Commit: 63c8bf807d92f4d5f805f418a5b2999a618245d8
Author: soumya pochiraju
Date: Thu Jun 10 21:43:09 2021 +0530
Branches: soc-2021-simulation-display
https://developer.blender.org/rB63c8bf807d92f4d5f805f418a5b2999a618245d8
Pysics: Added visualisation for forces due to effectors, normal forces and
gravity.
===================================================================
M intern/rigidbody/RBI_api.h
M intern/rigidbody/rb_bullet_api.cpp
M release/scripts/startup/bl_ui/properties_physics_rigidbody.py
M source/blender/blenkernel/BKE_effect.h
M source/blender/blenkernel/BKE_pointcache.h
M source/blender/blenkernel/intern/boids.c
M source/blender/blenkernel/intern/dynamicpaint.c
M source/blender/blenkernel/intern/effect.c
M source/blender/blenkernel/intern/fluid.c
M source/blender/blenkernel/intern/particle.c
M source/blender/blenkernel/intern/particle_system.c
M source/blender/blenkernel/intern/pointcache.c
M source/blender/blenkernel/intern/rigidbody.c
M source/blender/blenkernel/intern/softbody.c
M source/blender/draw/engines/overlay/overlay_extra.c
M source/blender/draw/engines/overlay/shaders/vector_vert.glsl
M source/blender/makesdna/DNA_pointcache_types.h
M source/blender/makesdna/DNA_rigidbody_types.h
M source/blender/makesrna/intern/rna_rigidbody.c
M source/blender/simulation/intern/SIM_mass_spring.cpp
===================================================================
diff --git a/intern/rigidbody/RBI_api.h b/intern/rigidbody/RBI_api.h
index 2e09f8952cb..81c7c442706 100644
--- a/intern/rigidbody/RBI_api.h
+++ b/intern/rigidbody/RBI_api.h
@@ -22,6 +22,7 @@
* \brief Rigid Body API for interfacing with external Physics Engines
*/
+
#ifndef __RB_API_H__
#define __RB_API_H__
@@ -81,6 +82,13 @@ void RB_dworld_set_solver_iterations(rbDynamicsWorld *world,
int num_solver_iter
/* Split Impulse */
void RB_dworld_set_split_impulse(rbDynamicsWorld *world, int split_impulse);
+/* Get latest applied impulse */
+void RB_dworld_get_impulse(rbDynamicsWorld *world,
+ rbRigidBody *rbo,
+ float timeSubStep,
+ float norm_forces[3][3],
+ float vec_locations[3][3]);
+
/* Simulation ----------------------- */
/* Step the simulation by the desired amount (in seconds) with extra controls
on substep sizes and
diff --git a/intern/rigidbody/rb_bullet_api.cpp
b/intern/rigidbody/rb_bullet_api.cpp
index d932a9ca951..639c4a13c79 100644
--- a/intern/rigidbody/rb_bullet_api.cpp
+++ b/intern/rigidbody/rb_bullet_api.cpp
@@ -204,6 +204,65 @@ void RB_dworld_set_split_impulse(rbDynamicsWorld *world,
int split_impulse)
info.m_splitImpulse = split_impulse;
}
+/* Get last applied impulse at contact points */
+/* TODO: this may not be the most efficient way to do it. get all forces at
once and store in a lookup table. */
+void RB_dworld_get_impulse(rbDynamicsWorld *world,
+ rbRigidBody *rbo,
+ float timeSubStep,
+ float norm_forces[3][3],
+ float vec_locations[3][3])
+{
+ int numManifolds = world->dispatcher->getNumManifolds();
+ int num_forces = 0;
+ for (int i = 0; i < numManifolds; i++)
+ {
+ btPersistentManifold* contactManifold =
world->dispatcher->getManifoldByIndexInternal(i);
+ const void *obA = contactManifold->getBody0();
+ const void *obB = contactManifold->getBody1();
+ if(num_forces>2)
+ break;
+ if(obA != rbo->body && obB != rbo->body)
+ {
+ printf("%p,%p,\n",rbo,obA);
+ continue;
+ }
+ else
+ {
+ btVector3 tot_impulse = btVector3(0.0,0.0,0.0);
+ btVector3 final_loc = btVector3(0.0,0.0,0.0);
