Revision: 24499
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=24499
Author: kazanbas
Date: 2009-11-11 16:59:29 +0100 (Wed, 11 Nov 2009)
Log Message:
-----------
Physics: objects in a physics group move and collide under gravity force. Since
each group gets a separate world, objects from different groups don't collide
with each other.
TODO items:
* update rigid body mass when object mass changes
* update collision shape when mesh changes
* correct simulation step size (it's slower than realtime currently)
* free physics data
* and many more...
Modified Paths:
--------------
branches/physics25/extern/bullet2/src/Bullet-C-Api.h
branches/physics25/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
branches/physics25/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
branches/physics25/source/blender/blenkernel/intern/object.c
branches/physics25/source/blender/blenkernel/intern/rigidbody.c
branches/physics25/source/blender/blenkernel/intern/scene.c
branches/physics25/source/blender/blenloader/intern/readfile.c
branches/physics25/source/blender/makesdna/DNA_group_types.h
branches/physics25/source/blender/python/intern/bpy_interface.c
branches/physics25/source/blender/render/CMakeLists.txt
Added Paths:
-----------
branches/physics25/source/blender/blenkernel/BKE_rigidbody.h
Modified: branches/physics25/extern/bullet2/src/Bullet-C-Api.h
===================================================================
--- branches/physics25/extern/bullet2/src/Bullet-C-Api.h 2009-11-11
15:50:49 UTC (rev 24498)
+++ branches/physics25/extern/bullet2/src/Bullet-C-Api.h 2009-11-11
15:59:29 UTC (rev 24499)
@@ -168,11 +168,15 @@
/* These funcs were added during the Bullet integration project (see
http://wiki.blender.org/index.php/User:Kazanbas/Bullet_Proposal) (Arystan) */
- typedef void *(GetTransformFunc)(void *data, btScalar m[4][4]);
- typedef void *(SetTransformFunc)(void *data, btScalar m[4][4]);
+ typedef void (*GetTransformFunc)(void *data, float m[][4]);
+ typedef void (*SetTransformFunc)(void *data, float m[][4]);
- void plSetMotionState(void *data, GetTransformFunc *get,
SetTransformFunc *set);
+ void plSetMotionState(plRigidBodyHandle body, void *data,
GetTransformFunc get, SetTransformFunc set);
+ void plSetTransform(plRigidBodyHandle body, float m[][4]);
+ void plGetTransform(plRigidBodyHandle body, float m[][4]);
+ void plWorldSetGravity(plDynamicsWorldHandle world, float v[3]);
+
#ifdef __cplusplus
}
#endif
Modified:
branches/physics25/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
===================================================================
---
branches/physics25/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
2009-11-11 15:50:49 UTC (rev 24498)
+++
branches/physics25/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
2009-11-11 15:59:29 UTC (rev 24499)
@@ -398,23 +398,31 @@
class CustomMotionState : public btMotionState {
private:
void *data;
- GetTransformFunc *get;
- SetTransformFunc *set;
+ GetTransformFunc get;
+ SetTransformFunc set;
public:
- CustomMotionState(void *data, GetTransformFunc *get, SetTransformFunc
*set) : data(data), get(get), set(set) { }
+ CustomMotionState(void *data, GetTransformFunc get, SetTransformFunc
set) : data(data), get(get), set(set) { }
virtual void getWorldTransform(btTransform& t) const
{
- btScalar m[4][4];
+ float m[4][4];
this->get(data, m);
+#ifndef BT_USE_DOUBLE_PRECISION
t.setFromOpenGLMatrix((btScalar*)m);
+#else
+#error FIXME no double precision support yet
+#endif
}
virtual void setWorldTransform(const btTransform& t)
{
- btScalar m[4][4];
+ float m[4][4];
+#ifndef BT_USE_DOUBLE_PRECISION
t.getOpenGLMatrix((btScalar*)m);
+#else
+#error FIXME no double precision support yet
+#endif
this->set(data, m);
}
};
@@ -428,9 +436,35 @@
body->setMotionState(NULL);
}
-void plSetMotionState(plRigidBodyHandle b, void *data, GetTransformFunc *get,
SetTransformFunc *set)
+void plSetMotionState(plRigidBodyHandle b, void *data, GetTransformFunc get,
SetTransformFunc set)
{
btRigidBody* body= (btRigidBody*)b;
plDeleteMotionState(b);
body->setMotionState(new CustomMotionState(data, get, set));
}
+
