me = ob->data;
}
else {
printf("ERROR: cannot make Convex Hull collision shape for non-Mesh object\n");
}
if (me && me->totvert) {
shape = RB_shape_new_convex_hull((float *)me->mvert, sizeof(MVert), me->totvert, margin, can_embed);
}
else {
printf("ERROR: no vertices to define Convex Hull collision shape with\n");
}
return shape;
}
/* create collision shape of mesh - triangulated mesh
* returns NULL if creation fails.
*/
static rbCollisionShape *rigidbody_get_shape_trimesh_from_mesh(Object *ob)
{
rbCollisionShape *shape = NULL;
if (ob->type == OB_MESH) {
DerivedMesh *dm = CDDM_from_mesh(ob->data, ob);
MVert *mvert;
MFace *mface;
int totvert;
int totface;
/* ensure mesh validity, then grab data */
DM_ensure_tessface(dm);
mvert = (dm) ? dm->getVertArray(dm) : NULL;
totvert = (dm) ? dm->getNumVerts(dm) : 0;
mface = (dm) ? dm->getTessFaceArray(dm) : NULL;
totface = (dm) ? dm->getNumTessFaces(dm) : 0;
/* sanity checking - potential case when no data will be present */
if ((totvert == 0) || (totface == 0)) {
printf("WARNING: no geometry data converted for Mesh Collision Shape (ob = %s)\n", ob->id.name + 2);
}
else {
rbMeshData *mdata;
int i;
/* init mesh data for collision shape */
mdata = RB_trimesh_data_new();
/* loop over all faces, adding them as triangles to the collision shape
* (so for some faces, more than triangle will get added)
*/
for (i = 0; (i < totface) && (mface) && (mvert); i++, mface++) {
/* add first triangle - verts 1,2,3 */
{
MVert *va = (IN_RANGE(mface->v1, 0, totvert)) ? (mvert + mface->v1) : (mvert);
MVert *vb = (IN_RANGE(mface->v2, 0, totvert)) ? (mvert + mface->v2) : (mvert);
MVert *vc = (IN_RANGE(mface->v3, 0, totvert)) ? (mvert + mface->v3) : (mvert);
RB_trimesh_add_triangle(mdata, va->co, vb->co, vc->co);
}
/* add second triangle if needed - verts 1,3,4 */
if (mface->v4) {
MVert *va = (IN_RANGE(mface->v1, 0, totvert)) ? (mvert + mface->v1) : (mvert);
MVert *vb = (IN_RANGE(mface->v3, 0, totvert)) ? (mvert + mface->v3) : (mvert);
MVert *vc = (IN_RANGE(mface->v4, 0, totvert)) ? (mvert + mface->v4) : (mvert);
RB_trimesh_add_triangle(mdata, va->co, vb->co, vc->co);
}
}
/* construct collision shape
*
* These have been chosen to get better speed/accuracy tradeoffs with regards
* to limitations of each:
* - BVH-Triangle Mesh: for passive objects only. Despite having greater
* speed/accuracy, they cannot be used for moving objects.
* - GImpact Mesh: for active objects. These are slower and less stable,
* but are more flexible for general usage.
*/
if (ob->rigidbody_object->type == RBO_TYPE_PASSIVE) {
shape = RB_shape_new_trimesh(mdata);
}
else {
shape = RB_shape_new_gimpact_mesh(mdata);
}
}
/* cleanup temp data */
if (dm) {
dm->release(dm);
}
}
else {
printf("ERROR: cannot make Triangular Mesh collision shape for non-Mesh object\n");
}
return shape;
}
/* Create new physics sim collision shape for object and store it,
* or remove the existing one first and replace...