+ int numContacts = contactManifold->getNumContacts();
+ int num_impulse_points = 0;
+ for (int j = 0; j < numContacts; j++)
+ {
+ /* Find points where impulse was appplied. */
+ btManifoldPoint& pt = contactManifold->getContactPoint(j);
+ if (pt.getAppliedImpulse() > 0.f)
+ num_impulse_points++;
+ }
+
+ for (int j = 0; j < numContacts; j++)
+ {
+ btManifoldPoint& pt = contactManifold->getContactPoint(j);
+ if (pt.getAppliedImpulse() > 0.f)
+ {
+ const btVector3& loc = pt.getPositionWorldOnB();
+ const btVector3 lat_imp1 = pt.m_appliedImpulseLateral1 *
pt.m_lateralFrictionDir1;
+ const btVector3 lat_imp2 = pt.m_appliedImpulseLateral2 *
pt.m_lateralFrictionDir2;
+ printf("%f,%f,%f
%f,%f,%f\n",lat_imp1.getX(),lat_imp1.getY(),lat_imp1.getZ(),lat_imp2.getX(),
lat_imp2.getY(),lat_imp2.getZ());
+ const btVector3 imp = (rbo->body == obB)? -pt.m_normalWorldOnB
* pt.getAppliedImpulse()/timeSubStep:pt.m_normalWorldOnB *
pt.getAppliedImpulse()/timeSubStep;
+
+ tot_impulse += imp;
+ final_loc += num_impulse_points>1 ? loc *
pt.getAppliedImpulse() / numContacts : loc;
+ }
+ }
+ copy_v3_btvec3(norm_forces[num_forces],tot_impulse);
+ copy_v3_btvec3(vec_locations[num_forces],final_loc);
+ num_forces++;
+ }
+
+ }
+}
+
/* Simulation ----------------------- */
void RB_dworld_step_simulation(rbDynamicsWorld *world,
@@ -212,31 +271,6 @@ void RB_dworld_step_simulation(rbDynamicsWorld *world,
float timeSubStep)
{
world->dynamicsWorld->stepSimulation(timeStep, maxSubSteps, timeSubStep);
-
- int numManifolds = world->dispatcher->getNumManifolds();
- for (int i = 0; i < numManifolds; i++)
- {
- printf("manifold:%d\n",i);
- btPersistentManifold* contactManifold =
world->dispatcher->getManifoldByIndexInternal(i);
- const btCollisionObject* obA = contactManifold->getBody0();
- const btCollisionObject* obB = contactManifold->getBody1();
-
- int numContacts = contactManifold->getNumContacts();
- for (int j = 0; j < numContacts; j++)
- {
- btManifoldPoint& pt = contactManifold->getContactPoint(j);
- if (pt.getAppliedImpulse() > 0.f)
- {
- const btVector3& ptA = pt.getPositionWorldOnA();
- const btVector3& ptB = pt.getPositionWorldOnB();
- const btScalar imp = pt.getAppliedImpulse() ;
- if((imp/timeStep)>=9.82) printf("****impulse on
point%d:%f****\n",j,imp);
- printf("impulse on point%d:%f \nloc: %f %f
%f\ndist:%f\n",j,imp,ptA.getX(),ptA.getY(),ptA.getZ(),pt.getDistance());
- printf("force on point%d:%f\n",j,imp/timeSubStep);
-
- }
- }
- }
}
/* Export -------------------------- */
diff --git a/release/scripts/startup/bl_ui/properties_physics_rigidbody.py
b/release/scripts/startup/bl_ui/properties_physics_rigidbody.py
index 75b584617c3..827a7b777fd 100644
--- a/release/scripts/startup/bl_ui/properties_physics_rigidbody.py
+++ b/release/scripts/startup/bl_ui/properties_physics_rigidbody.py
@@ -320,10 +320,42 @@ class
PHYSICS_PT_rigid_body_display_options(PHYSICS_PT_rigidbody_panel, Panel):
return
col = layout.column()
- col.prop(rbo, "display_forces")
+ col.prop(rbo, "display_data_text")
col.prop(rbo, "display_acceleration")
col.prop(rbo, "display_velocity")
+class PHYSICS_PT_rigid_body_display_force_types(PHYSICS_PT_rigidbody_panel,
Panel):
+ bl_label = "Forces"
+ bl_parent_id = 'PHYSICS_PT_rigid_body_display_options'
+ bl_options = {'DEFAULT_CLOSED'}
+ COMPAT_ENGINES = {'BLENDER_RENDER', 'BLENDER_EEVEE', 'BLENDER_WORKBENCH'}
+
+ @classmethod
+ def poll(cls, context):
+ obj = context.object
