Commit: 94de2bf12cca16b6b21794ff3a9d186cc588be59
Author: soumya pochiraju
Date: Fri Aug 13 18:23:39 2021 +0530
Branches: soc-2021-simulation-display
https://developer.blender.org/rB94de2bf12cca16b6b21794ff3a9d186cc588be59
Physics: Changed hinge constraint visualisation so that it uses the transform
matrices in the format obtained from bullet, created functions to get
transforms from bullet
===================================================================
M intern/rigidbody/RBI_api.h
M intern/rigidbody/rb_bullet_api.cpp
M source/blender/draw/engines/overlay/overlay_extra.c
===================================================================
diff --git a/intern/rigidbody/RBI_api.h b/intern/rigidbody/RBI_api.h
index 19b05b849ea..45029c32e50 100644
--- a/intern/rigidbody/RBI_api.h
+++ b/intern/rigidbody/RBI_api.h
@@ -371,6 +371,9 @@ void RB_constraint_set_target_velocity_motor(rbConstraint
*con,
float velocity_lin,
float velocity_ang);
+/* Get object transforms */
+void RB_constraint_get_transforms_hinge(rbConstraint *con, float
r_ob1_transform[4][4], float r_ob2_transform[4][4]);
+
/* Set number of constraint solver iterations made per step, this overrided
world setting
* To use default set it to -1 */
void RB_constraint_set_solver_iterations(rbConstraint *con, int
num_solver_iterations);
diff --git a/intern/rigidbody/rb_bullet_api.cpp
b/intern/rigidbody/rb_bullet_api.cpp
index c9ac3d9f2d3..92fd935e8ba 100644
--- a/intern/rigidbody/rb_bullet_api.cpp
+++ b/intern/rigidbody/rb_bullet_api.cpp
@@ -1395,4 +1395,16 @@ void
RB_constraint_set_target_velocity_motor(rbConstraint *con,
constraint->getRotationalLimitMotor(0)->m_targetVelocity = velocity_ang;
}
+void RB_constraint_get_transforms_hinge(rbConstraint *con, float
r_ob1_transform[4][4], float r_ob2_transform[4][4]) {
+ btHingeConstraint *constraint = reinterpret_cast<btHingeConstraint *>(con);
+ btTransform transform1;
+ btTransform transform2;
+
+ transform1 = constraint->getAFrame();
+ transform2 = constraint->getBFrame();
+
+ transform1.getOpenGLMatrix((btScalar *)r_ob1_transform);
+ transform2.getOpenGLMatrix((btScalar *)r_ob2_transform);
+}
+
/* ********************************** */
diff --git a/source/blender/draw/engines/overlay/overlay_extra.c
b/source/blender/draw/engines/overlay/overlay_extra.c
index ae3bf319cb0..a6aba422013 100644
--- a/source/blender/draw/engines/overlay/overlay_extra.c
+++ b/source/blender/draw/engines/overlay/overlay_extra.c
@@ -2291,7 +2291,6 @@ static void OVERLAY_linear_limits_rod(RigidBodyCon *rbc,
static void OVERLAY_angular_limits_rods( OVERLAY_ExtraCallBuffers *cb,
Object *ob,
- const float axis_in_w[3],
const float pivot[3],
const float ob_offset_vec[3],
const float coupled_ob_offset_vec[3],
@@ -2301,9 +2300,6 @@ static void OVERLAY_angular_limits_rods(
OVERLAY_ExtraCallBuffers *cb,
float mid[3];
- float axis[3];
- copy_v3_v3(axis, axis_in_w);
-
float ob_pivot_dist_vec[3];
sub_v3_v3v3(ob_pivot_dist_vec, ob->rigidbody_object->pos, pivot);
@@ -2335,25 +2331,26 @@ static void OVERLAY_angular_limits_arc(OVERLAY_Data
*data,
const float transform_mat[3][3],
const float angle,
float angular_offset,
+ const float delta_angle,
const float axis_in_w[3],
const float offset_vec[3],
const float real_pivot[3],
const float color[4]) {
float ob1_pivot_dist_initial[3];
- sub_v3_v3v3(ob1_pivot_dist_initial, constraint_ob->loc, ob->loc);
+ sub_v3_v3v3(ob1_pivot_dist_initial, real_pivot, ob->rigidbody_object->pos);
/* Rotate the arc about constrained axis by required amount.