*/
void BKE_rigidbody_validate_sim_shape(Object *ob, short rebuild)
{
RigidBodyOb *rbo = ob->rigidbody_object;
rbCollisionShape *new_shape = NULL;
BoundBox *bb = NULL;
float size[3] = {1.0f, 1.0f, 1.0f};
float radius = 1.0f;
float height = 1.0f;
float capsule_height;
float hull_margin = 0.0f;
bool can_embed = true;
/* sanity check */
if (rbo == NULL)
return;
/* don't create a new shape if we already have one and don't want to rebuild it */
if (rbo->physics_shape && !rebuild)
return;
/* if automatically determining dimensions, use the Object's boundbox
* - assume that all quadrics are standing upright on local z-axis
* - assume even distribution of mass around the Object's pivot
* (i.e. Object pivot is centralised in boundbox)
*/
// XXX: all dimensions are auto-determined now... later can add stored settings for this
/* get object dimensions without scaling */
bb = BKE_object_boundbox_get(ob);
if (bb) {
size[0] = (bb->vec[4][0] - bb->vec[0][0]);
size[1] = (bb->vec[2][1] - bb->vec[0][1]);
size[2] = (bb->vec[1][2] - bb->vec[0][2]);
}
mul_v3_fl(size, 0.5f);
if (ELEM3(rbo->shape, RB_SHAPE_CAPSULE, RB_SHAPE_CYLINDER, RB_SHAPE_CONE)) {
/* take radius as largest x/y dimension, and height as z-dimension */
radius = MAX2(size[0], size[1]);
height = size[2];
}
else if (rbo->shape == RB_SHAPE_SPHERE) {
/* take radius to the the largest dimension to try and encompass everything */
radius = MAX3(size[0], size[1], size[2]);
}
/* create new shape */
switch (rbo->shape) {
case RB_SHAPE_BOX:
new_shape = RB_shape_new_box(size[0], size[1], size[2]);
break;
case RB_SHAPE_SPHERE:
new_shape = RB_shape_new_sphere(radius);
break;
case RB_SHAPE_CAPSULE:
capsule_height = (height - radius) * 2.0f;
new_shape = RB_shape_new_capsule(radius, (capsule_height > 0.0f) ? capsule_height : 0.0f);
break;
case RB_SHAPE_CYLINDER:
new_shape = RB_shape_new_cylinder(radius, height);
break;
case RB_SHAPE_CONE:
new_shape = RB_shape_new_cone(radius, height * 2.0f);
break;
case RB_SHAPE_CONVEXH:
/* try to emged collision margin */
if (!(rbo->flag & RBO_FLAG_USE_MARGIN))
hull_margin = 0.04f;
new_shape = rigidbody_get_shape_convexhull_from_mesh(ob, hull_margin, &can_embed);
if (!(rbo->flag & RBO_FLAG_USE_MARGIN))
rbo->margin = (can_embed) ? 0.04f : 0.0f; /* RB_TODO ideally we shouldn't directly change the margin here */
break;
case RB_SHAPE_TRIMESH:
new_shape = rigidbody_get_shape_trimesh_from_mesh(ob);
break;
}
/* assign new collision shape if creation was successful */
if (new_shape) {
if (rbo->physics_shape)
RB_shape_delete(rbo->physics_shape);
rbo->physics_shape = new_shape;
RB_shape_set_margin(rbo->physics_shape, RBO_GET_MARGIN(rbo));
}
}
/* --------------------- */
/* Create physics sim representation of object given RigidBody settings
* < rebuild: even if an instance already exists, replace it
*/
void BKE_rigidbody_validate_sim_object(RigidBodyWorld *rbw, Object *ob, short rebuild)
{
RigidBodyOb *rbo = (ob) ? ob->rigidbody_object : NULL;
float loc[3];
float rot[4];
/* sanity checks:
* - object doesn't have RigidBody info already: then why is it here?
