[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [54019] trunk/blender/source: rigidbody: Add rigidbody module
Sergej Reich
sergej.reich at googlemail.com
Wed Jan 23 06:56:14 CET 2013
Revision: 54019
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=54019
Author: sergof
Date: 2013-01-23 05:56:13 +0000 (Wed, 23 Jan 2013)
Log Message:
-----------
rigidbody: Add rigidbody module
It's mostly a C API for bullet that interfaces nicely with blender.
It could act as a generic interface for rigid body simulations but right
now it's very specific to bullet.
TODO: Fix building without bullet.
Part of GSoC 2010 and 2012.
Authors: Joshua Leung (aligorith), Sergej Reich (sergof)
Modified Paths:
--------------
trunk/blender/source/blender/CMakeLists.txt
trunk/blender/source/blenderplayer/CMakeLists.txt
trunk/blender/source/creator/CMakeLists.txt
Added Paths:
-----------
trunk/blender/source/blender/rigidbody/
trunk/blender/source/blender/rigidbody/CMakeLists.txt
trunk/blender/source/blender/rigidbody/RBI_api.h
trunk/blender/source/blender/rigidbody/SConscript
trunk/blender/source/blender/rigidbody/rb_bullet_api.cpp
Modified: trunk/blender/source/blender/CMakeLists.txt
===================================================================
--- trunk/blender/source/blender/CMakeLists.txt 2013-01-23 05:56:05 UTC (rev 54018)
+++ trunk/blender/source/blender/CMakeLists.txt 2013-01-23 05:56:13 UTC (rev 54019)
@@ -105,6 +105,7 @@
add_subdirectory(modifiers)
add_subdirectory(makesdna)
add_subdirectory(makesrna)
+add_subdirectory(rigidbody)
if(WITH_COMPOSITOR)
add_subdirectory(opencl) # later on this may be used more generally
Added: trunk/blender/source/blender/rigidbody/CMakeLists.txt
===================================================================
--- trunk/blender/source/blender/rigidbody/CMakeLists.txt (rev 0)
+++ trunk/blender/source/blender/rigidbody/CMakeLists.txt 2013-01-23 05:56:13 UTC (rev 54019)
@@ -0,0 +1,36 @@
+# ***** 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+#
+# The Original Code is Copyright (C) 2006, Blender Foundation
+# All rights reserved.
+#
+# The Original Code is: all of this file.
+#
+# ***** END GPL LICENSE BLOCK *****
+
+SET(INC
+ .
+ ../blenlib
+ ../../../extern/bullet2/src
+)
+
+set(SRC
+ rb_bullet_api.cpp
+
+ RBI_api.h
+)
+
+blender_add_lib(bf_rigidbody "${SRC}" "${INC}" "${INC_SYS}")
Added: trunk/blender/source/blender/rigidbody/RBI_api.h
===================================================================
--- trunk/blender/source/blender/rigidbody/RBI_api.h (rev 0)
+++ trunk/blender/source/blender/rigidbody/RBI_api.h 2013-01-23 05:56:13 UTC (rev 54019)
@@ -0,0 +1,309 @@
+/*
+ * ***** 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The Original Code is Copyright (C) 2013 Blender Foundation,
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): Joshua Leung, Sergej Reich
+ *
+ * ***** END GPL LICENSE BLOCK *****
+ */
+
+/** \file RBI_api.h
+ * \ingroup RigidBody
+ * \brief Rigid Body API for interfacing with external Physics Engines
+ */
+
+#ifndef __RB_API_H__
+#define __RB_API_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* API Notes:
+ * Currently, this API is optimised for Bullet RigidBodies, and doesn't
+ * take into account other Physics Engines. Some tweaking may be necessary
+ * to allow other systems to be used, in particular there may be references
+ * to datatypes that aren't used here...
+ *
+ * -- Joshua Leung (22 June 2010)
+ */
+
+/* ********************************** */
+/* Partial Type Defines - Aliases for the type of data we store */
+
+// ----------
+
+/* Dynamics World */
+typedef struct rbDynamicsWorld rbDynamicsWorld;
+
+/* Rigid Body */
+typedef struct rbRigidBody rbRigidBody;
+
+/* Collision Shape */
+typedef struct rbCollisionShape rbCollisionShape;
+
+/* Mesh Data (for Collision Shapes of Meshes) */
+typedef struct rbMeshData rbMeshData;
+
+/* Constraint */
+typedef struct rbConstraint rbConstraint;
+
+/* ********************************** */
+/* Dynamics World Methods */
+
+/* Setup ---------------------------- */
+
+/* Create a new dynamics world instance */
+// TODO: add args to set the type of constraint solvers, etc.