* The arc should lie along the object-pivot distance vector. */
float constrained_axis_rot;
if(ob == rbc->ob1) {
- float arc_start[3] = {cosf(0.0f), sinf(0.0f), 0.0f};
+ float arc_start[3] = {cosf(0.0f+delta_angle), sinf(0.0f+delta_angle),
0.0f};
mul_m3_v3(transform_mat, arc_start);
constrained_axis_rot = angle_signed_on_axis_v3v3_v3(arc_start,
ob1_pivot_dist_initial, axis_in_w);
}
else {
- float arc_start1[3] = {cosf(angle + (2*angular_offset)), sinf(angle +
(2*angular_offset)), 0.0f};
+ float arc_start1[3] = {cosf(angle + (2*angular_offset)-delta_angle),
sinf(angle + (2*angular_offset)-delta_angle), 0.0f};
mul_m3_v3(transform_mat, arc_start1);
constrained_axis_rot = angle_signed_on_axis_v3v3_v3(arc_start1,
ob1_pivot_dist_initial, axis_in_w);
}
@@ -2365,22 +2362,11 @@ static void OVERLAY_angular_limits_arc(OVERLAY_Data
*data,
float final_mat[4][4] = {{0.0f}};
- float coupled_ob_initial_rot_inv[3][3];
- float coupled_ob_transform[4][4];
-
- BKE_object_rot_to_mat3(coupled_ob, coupled_ob_initial_rot_inv, false);
- invert_m3(coupled_ob_initial_rot_inv);
- copy_m4_m4(coupled_ob_transform, coupled_ob->obmat);
- zero_v4(coupled_ob_transform[3]);
-
- mul_m4_m4m3(final_mat, coupled_ob_transform, coupled_ob_initial_rot_inv);
- mul_m4_m4m3(final_mat, final_mat, transform_mat);
+ copy_m4_m3(final_mat, transform_mat);
copy_v3_v3(final_mat[3], disk_pos);
final_mat[3][3] = 1.0f;
- normalize_m4(final_mat);
-
float segment_width = M_PI*10/180;
int n_segments = (int)(angle/segment_width) + 2;
@@ -2406,6 +2392,38 @@ static void OVERLAY_angular_limits(OVERLAY_Data *data,
float angle = 0.0f;
float angular_offset = 0.0f;
+ float t1[3][3] = {{0.0f}};
+ float t2[3][3] = {{0.0f}};
+ float ob_init[3][3] = {{0.0f}};
+ float ob_curr[3][3] = {{0.0f}};
+
+ float ob1_transform[4][4];
+ float ob2_transform[4][4];
+
+ if(rbc->physics_constraint != NULL) {
+ printf("yes ");
+ RB_constraint_get_transforms_hinge(rbc->physics_constraint,
ob1_transform, ob2_transform);
+ copy_m3_m4(t1, ob1_transform);
+ copy_m3_m4(t2, ob2_transform);
+ }
+
+ else {
+ printf("No ");
+ BKE_object_rot_to_mat3(constraint_ob, t1, false);
+ BKE_object_rot_to_mat3(ob1, ob_init, false);
+ invert_m3(ob_init);
+ copy_m3_m4(ob_curr, ob1->obmat);
+ mul_m3_m3m3(t1, ob_init, t1);
+ mul_m3_m3m3(t1, ob_curr, t1);
+
+ BKE_object_rot_to_mat3(constraint_ob, t2, false);
+ BKE_object_rot_to_mat3(ob2, ob_init, false);
+ invert_m3(ob_init);
+ copy_m3_m4(ob_curr, ob2->obmat);
+ mul_m3_m3m3(t2, ob_init, t2);
+ mul_m3_m3m3(t2, ob_curr, t2);
+ }
+
float ob1_pivot_dist_initial[3];
sub_v3_v3v3(ob1_pivot_dist_initial, constraint_ob->loc, ob1->loc);
float real_pivot[3] = {0.0f};
@@ -2421,6 +2439,7 @@ static void OVERLAY_angular_limits(OVERLAY_Data *data,
copy_v3_v3(real_pivot, ob2->rigidbody_object->pos);
}
else{
+
mul_v3_m3v3(real_pivot, ob1_initial_rot_inv, ob1_pivot_dist_initial);
mul_v3_m4v3(real_pivot, ob1->obmat, real_pivot);
}
@@ -2429,11 +2448,9 @@ static void OVERLAY_angular_limits(OVERLAY_Data *data,
