Differential D8762 Diff 28333 source/blender/blenkernel/intern/rigidbody.c

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source/blender/blenkernel/intern/rigidbody.c

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	/* set default settings */			/* set default settings */
	rbw->effector_weights = BKE_effector_add_weights(NULL);			rbw->effector_weights = BKE_effector_add_weights(NULL);

	rbw->ltime = PSFRA;			rbw->ltime = PSFRA;

	rbw->time_scale = 1.0f;			rbw->time_scale = 1.0f;

	rbw->steps_per_second = 60; /* Bullet default (60 Hz) */			/* Most high quality Bullet example files has an internal framerate of 240hz.
				* The blender default scene has a frame rate of 24, so take 10 substeps (24fps * 10).
				*/
				rbw->substeps_per_frame = 10;
	rbw->num_solver_iterations = 10; /* 10 is bullet default */			rbw->num_solver_iterations = 10; /* 10 is bullet default */

	rbw->shared->pointcache = BKE_ptcache_add(&(rbw->shared->ptcaches));			rbw->shared->pointcache = BKE_ptcache_add(&(rbw->shared->ptcaches));
	rbw->shared->pointcache->step = 1;			rbw->shared->pointcache->step = 1;

	/* return this sim world */			/* return this sim world */
	return rbw;			return rbw;
	}			}
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	/* update object array in case there are changes */			/* update object array in case there are changes */
	rigidbody_update_ob_array(rbw);			rigidbody_update_ob_array(rbw);
	}			}

	static void rigidbody_update_sim_ob(			static void rigidbody_update_sim_ob(
	Depsgraph depsgraph, Scene scene, RigidBodyWorld rbw, Object ob, RigidBodyOb *rbo)			Depsgraph depsgraph, Scene scene, RigidBodyWorld rbw, Object ob, RigidBodyOb *rbo)
	{			{
	float loc[3];
	float rot[4];
	float scale[3];

	/* only update if rigid body exists */			/* only update if rigid body exists */
	if (rbo->shared->physics_object == NULL) {			if (rbo->shared->physics_object == NULL) {
	return;			return;
	}			}

	ViewLayer *view_layer = DEG_get_input_view_layer(depsgraph);			ViewLayer *view_layer = DEG_get_input_view_layer(depsgraph);
	Base *base = BKE_view_layer_base_find(view_layer, ob);			Base *base = BKE_view_layer_base_find(view_layer, ob);
	const bool is_selected = base ? (base->flag & BASE_SELECTED) != 0 : false;			const bool is_selected = base ? (base->flag & BASE_SELECTED) != 0 : false;
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	(float *)mvert,			(float *)mvert,
	totvert,			totvert,
	sizeof(MVert),			sizeof(MVert),
	bb->vec[0],			bb->vec[0],
	bb->vec[6]);			bb->vec[6]);
	}			}
	}			}

	mat4_decompose(loc, rot, scale, ob->obmat);			float scale[3];
				mat4_to_size(scale, ob->obmat);
				zeddbAuthorUnsubmitted Done Inline Actions Reminder: Only do this check at this point for non kinematic objects! zeddb: Reminder: Only do this check at this point for non kinematic objects!

	/* update scale for all objects */			/* update scale for all objects */
	RB_body_set_scale(rbo->shared->physics_object, scale);			RB_body_set_scale(rbo->shared->physics_object, scale);
	/* compensate for embedded convex hull collision margin */			/* compensate for embedded convex hull collision margin */
	if (!(rbo->flag & RBO_FLAG_USE_MARGIN) && rbo->shape == RB_SHAPE_CONVEXH) {			if (!(rbo->flag & RBO_FLAG_USE_MARGIN) && rbo->shape == RB_SHAPE_CONVEXH) {
	RB_shape_set_margin(rbo->shared->physics_shape,			RB_shape_set_margin(rbo->shared->physics_shape,
	RBO_GET_MARGIN(rbo) * MIN3(scale[0], scale[1], scale[2]));			RBO_GET_MARGIN(rbo) * MIN3(scale[0], scale[1], scale[2]));
	}			}