+void plSetTransform(plRigidBodyHandle b, float m[4][4])
+{
+ btTransform t;
+#ifndef BT_USE_DOUBLE_PRECISION
+ t.setFromOpenGLMatrix((btScalar*)m);
+#else
+#error FIXME no double precision support yet
+#endif
+ ((btRigidBody*)b)->setCenterOfMassTransform(t);
+}
+
+void plGetTransform(plRigidBodyHandle b, float m[4][4])
+{
+ const btTransform& t = ((btRigidBody*)b)->getCenterOfMassTransform();
+#ifndef BT_USE_DOUBLE_PRECISION
+ t.getOpenGLMatrix((btScalar*)m);
+#else
+#error FIXME no double precision support yet
+#endif
+}
+
+void plWorldSetGravity(plDynamicsWorldHandle world, float v[3])
+{
+ ((btDynamicsWorld*)world)->setGravity(btVector3(v[0], v[1], v[2]));
+}
Modified:
branches/physics25/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
===================================================================
---
branches/physics25/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
2009-11-11 15:50:49 UTC (rev 24498)
+++
branches/physics25/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
2009-11-11 15:59:29 UTC (rev 24499)
@@ -358,6 +358,8 @@
//else
// synchronizeMotionStates();
+ synchronizeMotionStates(); // motion states are used by native
Bullet-Blender integration (see rigidbody.c) (Arystan)
+
clearForces();
#ifndef BT_NO_PROFILE
Added: branches/physics25/source/blender/blenkernel/BKE_rigidbody.h
===================================================================
--- branches/physics25/source/blender/blenkernel/BKE_rigidbody.h
(rev 0)
+++ branches/physics25/source/blender/blenkernel/BKE_rigidbody.h
2009-11-11 15:59:29 UTC (rev 24499)
@@ -0,0 +1,36 @@
+/**
+ * BKE_rigidbody.h
+ *
+ * $Id$
+ *
+ * ***** 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) Blender Foundation.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): Arystanbek Dyussenov.
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+#ifndef BKE_RIGIDBODY_H
+#define BKE_RIGIDBODY_H
+
+extern void rigidbody_group_step(struct Group *group, struct Scene *scene);
+
+#endif
Property changes on:
branches/physics25/source/blender/blenkernel/BKE_rigidbody.h
___________________________________________________________________
Name: svn:keywords
+ Author Date Id Revision
Name: svn:eol-style
+ native
Modified: branches/physics25/source/blender/blenkernel/intern/object.c
===================================================================
--- branches/physics25/source/blender/blenkernel/intern/object.c
2009-11-11 15:50:49 UTC (rev 24498)
+++ branches/physics25/source/blender/blenkernel/intern/object.c
2009-11-11 15:59:29 UTC (rev 24499)
@@ -1296,6 +1296,8 @@
obn->gpulamp.first = obn->gpulamp.last = NULL;
obn->pc_ids.first = obn->pc_ids.last = NULL;
+
+ obn->rigid= NULL;
return obn;
}
Modified: branches/physics25/source/blender/blenkernel/intern/rigidbody.c
===================================================================
--- branches/physics25/source/blender/blenkernel/intern/rigidbody.c
2009-11-11 15:50:49 UTC (rev 24498)
+++ branches/physics25/source/blender/blenkernel/intern/rigidbody.c
2009-11-11 15:59:29 UTC (rev 24499)
@@ -31,47 +31,37 @@
#include <string.h>
#include "MEM_guardedalloc.h"
-#include "BLI_arithb.h"
+#include "BLI_math.h"
+#include "BKE_object.h"
+#include "DNA_scene_types.h"
+#include "DNA_object_types.h"
+#include "DNA_group_types.h"
+
#include "Bullet-C-Api.h"
static plPhysicsSdkHandle bullet_sdk; /* XXX global var */
-/* void object_to_rigidbody(); */
-static RigidBody *make_rigid_body(Object *ob)
-
-struct RigidBody
+typedef struct RigidBody
{
Object *ob;
plRigidBodyHandle body;
-};
+ float initm[4][4]; /* transform at start frame */
+} RigidBody;
-void motion_state_get_transform(void *data, float m[4][4])
-{
- RigidBody *rb= (RigidBody*)data;
- Mat4CpyMat4(m, rb->ob->obmat);
- Mat4Transp(m);
-}
+/* void object_to_rigidbody(); */
+static void make_rigid_body(Object *ob);
+static void reset_transform(Object *ob);
-void motion_state_set_transform(void *data, float m[4][4])
-{
- RigidBody *rb= (RigidBody*)data;
-
- memcpy(rb->ob->loc, m[3], sizeof(rb->ob->loc));
- Mat4ToEulO(m, rb->ob->rot, EULER_ORDER_XYZ);
-
- rb->ob->recalc |= OB_RECALC_OB;
-}
-
/*
- Q: use motionstates?
