[Bf-blender-cvs] [2d34158] temp_bullet_ghosts: Reorganizing Bullet world rebuilding in scene updates to allow pure collision-only time steps and (uncached) ghost objects.
Lukas Tönne
noreply at git.blender.org
Wed Apr 29 09:08:00 CEST 2015
Commit: 2d341589e4b262febc74d0414b9af8bc9b126a53
Author: Lukas Tönne
Date: Mon Dec 29 13:34:10 2014 +0100
Branches: temp_bullet_ghosts
https://developer.blender.org/rB2d341589e4b262febc74d0414b9af8bc9b126a53
Reorganizing Bullet world rebuilding in scene updates to allow pure
collision-only time steps and (uncached) ghost objects.
This will allow non-rigidbody sims (e.g. hair, softbody) to hook into
bullet collision detection via "ghost objects". These are Bullet objects
without rigid body dynamics (btCollisionObject). The contacts are
generated just like for rigid bodies, but their internal solvers can
then work like before without having to use Bullet stepping.
===================================================================
M intern/rigidbody/RBI_api.h
M intern/rigidbody/rb_bullet_api.cpp
M source/blender/blenkernel/intern/rigidbody.c
===================================================================
diff --git a/intern/rigidbody/RBI_api.h b/intern/rigidbody/RBI_api.h
index 688ca91..d464154 100644
--- a/intern/rigidbody/RBI_api.h
+++ b/intern/rigidbody/RBI_api.h
@@ -93,6 +93,8 @@ void RB_dworld_set_split_impulse(rbDynamicsWorld *world, int split_impulse);
/* Step the simulation by the desired amount (in seconds) with extra controls on substep sizes and maximum substeps */
void RB_dworld_step_simulation(rbDynamicsWorld *world, float timeStep, int maxSubSteps, float timeSubStep);
+/* Perform collision detection step only */
+void RB_dworld_test_collision(rbDynamicsWorld *world);
/* Export -------------------------- */
diff --git a/intern/rigidbody/rb_bullet_api.cpp b/intern/rigidbody/rb_bullet_api.cpp
index 17bb381..3cc39e6 100644
--- a/intern/rigidbody/rb_bullet_api.cpp
+++ b/intern/rigidbody/rb_bullet_api.cpp
@@ -218,6 +218,11 @@ void RB_dworld_step_simulation(rbDynamicsWorld *world, float timeStep, int maxSu
world->dynamicsWorld->stepSimulation(timeStep, maxSubSteps, timeSubStep);
}
+void RB_dworld_test_collision(rbDynamicsWorld *world)
+{
+ world->dynamicsWorld->performDiscreteCollisionDetection();
+}
+
/* Export -------------------------- */
/**
diff --git a/source/blender/blenkernel/intern/rigidbody.c b/source/blender/blenkernel/intern/rigidbody.c
index aaf54b8..191f718 100644
--- a/source/blender/blenkernel/intern/rigidbody.c
+++ b/source/blender/blenkernel/intern/rigidbody.c
@@ -1149,6 +1149,12 @@ void BKE_rigidbody_remove_constraint(Scene *scene, Object *ob)
/* ************************************** */
/* Simulation Interface - Bullet */
+/* Update mode flags for simulation stepping to indicate needed updates */
+enum eRigidBodyStepMode {
+ RB_STEP_COLLISION = 1,
+ RB_STEP_DYNAMICS = 2 | RB_STEP_COLLISION, /* dynamics time step includes collision detection */
+};
+
/* Update object array and rigid body count so they're in sync with the rigid body group */
static void rigidbody_update_ob_array(RigidBodyWorld *rbw)
{
@@ -1168,6 +1174,8 @@ static void rigidbody_update_ob_array(RigidBodyWorld *rbw)
}
}
+/* -------------------------------------- */
+
static void rigidbody_update_sim_world(Scene *scene, RigidBodyWorld *rbw)
{
float adj_gravity[3];
@@ -1188,6 +1196,24 @@ static void rigidbody_update_sim_world(Scene *scene, RigidBodyWorld *rbw)
rigidbody_update_ob_array(rbw);
}
+/**
+ * Updates and validates the collision world.
+ *
+ * \param rebuild Rebuild entire simulation
+ */
+static int rigidbody_update_scene(Scene *scene, RigidBodyWorld *rbw, bool rebuild)
+{
+ /* update world */
+ if (rebuild)
+ BKE_rigidbody_validate_sim_world(scene, rbw, true);
+
+ rigidbody_update_sim_world(scene, rbw);
+
+ return 0;
+}
+
+/* -------------------------------------- */
+
static void rigidbody_update_sim_ob(Scene *scene, RigidBodyWorld *rbw, Object *ob, RigidBodyOb *rbo)
{
float loc[3];
@@ -1273,19 +1299,15 @@ static void rigidbody_update_sim_ob(Scene *scene, RigidBodyWorld *rbw, Object *o
}
/**
- * Updates and validates world, bodies and shapes.
+ * Updates and validates rigid body objects.