	/* Make transformed objects temporarily kinmatic			/* Make transformed objects temporarily kinmatic
	* so that they can be moved by the user during simulation. */			* so that they can be moved by the user during simulation. */
	if (is_selected && (G.moving & G_TRANSFORM_OBJ)) {			if (is_selected && (G.moving & G_TRANSFORM_OBJ)) {
	RB_body_set_kinematic_state(rbo->shared->physics_object, true);			RB_body_set_kinematic_state(rbo->shared->physics_object, true);
	RB_body_set_mass(rbo->shared->physics_object, 0.0f);			RB_body_set_mass(rbo->shared->physics_object, 0.0f);
	}			}

	/* update rigid body location and rotation for kinematic bodies */
	if (rbo->flag & RBO_FLAG_KINEMATIC \|\| (is_selected && (G.moving & G_TRANSFORM_OBJ))) {
	RB_body_activate(rbo->shared->physics_object);
	RB_body_set_loc_rot(rbo->shared->physics_object, loc, rot);
	}
	/* update influence of effectors - but don't do it on an effector */			/* update influence of effectors - but don't do it on an effector */
	/* only dynamic bodies need effector update */			/* only dynamic bodies need effector update */
	else if (rbo->type == RBO_TYPE_ACTIVE &&			else if (rbo->type == RBO_TYPE_ACTIVE &&
	((ob->pd == NULL) \|\| (ob->pd->forcefield == PFIELD_NULL))) {			((ob->pd == NULL) \|\| (ob->pd->forcefield == PFIELD_NULL))) {
	EffectorWeights *effector_weights = rbw->effector_weights;			EffectorWeights *effector_weights = rbw->effector_weights;
	EffectedPoint epoint;			EffectedPoint epoint;
	ListBase *effectors;			ListBase *effectors;

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	*			*
	* \param rebuild: Rebuild entire simulation			* \param rebuild: Rebuild entire simulation
	*/			*/
	static void rigidbody_update_simulation(Depsgraph *depsgraph,			static void rigidbody_update_simulation(Depsgraph *depsgraph,
	Scene *scene,			Scene *scene,
	RigidBodyWorld *rbw,			RigidBodyWorld *rbw,
	bool rebuild)			bool rebuild)
	{			{
	float ctime = DEG_get_ctime(depsgraph);

	/* update world */			/* update world */
	/* Note physics_world can get NULL when undoing the deletion of the last object in it (see			/* Note physics_world can get NULL when undoing the deletion of the last object in it (see
	* T70667). */			* T70667). */
	if (rebuild \|\| rbw->shared->physics_world == NULL) {			if (rebuild \|\| rbw->shared->physics_world == NULL) {
	BKE_rigidbody_validate_sim_world(scene, rbw, rebuild);			BKE_rigidbody_validate_sim_world(scene, rbw, rebuild);
	}			}

	rigidbody_update_sim_world(scene, rbw);			rigidbody_update_sim_world(scene, rbw);
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	FOREACH_COLLECTION_OBJECT_RECURSIVE_END;			FOREACH_COLLECTION_OBJECT_RECURSIVE_END;
	}			}

	/* update objects */			/* update objects */
	FOREACH_COLLECTION_OBJECT_RECURSIVE_BEGIN (rbw->group, ob) {			FOREACH_COLLECTION_OBJECT_RECURSIVE_BEGIN (rbw->group, ob) {
	if (ob->type == OB_MESH) {			if (ob->type == OB_MESH) {
	/* validate that we've got valid object set up here... */			/* validate that we've got valid object set up here... */
	RigidBodyOb *rbo = ob->rigidbody_object;			RigidBodyOb *rbo = ob->rigidbody_object;
	/* Update transformation matrix of the object
	* so we don't get a frame of lag for simple animations. */
	BKE_object_where_is_calc_time(depsgraph, scene, ob, ctime);

	/* TODO remove this whole block once we are sure we never get NULL rbo here anymore. */			/* TODO remove this whole block once we are sure we never get NULL rbo here anymore. */
	/* This cannot be done in CoW evaluation context anymore... */			/* This cannot be done in CoW evaluation context anymore... */
	if (rbo == NULL) {			if (rbo == NULL) {
	BLI_assert(!"CoW object part of RBW object collection without RB object data, "			BLI_assert(!"CoW object part of RBW object collection without RB object data, "
	"should not happen.\n");			"should not happen.\n");
	/* Since this object is included in the sim group but doesn't have			/* Since this object is included in the sim group but doesn't have
	* rigid body settings (perhaps it was added manually), add!			* rigid body settings (perhaps it was added manually), add!
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	/* update constraints */			/* update constraints */
	if (rbw->constraints == NULL) { /* no constraints, move on */			if (rbw->constraints == NULL) { /* no constraints, move on */
	return;			return;
	}			}