*/
if (rbo == NULL)
return;
/* make sure collision shape exists */
if (rbo->physics_shape == NULL || rebuild)
BKE_rigidbody_validate_sim_shape(ob, true);
if (rbo->physics_object) {
if (rebuild == false)
RB_dworld_remove_body(rbw->physics_world, rbo->physics_object);
}
if (!rbo->physics_object || rebuild) {
/* remove rigid body if it already exists before creating a new one */
if (rbo->physics_object) {
RB_body_delete(rbo->physics_object);
}
mat4_to_loc_quat(loc, rot, ob->obmat);
rbo->physics_object = RB_body_new(rbo->physics_shape, loc, rot);
RB_body_set_friction(rbo->physics_object, rbo->friction);
RB_body_set_restitution(rbo->physics_object, rbo->restitution);
RB_body_set_damping(rbo->physics_object, rbo->lin_damping, rbo->ang_damping);
RB_body_set_sleep_thresh(rbo->physics_object, rbo->lin_sleep_thresh, rbo->ang_sleep_thresh);
RB_body_set_activation_state(rbo->physics_object, rbo->flag & RBO_FLAG_USE_DEACTIVATION);
if (rbo->type == RBO_TYPE_PASSIVE || rbo->flag & RBO_FLAG_START_DEACTIVATED)
RB_body_deactivate(rbo->physics_object);
RB_body_set_linear_factor(rbo->physics_object,
(ob->protectflag & OB_LOCK_LOCX) == 0,
(ob->protectflag & OB_LOCK_LOCY) == 0,
(ob->protectflag & OB_LOCK_LOCZ) == 0);
RB_body_set_angular_factor(rbo->physics_object,
(ob->protectflag & OB_LOCK_ROTX) == 0,
(ob->protectflag & OB_LOCK_ROTY) == 0,
(ob->protectflag & OB_LOCK_ROTZ) == 0);
RB_body_set_mass(rbo->physics_object, RBO_GET_MASS(rbo));
RB_body_set_kinematic_state(rbo->physics_object, rbo->flag & RBO_FLAG_KINEMATIC || rbo->flag & RBO_FLAG_DISABLED);
}
if (rbw && rbw->physics_world)
RB_dworld_add_body(rbw->physics_world, rbo->physics_object, rbo->col_groups);
}
/* --------------------- */
/* Create physics sim world given RigidBody world settings */
// NOTE: this does NOT update object references that the scene uses, in case those aren't ready yet!
void BKE_rigidbody_validate_sim_world(Scene *scene, RigidBodyWorld *rbw, short rebuild)
{
/* sanity checks */
if (rbw == NULL)
return;
/* create new sim world */
if (rebuild || rbw->physics_world == NULL) {
if (rbw->physics_world)
RB_dworld_delete(rbw->physics_world);
rbw->physics_world = RB_dworld_new(scene->physics_settings.gravity);
}
RB_dworld_set_solver_iterations(rbw->physics_world, rbw->num_solver_iterations);
RB_dworld_set_split_impulse(rbw->physics_world, rbw->flag & RBW_FLAG_USE_SPLIT_IMPULSE);
}
/* ************************************** */
/* Setup Utilities - Create Settings Blocks */
/* Set up RigidBody world */
RigidBodyWorld *BKE_rigidbody_create_world(Scene *scene)
{
/* try to get whatever RigidBody world that might be representing this already */
RigidBodyWorld *rbw;
/* sanity checks
* - there must be a valid scene to add world to
* - there mustn't be a sim world using this group already
*/
if (scene == NULL)
return NULL;
/* create a new sim world */
rbw = MEM_callocN(sizeof(RigidBodyWorld), "RigidBodyWorld");
/* set default settings */
rbw->effector_weights = BKE_add_effector_weights(NULL);
rbw->ltime = PSFRA;
rbw->time_scale = 1.0f;
rbw->steps_per_second = 60; /* Bullet default (60 Hz) */
rbw->num_solver_iterations = 10; /* 10 is bullet default */
rbw->pointcache = BKE_ptcache_add(&(rbw->ptcaches));
rbw->pointcache->step = 1;
/* return this sim world */
return rbw;
}
/* Add rigid body settings to the specified object */
RigidBodyOb *BKE_rigidbody_create_object(Scene *scene, Object *ob, short type)
{
RigidBodyOb *rbo;
RigidBodyWorld *rbw = scene->rigidbody_world;
/* sanity checks
* - rigidbody world must exist
* - object must exist
* - cannot add rigid body if it already exists
*/
if (ob == NULL || (ob->rigidbody_object != NULL))
return NULL;
/* create new settings data, and link it up */
rbo = MEM_callocN(sizeof(RigidBodyOb), "RigidBodyOb");
/* set default settings */
rbo->type = type;
rbo->mass = 1.0f;
rbo->friction = 0.5f; /* best when non-zero. 0.5 is Bullet default */
rbo->restitution = 0.0f; /* best when zero. 0.0 is Bullet default */
rbo->margin = 0.04f; /* 0.04 (in meters) is Bullet default */
