static void rna_RigidBodyOb_collision_margin_set(PointerRNA *ptr, float value)
{
RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
rbo->margin = value;
#ifdef WITH_BULLET
if (rbo->physics_shape) {
RB_shape_set_margin(rbo->physics_shape, RBO_GET_MARGIN(rbo));
}
#endif
}
/* Create new physics sim collision shape for object and store it,
* or remove the existing one first and replace...
*/
static void rigidbody_validate_sim_shape(Object *ob, bool 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;
bool has_volume;
/* 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 centralized 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 */
has_volume = (MIN3(size[0], size[1], size[2]) > 0.0f);
if (!(rbo->flag & RBO_FLAG_USE_MARGIN) && has_volume)
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 && has_volume) ? 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));
}
/* use box shape if we can't fall back to old shape */
else if (rbo->physics_shape == NULL) {
rbo->shape = RB_SHAPE_BOX;
rigidbody_validate_sim_shape(ob, true);
}
}
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;
if (rbo->shape == RB_SHAPE_TRIMESH && rbo->flag & RBO_FLAG_USE_DEFORM) {
DerivedMesh *dm = ob->derivedDeform;
if (dm) {
MVert *mvert = dm->getVertArray(dm);
int totvert = dm->getNumVerts(dm);
BoundBox *bb = BKE_object_boundbox_get(ob);
RB_shape_trimesh_update(rbo->physics_shape, (float *)mvert, totvert, sizeof(MVert), bb->vec[0], bb->vec[6]);
}
}
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]));
/* make transformed objects temporarily kinmatic so that they can be moved by the user during simulation */
if (ob->flag & SELECT && G.moving & G_TRANSFORM_OBJ) {
RB_body_set_kinematic_state(rbo->physics_object, TRUE);
RB_body_set_mass(rbo->physics_object, 0.0f);
}
/* update rigid body location and rotation for kinematic bodies */
if (rbo->flag & RBO_FLAG_KINEMATIC || (ob->flag & SELECT && G.moving & G_TRANSFORM_OBJ)) {
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 eff_force[3] = {0.0f, 0.0f, 0.0f};
float eff_loc[3], eff_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, eff_loc);
RB_body_get_linear_velocity(rbo->physics_object, eff_vel);
pd_point_from_loc(scene, eff_loc, eff_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, eff_force, NULL);
if (G.f & G_DEBUG)
printf("\tapplying force (%f,%f,%f) to '%s'\n", eff_force[0], eff_force[1], eff_force[2], ob->id.name + 2);
/* activate object in case it is deactivated */
if (!is_zero_v3(eff_force))
RB_body_activate(rbo->physics_object);
RB_body_apply_central_force(rbo->physics_object, eff_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 :)
*/
}