	FOREACH_COLLECTION_OBJECT_RECURSIVE_BEGIN (rbw->constraints, ob) {			FOREACH_COLLECTION_OBJECT_RECURSIVE_BEGIN (rbw->constraints, ob) {
	/* validate that we've got valid object set up here... */			/* validate that we've got valid object set up here... */
	RigidBodyCon *rbc = ob->rigidbody_constraint;			RigidBodyCon *rbc = ob->rigidbody_constraint;
	/* Update transformation matrix of the object
	* so we don't get a frame of lag for simple animations. */
	BKE_object_where_is_calc_time(depsgraph, scene, ob, ctime);

	/* TODO remove this whole block once we are sure we never get NULL rbo here anymore. */			/* TODO remove this whole block once we are sure we never get NULL rbo here anymore. */
	/* This cannot be done in CoW evaluation context anymore... */			/* This cannot be done in CoW evaluation context anymore... */
	if (rbc == NULL) {			if (rbc == NULL) {
	BLI_assert(!"CoW object part of RBW constraints collection without RB constraint data, "			BLI_assert(!"CoW object part of RBW constraints collection without RB constraint data, "
	"should not happen.\n");			"should not happen.\n");
	/* Since this object is included in the group but doesn't have			/* Since this object is included in the group but doesn't have
	* constraint settings (perhaps it was added manually), add!			* constraint settings (perhaps it was added manually), add!
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	rigidbody_validate_sim_constraint(rbw, ob, false);			rigidbody_validate_sim_constraint(rbw, ob, false);
	}			}
	}			}
	rbc->flag &= ~RBC_FLAG_NEEDS_VALIDATE;			rbc->flag &= ~RBC_FLAG_NEEDS_VALIDATE;
	}			}
	FOREACH_COLLECTION_OBJECT_RECURSIVE_END;			FOREACH_COLLECTION_OBJECT_RECURSIVE_END;
	}			}

				typedef struct kinematic_substep_data {
				void *physics_object;
				float old_pos[3];
				float new_pos[3];
				float old_rot[4];
				float new_rot[4];
				brechtUnsubmitted Done Inline Actions Is there a reason scale is not interpolated for substeps, while position and rotation are? brecht: Is there a reason scale is not interpolated for substeps, while position and rotation are?
				} kinematic_substep_data;

				static ListBase rigidbody_create_substep_data(RigidBodyWorld *rbw)
				{
				/* Objects that we want to update substep location/rotation for. */
				ListBase substep_targets = {NULL, NULL};

				FOREACH_COLLECTION_OBJECT_RECURSIVE_BEGIN (rbw->group, ob) {
				RigidBodyOb *rbo = ob->rigidbody_object;
				/* only update if rigid body exists */
				if (!rbo \|\| rbo->shared->physics_object == NULL) {
				continue;
				}

				if (rbo->flag & RBO_FLAG_KINEMATIC) {
				float loc[3], rot[4];

				kinematic_substep_data *data = MEM_callocN(sizeof(kinematic_substep_data),
				"RigidBody Substep data");

				data->physics_object = rbo->shared->physics_object;

				RB_body_get_position(rbo->shared->physics_object, loc);
				RB_body_get_orientation(rbo->shared->physics_object, rot);

				copy_v3_v3(data->old_pos, loc);
				copy_v4_v4(data->old_rot, rot);

				mat4_to_loc_quat(loc, rot, ob->obmat);

				copy_v3_v3(data->new_pos, loc);
				copy_v4_v4(data->new_rot, rot);

				LinkData *ob_link = BLI_genericNodeN(data);
				BLI_addtail(&substep_targets, ob_link);
				}
				}
				FOREACH_COLLECTION_OBJECT_RECURSIVE_END;

				return substep_targets;
				}

				static void rigidbody_update_kinematic_obj_substep(ListBase *substep_targets, float interp_fac)
				{

				for (LinkData *data_link = substep_targets->first; data_link != NULL;
				JacquesLuckeUnsubmitted Done Inline Actions `LISTBASE_FOREACH` JacquesLucke: `LISTBASE_FOREACH`
				data_link = data_link->next) {
				kinematic_substep_data *data = data_link->data;
				JacquesLuckeUnsubmitted Done Inline Actions snake case JacquesLucke: snake case

				float loc[3], rot[4];

				interp_v3_v3v3(loc, data->old_pos, data->new_pos, interp_fac);
				interp_qt_qtqt(rot, data->old_rot, data->new_rot, interp_fac);