rbo->lin_sleep_thresh = 0.4f; /* 0.4 is half of Bullet default */
rbo->ang_sleep_thresh = 0.5f; /* 0.5 is half of Bullet default */
rbo->lin_damping = 0.04f; /* 0.04 is game engine default */
rbo->ang_damping = 0.1f; /* 0.1 is game engine default */
rbo->col_groups = 1;
/* use triangle meshes for passive objects
* use convex hulls for active objects since dynamic triangle meshes are very unstable
*/
if (type == RBO_TYPE_ACTIVE)
rbo->shape = RB_SHAPE_CONVEXH;
else
rbo->shape = RB_SHAPE_TRIMESH;
/* set initial transform */
mat4_to_loc_quat(rbo->pos, rbo->orn, ob->obmat);
/* flag cache as outdated */
BKE_rigidbody_cache_reset(rbw);
/* return this object */
return rbo;
}
/* ************************************** */
/* Utilities API */
/* Get RigidBody world for the given scene, creating one if needed
* < scene: Scene to find active Rigid Body world for
*/
RigidBodyWorld *BKE_rigidbody_get_world(Scene *scene)
{
/* sanity check */
if (scene == NULL)
return NULL;
return scene->rigidbody_world;
}
void BKE_rigidbody_remove_object(Scene *scene, Object *ob)
{
RigidBodyWorld *rbw = scene->rigidbody_world;
RigidBodyOb *rbo = ob->rigidbody_object;
GroupObject *go;
int i;
if (rbw) {
/* remove from rigidbody world, free object won't do this */
if (rbw->physics_world && rbo->physics_object)
RB_dworld_remove_body(rbw->physics_world, rbo->physics_object);
/* remove object from array */
if (rbw && rbw->objects) {
for (i = 0; i < rbw->numbodies; i++) {
if (rbw->objects[i] == ob) {
rbw->objects[i] = NULL;
break;
}
}
}
}
/* remove object's settings */
BKE_rigidbody_free_object(ob);
/* flag cache as outdated */
BKE_rigidbody_cache_reset(rbw);
}
/* ************************************** */
/* Simulation Interface - Bullet */
/* Update object array and rigid body count so they're in sync with the rigid body group */
static void rigidbody_update_ob_array(RigidBodyWorld *rbw)
{
GroupObject *go;
int i, n;
n = BLI_countlist(&rbw->group->gobject);
if (rbw->numbodies != n) {
rbw->numbodies = n;
rbw->objects = realloc(rbw->objects, sizeof(Object *) * rbw->numbodies);
}
for (go = rbw->group->gobject.first, i = 0; go; go = go->next, i++) {
Object *ob = go->ob;
rbw->objects[i] = ob;
}
}
static void rigidbody_update_sim_world(Scene *scene, RigidBodyWorld *rbw)
{
float adj_gravity[3];
/* adjust gravity to take effector weights into account */
if (scene->physics_settings.flag & PHYS_GLOBAL_GRAVITY) {
copy_v3_v3(adj_gravity, scene->physics_settings.gravity);
mul_v3_fl(adj_gravity, rbw->effector_weights->global_gravity * rbw->effector_weights->weight[0]);
}
else {
zero_v3(adj_gravity);
}
/* update gravity, since this RNA setting is not part of RigidBody settings */
RB_dworld_set_gravity(rbw->physics_world, adj_gravity);
/* update object array in case there are changes */
rigidbody_update_ob_array(rbw);
}
static void rigidbody_update_sim_ob(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->physics_object == NULL)
return;
mat4_decompose(loc, rot, scale, ob->obmat);
/* update scale for all objects */
RB_body_set_scale(rbo->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->physics_shape, RBO_GET_MARGIN(rbo) * MIN3(scale[0], scale[1], scale[2]));
/* update rigid body location and rotation for kinematic bodies */
if (rbo->flag & RBO_FLAG_KINEMATIC) {
RB_body_activate(rbo->physics_object);
RB_body_set_loc_rot(rbo->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 && ((ob->pd == NULL) || (ob->pd->forcefield == PFIELD_NULL))) {
EffectorWeights *effector_weights = rbw->effector_weights;
EffectedPoint epoint;
ListBase *effectors;
/* get effectors present in the group specified by effector_weights */
effectors = pdInitEffectors(scene, ob, NULL, effector_weights);
if (effectors) {
float force[3] = {0.0f, 0.0f, 0.0f};
float loc[3], vel[3];
/* create dummy 'point' which represents last known position of object as result of sim */
// XXX: this can create some inaccuracies with sim position, but is probably better than using unsimulated vals?
