/* Add rigid body constraint to the specified object */
RigidBodyCon *BKE_rigidbody_create_constraint(Scene *scene, Object *ob, short type)
{
RigidBodyCon *rbc;
RigidBodyWorld *rbw = scene->rigidbody_world;
/* sanity checks
* - rigidbody world must exist
* - object must exist
* - cannot add constraint if it already exists
*/
if (ob == NULL || (ob->rigidbody_constraint != NULL))
return NULL;
/* create new settings data, and link it up */
rbc = MEM_callocN(sizeof(RigidBodyCon), "RigidBodyCon");
/* set default settings */
rbc->type = type;
rbc->ob1 = NULL;
rbc->ob2 = NULL;
rbc->flag |= RBC_FLAG_ENABLED;
rbc->flag |= RBC_FLAG_DISABLE_COLLISIONS;
rbc->breaking_threshold = 10.0f; /* no good default here, just use 10 for now */
rbc->num_solver_iterations = 10; /* 10 is Bullet default */
rbc->limit_lin_x_lower = -1.0f;
rbc->limit_lin_x_upper = 1.0f;
rbc->limit_lin_y_lower = -1.0f;
rbc->limit_lin_y_upper = 1.0f;
rbc->limit_lin_z_lower = -1.0f;
rbc->limit_lin_z_upper = 1.0f;
rbc->limit_ang_x_lower = -M_PI_4;
rbc->limit_ang_x_upper = M_PI_4;
rbc->limit_ang_y_lower = -M_PI_4;
rbc->limit_ang_y_upper = M_PI_4;
rbc->limit_ang_z_lower = -M_PI_4;
rbc->limit_ang_z_upper = M_PI_4;
rbc->spring_damping_x = 0.5f;
rbc->spring_damping_y = 0.5f;
rbc->spring_damping_z = 0.5f;
rbc->spring_stiffness_x = 10.0f;
rbc->spring_stiffness_y = 10.0f;
rbc->spring_stiffness_z = 10.0f;
rbc->motor_lin_max_impulse = 1.0f;
rbc->motor_lin_target_velocity = 1.0f;
rbc->motor_ang_max_impulse = 1.0f;
rbc->motor_ang_target_velocity = 1.0f;
/* flag cache as outdated */
BKE_rigidbody_cache_reset(rbw);
/* return this object */
return rbc;
}
static void rna_RigidBodyOb_shape_reset(Main *bmain, Scene *scene, PointerRNA *ptr)
{
RigidBodyWorld *rbw = scene->rigidbody_world;
RigidBodyOb *rbo = (RigidBodyOb *)ptr->data;
BKE_rigidbody_cache_reset(rbw);
if (rbo->physics_shape)
rbo->flag |= RBO_FLAG_NEEDS_RESHAPE;
}
/* 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;
rbo->mesh_source = RBO_MESH_DEFORM;
/* 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;
}
void BKE_rigidbody_remove_constraint(Scene *scene, Object *ob)
{
RigidBodyWorld *rbw = scene->rigidbody_world;
RigidBodyCon *rbc = ob->rigidbody_constraint;
/* remove from rigidbody world, free object won't do this */
if (rbw && rbw->physics_world && rbc->physics_constraint) {
RB_dworld_remove_constraint(rbw->physics_world, rbc->physics_constraint);
}
/* remove object's settings */
BKE_rigidbody_free_constraint(ob);
/* flag cache as outdated */
BKE_rigidbody_cache_reset(rbw);
}
void BKE_rigidbody_remove_object(Scene *scene, Object *ob)
{
RigidBodyWorld *rbw = scene->rigidbody_world;
RigidBodyOb *rbo = ob->rigidbody_object;
RigidBodyCon *rbc;
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 from rigid body constraints */
if (rbw->constraints) {
for (go = rbw->constraints->gobject.first; go; go = go->next) {
Object *obt = go->ob;
if (obt && obt->rigidbody_constraint) {
rbc = obt->rigidbody_constraint;
if (rbc->ob1 == ob) {
BKE_rigidbody_remove_constraint(scene, obt);
}
if (rbc->ob2 == ob) {
BKE_rigidbody_remove_constraint(scene, obt);
}
}
}
}
}
/* remove object's settings */
BKE_rigidbody_free_object(ob);
/* flag cache as outdated */
BKE_rigidbody_cache_reset(rbw);
}
static void rna_RigidBodyWorld_reset(Main *bmain, Scene *scene, PointerRNA *ptr)
{
RigidBodyWorld *rbw = (RigidBodyWorld *)ptr->data;
BKE_rigidbody_cache_reset(rbw);
}
static void rna_RigidBodyOb_reset(Main *bmain, Scene *scene, PointerRNA *ptr)
{
RigidBodyWorld *rbw = scene->rigidbody_world;
BKE_rigidbody_cache_reset(rbw);
}