				RB_body_activate(data->physics_object);
				RB_body_set_loc_rot(data->physics_object, loc, rot);
				}
				}

				static void rigidbody_free_substep_data(ListBase *substep_targets)
				{
				for (LinkData *data_link = substep_targets->first; data_link != NULL;
				data_link = data_link->next) {
				kinematic_substep_data *data = data_link->data;
				MEM_freeN(data);
				}

				BLI_freelistN(substep_targets);
				}
	static void rigidbody_update_simulation_post_step(Depsgraph depsgraph, RigidBodyWorld rbw)			static void rigidbody_update_simulation_post_step(Depsgraph depsgraph, RigidBodyWorld rbw)
	{			{
	ViewLayer *view_layer = DEG_get_input_view_layer(depsgraph);			ViewLayer *view_layer = DEG_get_input_view_layer(depsgraph);

	FOREACH_COLLECTION_OBJECT_RECURSIVE_BEGIN (rbw->group, ob) {			FOREACH_COLLECTION_OBJECT_RECURSIVE_BEGIN (rbw->group, ob) {
	Base *base = BKE_view_layer_base_find(view_layer, ob);			Base *base = BKE_view_layer_base_find(view_layer, ob);
	RigidBodyOb *rbo = ob->rigidbody_object;			RigidBodyOb *rbo = ob->rigidbody_object;
	/* Reset kinematic state for transformed objects. */			/* Reset kinematic state for transformed objects. */
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	/* write cache for first frame when on second frame */			/* write cache for first frame when on second frame */
	if (rbw->ltime == startframe && (cache->flag & PTCACHE_OUTDATED \|\| cache->last_exact == 0)) {			if (rbw->ltime == startframe && (cache->flag & PTCACHE_OUTDATED \|\| cache->last_exact == 0)) {
	BKE_ptcache_write(&pid, startframe);			BKE_ptcache_write(&pid, startframe);
	}			}

	/* update and validate simulation */			/* update and validate simulation */
	rigidbody_update_simulation(depsgraph, scene, rbw, false);			rigidbody_update_simulation(depsgraph, scene, rbw, false);

				float frame_diff = ctime - rbw->ltime;
	/* calculate how much time elapsed since last step in seconds */			/* calculate how much time elapsed since last step in seconds */
	timestep = 1.0f / (float)FPS * (ctime - rbw->ltime) * rbw->time_scale;			timestep = 1.0f / (float)FPS * frame_diff * rbw->time_scale;
	/* Step simulation by the requested timestep,			/* Step simulation by the requested timestep,
	* steps per second are adjusted to take time scale into account. */			* steps per second are adjusted to take time scale into account. */
				JacquesLuckeUnsubmitted Done Inline Actions probably outdated comment JacquesLucke: probably outdated comment
	RB_dworld_step_simulation(rbw->shared->physics_world,
	timestep,			float substep = timestep / rbw->substeps_per_frame;
	INT_MAX,
				JacquesLuckeUnsubmitted Done Inline Actions `const` JacquesLucke: `const`
	1.0f / (float)rbw->steps_per_second * min_ff(rbw->time_scale, 1.0f));			ListBase substep_targets = rigidbody_create_substep_data(rbw);

				float interp_step = 1.0f / rbw->substeps_per_frame;
				float cur_interp_val = interp_step;

				for (int i = 0; i < rbw->substeps_per_frame; i++) {
				rigidbody_update_kinematic_obj_substep(&substep_targets, cur_interp_val);
				RB_dworld_step_simulation(rbw->shared->physics_world, substep, 0, substep);
				cur_interp_val += interp_step;
				}
				rigidbody_free_substep_data(&substep_targets);

	rigidbody_update_simulation_post_step(depsgraph, rbw);			rigidbody_update_simulation_post_step(depsgraph, rbw);

	/* write cache for current frame */			/* write cache for current frame */
	BKE_ptcache_validate(cache, (int)ctime);			BKE_ptcache_validate(cache, (int)ctime);
	BKE_ptcache_write(&pid, (unsigned int)ctime);			BKE_ptcache_write(&pid, (unsigned int)ctime);

	rbw->ltime = ctime;			rbw->ltime = ctime;
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