+ if obj.parent is not None and obj.parent.rigid_body is not None:
+ return False
+ return (obj and obj.rigid_body and (context.engine in
cls.COMPAT_ENGINES))
+
+ def draw_header(self, context):
+ ob = context.object
+ rbo = ob.rigid_body
+
+ self.layout.prop(rbo, "display_forces", text="")
+
+ def draw(self, context):
+ layout = self.layout
+ layout.use_property_split = True
+
+ ob = context.object
+ rbo = ob.rigid_body
+
+ col = layout.column()
+ col.active = rbo.display_forces
+ col.prop(rbo, "show_gravity")
+ col.prop(rbo, "show_effectors_force")
+ col.prop(rbo, "show_normal_force")
+ col.prop(rbo, "show_frictional_force")
classes = (
PHYSICS_PT_rigid_body,
@@ -335,6 +367,7 @@ classes = (
PHYSICS_PT_rigid_body_dynamics,
PHYSICS_PT_rigid_body_dynamics_deactivation,
PHYSICS_PT_rigid_body_display_options,
+ PHYSICS_PT_rigid_body_display_force_types,
)
diff --git a/source/blender/blenkernel/BKE_effect.h
b/source/blender/blenkernel/BKE_effect.h
index 231a4563630..69eaa9884d3 100644
--- a/source/blender/blenkernel/BKE_effect.h
+++ b/source/blender/blenkernel/BKE_effect.h
@@ -129,7 +129,8 @@ void BKE_effectors_apply(struct ListBase *effectors,
struct EffectedPoint *point,
float *force,
float *wind_force,
- float *impulse);
+ float *impulse,
+ float eff_forces[3][3]);
void BKE_effectors_free(struct ListBase *lb);
void pd_point_from_particle(struct ParticleSimulationData *sim,
diff --git a/source/blender/blenkernel/BKE_pointcache.h
b/source/blender/blenkernel/BKE_pointcache.h
index 170eb4ba662..bb3e5710582 100644
--- a/source/blender/blenkernel/BKE_pointcache.h
+++ b/source/blender/blenkernel/BKE_pointcache.h
@@ -25,6 +25,7 @@
#include "DNA_boid_types.h" /* for #BoidData */
#include "DNA_pointcache_types.h" /* for #BPHYS_TOT_DATA */
+#include "DNA_rigidbody_types.h"
#include <stdio.h> /* for #FILE */
@@ -103,6 +104,8 @@ typedef struct PTCacheData {
float size;
float times[3];
struct BoidData boids;
+ struct force_vec eff_forces[3];
+ struct force_vec norm_forces[3];
} PTCacheData;
typedef struct PTCacheFile {
diff --git a/source/blender/blenkernel/intern/boids.c
b/source/blender/blenkernel/intern/boids.c
index e69173cc1d5..c7983df2233 100644
--- a/source/blender/blenkernel/intern/boids.c
+++ b/source/blender/blenkernel/intern/boids.c
@@ -1389,6 +1389,7 @@ void boid_body(BoidBrainData *bbd, ParticleData *pa)
&epoint,
force,
NULL,
+ NULL,
NULL);
if (ELEM(bpa->data.mode, eBoidMode_OnLand, eBoidMode_Climbing)) {
diff --git a/source/blender/blenkernel/intern/dynamicpaint.c
b/source/blender/blenkernel/intern/dynamicpaint.c
index 42af3a391ed..b8d934bb374 100644
--- a/source/blender/blenkernel/intern/dynamicpaint.c
+++ b/source/blender/blenkernel/intern/dynamicpaint.c
@@ -5108,7 +5108,7 @@ static void dynamic_paint_prepare_effect_cb(void
*__restrict userdata,
EffectedPoint epoint;
pd_point_from_loc(scene, realCoord[bData->s_pos[index]].v, vel, index,
&epoint);
epoint.vel_to_sec = 1.0f;
- BKE_effectors_apply(effectors, NULL, surface->effector_weights, &epoint,
forc, NULL, NULL);
+ BKE_effectors_apply(effectors, NULL, surface->effector_weights, &epoint,
forc, NULL, NULL,NULL);
}
/* if global gravity is enabled, add it too */
diff --git a/source/blender/blenkernel/intern/effect.c
b/source/blender/blenkernel/intern/effect.c
index e39749225ea..23b978c3b92 100644
--- a/source/blender/blenkernel/intern/effect.
@@ Diff output truncated at 10240 characters. @@
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