Q: how to update rigid body mass as it changes in Object
Q: how to update collision shape when mesh changes?
+ Q: when to free things?
+ Q: what happens if object is in 2 or more physics groups simultaneously.
Avoid this?
*/
-void rigidbody_group_step(Group *group)
+void rigidbody_group_step(Group *group, Scene *scene)
{
GroupObject *go;
- Object *ob;
plDynamicsWorldHandle world;
static int prevframe= 0;
@@ -81,24 +71,30 @@
if (!bullet_sdk)
bullet_sdk= plNewBulletSdk();
- if (!group->physics_world)
+ if (!group->physics_world) {
+ float gra[]= {0, 0, -9.8f};
group->physics_world= plCreateDynamicsWorld(bullet_sdk);
+ plWorldSetGravity(group->physics_world, gra);
+ }
world= group->physics_world;
for(go= group->gobject.first; go; go= go->next) {
- ob= go->ob;
- if (!ob->rigid) {
- ob->rigid= make_rigid_body(ob);
+ if (!go->ob->rigid) {
+ make_rigid_body(go->ob);
- plRemoveRigidBody(world, ob->rigid->body);
+ /* plRemoveRigidBody(world, go->ob->rigid->body); */
- plAddRigidBody(world, ob->rigid->body);
+ plAddRigidBody(world, go->ob->rigid->body);
}
}
if (frame == startframe) {
/* start frame - reset positions */
+ for(go= group->gobject.first; go; go= go->next) {
+ reset_transform(go->ob);
+ }
+ return;
}
delta= FRA2TIME(frame) - FRA2TIME(prevframe);
@@ -111,24 +107,78 @@
plStepSimulation(world, delta);
}
+/* currently creates only a box shape */
static plCollisionShapeHandle make_collision_shape(Object *ob)
{
- #warning write shape code
+ BoundBox *bb= object_get_boundbox(ob);
- return NULL;
+ return plNewBoxShape(bb->vec[6][0], bb->vec[6][1], bb->vec[6][2]);
}
-static RigidBody *make_rigid_body(Object *ob)
+/* Bullet calls this when simulation starts */
+static void motion_state_get_transform(void *data, float m[][4])
{
+ RigidBody *rb= (RigidBody*)data;
+ copy_m4_m4(m, rb->ob->obmat);
+ transpose_m4(m);
+}
+
+/* Bullet calls this when body tranform changes */
+static void motion_state_set_transform(void *data, float m[][4])
+{
+ /* TODO: store transform in RigidBody for blending with animation
(instead of applying it immediately) */
+ RigidBody *rb= (RigidBody*)data;
+
+ memcpy(rb->ob->loc, m[3], sizeof(rb->ob->loc));
+ //Mat4ToEulO(m, rb->ob->rot, EULER_ORDER_XYZ);
+ mat4_to_eul(rb->ob->rot, m);
+
+ rb->ob->recalc |= OB_RECALC_OB;
+
+ /* shouldn't object_handle_update() be called here now? */
+}
+
+/* put body back to initial transform */
+static void reset_transform(Object *ob)
+{
+ RigidBody *rb= ob->rigid;
+ float m[4][4];
+
+ /* transform body */
@@ Diff output truncated at 10240 characters. @@
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