RB_body_get_position(rbo->physics_object, loc);
RB_body_get_linear_velocity(rbo->physics_object, vel);
pd_point_from_loc(scene, loc, vel, 0, &epoint);
/* calculate net force of effectors, and apply to sim object
* - we use 'central force' since apply force requires a "relative position" which we don't have...
*/
pdDoEffectors(effectors, NULL, effector_weights, &epoint, force, NULL);
if (G.f & G_DEBUG)
printf("\tapplying force (%f,%f,%f) to '%s'\n", force[0], force[1], force[2], ob->id.name + 2);
/* activate object in case it is deactivated */
if (!is_zero_v3(force))
RB_body_activate(rbo->physics_object);
RB_body_apply_central_force(rbo->physics_object, force);
}
else if (G.f & G_DEBUG)
printf("\tno forces to apply to '%s'\n", ob->id.name + 2);
/* cleanup */
pdEndEffectors(&effectors);
}
/* NOTE: passive objects don't need to be updated since they don't move */
/* NOTE: no other settings need to be explicitly updated here,
* since RNA setters take care of the rest :)
*/
}
/* Updates and validates world, bodies and shapes.
* < rebuild: rebuild entire simulation
*/
static void rigidbody_update_simulation(Scene *scene, RigidBodyWorld *rbw, int rebuild)
{
GroupObject *go;
/* update world */
if (rebuild)
BKE_rigidbody_validate_sim_world(scene, rbw, true);
rigidbody_update_sim_world(scene, rbw);
/* update objects */
for (go = rbw->group->gobject.first; go; go = go->next) {
Object *ob = go->ob;
if (ob && 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(scene, ob);
if (rbo == NULL) {
/* Since this object is included in the sim group but doesn't have
* rigid body settings (perhaps it was added manually), add!
* - assume object to be active? That is the default for newly added settings...
*/
ob->rigidbody_object = BKE_rigidbody_create_object(scene, ob, RBO_TYPE_ACTIVE);
BKE_rigidbody_validate_sim_object(rbw, ob, true);
rbo = ob->rigidbody_object;
}
else {
/* perform simulation data updates as tagged */
/* refresh object... */
if (rebuild) {
/* World has been rebuilt so rebuild object */
BKE_rigidbody_validate_sim_object(rbw, ob, true);
}
else if (rbo->flag & RBO_FLAG_NEEDS_VALIDATE) {
BKE_rigidbody_validate_sim_object(rbw, ob, false);
}
/* refresh shape... */
if (rbo->flag & RBO_FLAG_NEEDS_RESHAPE) {
/* mesh/shape data changed, so force shape refresh */
BKE_rigidbody_validate_sim_shape(ob, true);
/* now tell RB sim about it */
// XXX: we assume that this can only get applied for active/passive shapes that will be included as rigidbodies
RB_body_set_collision_shape(rbo->physics_object, rbo->physics_shape);
}
rbo->flag &= ~(RBO_FLAG_NEEDS_VALIDATE | RBO_FLAG_NEEDS_RESHAPE);
}
/* update simulation object... */
rigidbody_update_sim_ob(scene, rbw, ob, rbo);
}
}
}
/* Sync rigid body and object transformations */
void BKE_rigidbody_sync_transforms(Scene *scene, Object *ob, float ctime)
{
// RB_TODO implement this
}
void BKE_rigidbody_cache_reset(RigidBodyWorld *rbw)
{
if (rbw)
rbw->pointcache->flag |= PTCACHE_OUTDATED;
}
/* ------------------ */
/* Run RigidBody simulation for the specified physics world */
void BKE_rigidbody_do_simulation(Scene *scene, float ctime)
{
// RB_TODO implement this
}
/* ************************************** */
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