+extern rbDynamicsWorld *RB_dworld_new(const float gravity[3]);
+
+/* Delete the given dynamics world, and free any extra data it may require */
+extern void RB_dworld_delete(rbDynamicsWorld *world);
+
+/* Settings ------------------------- */
+
+/* Gravity */
+extern void RB_dworld_get_gravity(rbDynamicsWorld *world, float g_out[3]);
+extern void RB_dworld_set_gravity(rbDynamicsWorld *world, const float g_in[3]);
+
+/* Constraint Solver */
+extern void RB_dworld_set_solver_iterations(rbDynamicsWorld *world, int num_solver_iterations);
+/* Split Impulse */
+extern void RB_dworld_set_split_impulse(rbDynamicsWorld *world, int split_impulse);
+
+/* Simulation ----------------------- */
+
+/* Step the simulation by the desired amount (in seconds) with extra controls on substep sizes and maximum substeps */
+extern void RB_dworld_step_simulation(rbDynamicsWorld *world, float timeStep, int maxSubSteps, float timeSubStep);
+
+/* Export -------------------------- */
+
+/* Exports the dynamics world to physics simulator's serialisation format */
+void RB_dworld_export(rbDynamicsWorld *world, const char *filename);
+
+/* ********************************** */
+/* Rigid Body Methods */
+
+/* Setup ---------------------------- */
+
+/* Add RigidBody to dynamics world */
+extern void RB_dworld_add_body(rbDynamicsWorld *world, rbRigidBody *body, int col_groups);
+
+/* Remove RigidBody from dynamics world */
+extern void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *body);
+
+/* ............ */
+
+/* Create new RigidBody instance */
+extern rbRigidBody *RB_body_new(rbCollisionShape *shape, const float loc[3], const float rot[4]);
+
+/* Delete the given RigidBody instance */
+extern void RB_body_delete(rbRigidBody *body);
+
+/* Settings ------------------------- */
+
+/* 'Type' */
+extern void RB_body_set_type(rbRigidBody *body, int type, float mass);
+
+/* ............ */
+
+/* Collision Shape */
+extern void RB_body_set_collision_shape(rbRigidBody *body, rbCollisionShape *shape);
+
+/* ............ */
+
+/* Mass */
+extern float RB_body_get_mass(rbRigidBody *body);
+extern void RB_body_set_mass(rbRigidBody *body, float value);
+
+/* Friction */
+extern float RB_body_get_friction(rbRigidBody *body);
+extern void RB_body_set_friction(rbRigidBody *body, float value);
+
+/* Restitution */
+extern float RB_body_get_restitution(rbRigidBody *body);
+extern void RB_body_set_restitution(rbRigidBody *body, float value);
+
+/* Damping */
+extern float RB_body_get_linear_damping(rbRigidBody *body);
+extern void RB_body_set_linear_damping(rbRigidBody *body, float value);
+
+extern float RB_body_get_angular_damping(rbRigidBody *body);
+extern void RB_body_set_angular_damping(rbRigidBody *body, float value);
+
+extern void RB_body_set_damping(rbRigidBody *object, float linear, float angular);
+
+/* Sleeping Thresholds */
+extern float RB_body_get_linear_sleep_thresh(rbRigidBody *body);
+extern void RB_body_set_linear_sleep_thresh(rbRigidBody *body, float value);
+
+extern float RB_body_get_angular_sleep_thresh(rbRigidBody *body);
+extern void RB_body_set_angular_sleep_thresh(rbRigidBody *body, float value);
+
+extern void RB_body_set_sleep_thresh(rbRigidBody *body, float linear, float angular);
+
+/* Linear Velocity */
+extern void RB_body_get_linear_velocity(rbRigidBody *body, float v_out[3]);
+extern void RB_body_set_linear_velocity(rbRigidBody *body, const float v_in[3]);
+
+/* Angular Velocity */
+extern void RB_body_get_angular_velocity(rbRigidBody *body, float v_out[3]);
+extern void RB_body_set_angular_velocity(rbRigidBody *body, const float v_in[3]);
+
+/* Linear/Angular Factor, used to lock translation/roation axes */
+extern void RB_body_set_linear_factor(rbRigidBody *object, float x, float y, float z);
+extern void RB_body_set_angular_factor(rbRigidBody *object, float x, float y, float z);
+
+/* Kinematic State */
+extern void RB_body_set_kinematic_state(rbRigidBody *body, int kinematic);
+
+/* RigidBody Interface - Rigid Body Activation States */
+extern int RB_body_get_activation_state(rbRigidBody *body);
+extern void RB_body_set_activation_state(rbRigidBody *body, int use_deactivation);
+extern void RB_body_activate(rbRigidBody *body);
+extern void RB_body_deactivate(rbRigidBody *body);
+
+
+/* Simulation ----------------------- */
+
+/* Get current transform matrix of RigidBody to use in Blender (OpenGL format) */
+extern void RB_body_get_transform_matrix(rbRigidBody *body, float m_out[4][4]);
+
+/* Set RigidBody's location and rotation */
+extern void RB_body_set_loc_rot(rbRigidBody *body, const float loc[3], const float rot[4]);
+/* Set RigidBody's local scaling */
+extern void RB_body_set_scale(rbRigidBody *body, const float scale[3]);
+
+/* ............ */
+
+/* Get RigidBody's position as vector */
+void RB_body_get_position(rbRigidBody *body, float v_out[3]);
+/* Get RigidBody's orientation as quaternion */
+void RB_body_get_orientation(rbRigidBody *body, float v_out[4]);
+
+/* ............ */
+
+extern void RB_body_apply_central_force(rbRigidBody *body, const float v_in[3]);
+
+/* ********************************** */
+/* Collision Shape Methods */
+
+/* Setup (Standard Shapes) ----------- */
+
+extern rbCollisionShape *RB_shape_new_box(float x, float y, float z);
+extern rbCollisionShape *RB_shape_new_sphere(float radius);
+extern rbCollisionShape *RB_shape_new_capsule(float radius, float height);
+extern rbCollisionShape *RB_shape_new_cone(float radius, float height);
+extern rbCollisionShape *RB_shape_new_cylinder(float radius, float height);
+
+/* Setup (Convex Hull) ------------ */
+
+extern rbCollisionShape *RB_shape_new_convex_hull(float *verts, int stride, int count, float margin, bool *can_embed);
+
+/* Setup (Triangle Mesh) ---------- */
+
+/* 1 */
+extern rbMeshData *RB_trimesh_data_new(void);
+extern void RB_trimesh_add_triangle(rbMeshData *mesh, const float v1[3], const float v2[3], const float v3[3]);
+/* 2a - Triangle Meshes */
@@ Diff output truncated at 10240 characters. @@
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