/* Constraint axis transform. */
float constrained_axis_transoform[3][3] = {{0}};
- float constrained_axis_local[3] = {0.0f};
float constrained_axis_w_initial[3] = {0.0f};
float constrained_axis_w[3] = {0.0f};
- constrained_axis_local[axis] = 1.0f;
constrained_axis_w_initial[axis] = 1.0f;
/* Get constrained axis rotation from constraint object. */
@@ -2444,11 +2461,6 @@ static void OVERLAY_angular_limits(OVERLAY_Data *data,
mul_m3_v3(ob1_initial_rot_inv, constrained_axis_w);
mul_m3_v3(ob1_rot, constrained_axis_w);
- float rot_axis[3];
- cross_v3_v3v3(rot_axis, constrained_axis_local,
constrained_axis_w_initial);
- float rot_angle = angle_on_axis_v3v3_v3(constrained_axis_local,
constrained_axis_w_initial, rot_axis);
- axis_angle_to_mat3(constrained_axis_transoform, rot_axis, rot_angle);
-
float ax[3] = {0.0f};
switch(axis){
@@ -2467,10 +2479,11 @@ static void OVERLAY_angular_limits(OVERLAY_Data *data,
case 2:
angle = (rbc->limit_ang_z_upper - rbc->limit_ang_z_lower);
angular_offset = rbc->limit_ang_z_lower;
+ ax[0] = 1.0f;
unit_m3(corr_rot);
break;
}
- mul_m3_m3m3(constrained_axis_transoform, constrained_axis_transoform,
corr_rot);
+
float ob1_pivot_dist[3];
float ob2_pivot_dist[3];
@@ -2495,16 +2508,24 @@ static void OVERLAY_angular_limits(OVERLAY_Data *data,
mul_v3_fl(ob1_offset_vec, ob1_offset);
mul_v3_fl(ob2_offset_vec, ob2_offset);
+ float axis_ob1[3];
+ float axis_ob2[3];
+ copy_v3_v3(axis_ob1, ax);
+ copy_v3_v3(axis_ob2, ax);
+ mul_m3_v3(t1, axis_ob1);
+ mul_m3_v3(t2, axis_ob2);
+ float delta_angle = angle_signed_on_axis_v3v3_v3(axis_ob1, axis_ob2,
constrained_axis_w);
+
OVERLAY_PrivateData *pd = data->stl->pd;
cb = &pd->extra_call_buffers[1];
if(ob1->rigidbody_object->type == RBO_TYPE_ACTIVE) {
- OVERLAY_angular_limits_arc(data, rbc, ob1, ob2, constraint_ob,
constrained_axis_transoform, angle, angular_offset, constrained_axis_w_initial,
ob1_offset_vec, real_pivot, color1);
- OVERLAY_angular_limits_rods(cb, ob1, constrained_axis_w_initial,
real_pivot, ob1_offset_vec, ob2_offset_vec, color2);
+ OVERLAY_angular_limits_arc(data, rbc, ob1, ob2, constraint_ob, t2,
angle, angular_offset, delta_angle, constrained_axis_w, ob1_offset_vec,
real_pivot, color1);
+ OVERLAY_angular_limits_rods(cb, ob1, real_pivot, ob1_offset_vec,
ob2_offset_vec, color2);
}
if(ob2->rigidbody_object->type == RBO_TYPE_ACTIVE) {
- OVERLAY_angular_limits_arc(data, rbc, ob2, ob1, constraint_ob,
constrained_axis_transoform, angle, angular_offset, constrained_axis_w_initial,
ob2_offset_vec, real_pivot, color2);
- OVERLAY_angular_limits_rods(cb, ob2, constrained_axis_w_initial,
real_pivot, ob2_offset_vec, ob1_offset_vec, color1);
+ OVERLAY_angular_limits_arc(data, rbc, ob2, ob1, constraint_ob, t1,
angle, angular_offset, delta_angle, constrained_axis_w, ob2_offset_vec,
real_pivot, color2);
+ OVERLAY_angular_limits_rods(cb, ob2, real_pivot, ob2_offset_vec,
ob1_offset_vec, color1);
}
}
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