*
* \param rebuild Rebuild entire simulation
*/
-static void rigidbody_update_simulation(Scene *scene, RigidBodyWorld *rbw, bool rebuild)
+static int rigidbody_update_objects(Scene *scene, RigidBodyWorld *rbw, bool rebuild)
{
+ int result = 0;
GroupObject *go;
- /* update world */
- if (rebuild)
- BKE_rigidbody_validate_sim_world(scene, rbw, true);
- rigidbody_update_sim_world(scene, rbw);
-
/* XXX TODO For rebuild: remove all constraints first.
* Otherwise we can end up deleting objects that are still
* referenced by constraints, corrupting bullet's internal list.
@@ -1323,7 +1345,7 @@ static void rigidbody_update_simulation(Scene *scene, RigidBodyWorld *rbw, bool
*/
ob->rigidbody_object = BKE_rigidbody_create_object(scene, ob, RBO_TYPE_ACTIVE);
rigidbody_validate_sim_object(rbw, ob, true);
-
+
rbo = ob->rigidbody_object;
}
else {
@@ -1349,46 +1371,55 @@ static void rigidbody_update_simulation(Scene *scene, RigidBodyWorld *rbw, bool
/* update simulation object... */
rigidbody_update_sim_ob(scene, rbw, ob, rbo);
+
+ /* XXX could avoid some unnecessary updates with lower-level testing,
+ * but this is safer for now.
+ */
+ result |= RB_STEP_DYNAMICS;
}
}
/* update constraints */
- if (rbw->constraints == NULL) /* no constraints, move on */
- return;
- for (go = rbw->constraints->gobject.first; go; go = go->next) {
- Object *ob = go->ob;
-
- if (ob) {
- /* validate that we've got valid object set up here... */
- 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(scene, ob);
-
- if (rbc == NULL) {
- /* Since this object is included in the group but doesn't have
+ if (rbw->constraints) {
+ for (go = rbw->constraints->gobject.first; go; go = go->next) {
+ Object *ob = go->ob;
+
+ if (ob) {
+ /* validate that we've got valid object set up here... */
+ 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(scene, ob);
+
+ if (rbc == NULL) {
+ /* Since this object is included in the group but doesn't have
* constraint settings (perhaps it was added manually), add!
*/
- ob->rigidbody_constraint = BKE_rigidbody_create_constraint(scene, ob, RBC_TYPE_FIXED);
- rigidbody_validate_sim_constraint(rbw, ob, true);
-
- rbc = ob->rigidbody_constraint;
- }
- else {
- /* perform simulation data updates as tagged */
- if (rebuild) {
- /* World has been rebuilt so rebuild constraint */
+ ob->rigidbody_constraint = BKE_rigidbody_create_constraint(scene, ob, RBC_TYPE_FIXED);
rigidbody_validate_sim_constraint(rbw, ob, true);
+
+ rbc = ob->rigidbody_constraint;
}
- else if (rbc->flag & RBC_FLAG_NEEDS_VALIDATE) {
- rigidbody_validate_sim_constraint(rbw, ob, false);
+ else {
+ /* perform simulation data updates as tagged */
+ if (rebuild) {
+ /* World has been rebuilt so rebuild constraint */
+ rigidbody_validate_sim_constraint(rbw, ob, true);
+ }
+ else if (rbc->flag & RBC_FLAG_NEEDS_VALIDATE) {
+ rigidbody_validate_sim_constraint(rbw, ob, false);
+ }
+ rbc->flag &= ~RBC_FLAG_NEEDS_VALIDATE;
}
- rbc->flag &= ~RBC_FLAG_NEEDS_VALIDATE;
+
+ result |= RB_STEP_DYNAMICS;
}
}
}
+
+ return result;
}
-static void rigidbody_update_simulation_post_step(RigidBodyWorld *rbw)
+static void rigidbody_update_objects_post_step(RigidBodyWorld *rbw)
{
GroupObject *go;
@@ -1409,6 +1440,20 @@ static void rigidbody_update_simulation_post_step(RigidBodyWorld *rbw)
}
}
+/* -------------------------------------- */
+
+/**
+ * Updates and validates collision ghosts.
+ *
+ * \param rebuild Rebuild entire simulation
+ */
+static int rigidbody_update_ghosts(Scene *scene, RigidBodyWorld *rbw, bool rebuild)
+{
+ return 0;
+}
+
+/* -------------------------------------- */
+
bool BKE_rigidbody_check_sim_running(RigidBodyWorld *rbw, float ctime)
{
return (rbw && (rbw->flag & RBW_FLAG_MUTED) == 0 && ctime > rbw->pointcache->startframe);
@@ -1501,24 +1546,29 @@ void BKE_rigidbody_rebuild_world(Scene *scene, float ctime)
}
if (ctime == startframe + 1 && rbw->ltime == startframe) {
+
+ rigidbody_update_scene(scene, rbw, true);
+
if (cache->flag & PTCACHE_OUTDATED) {
BKE_ptcache_id_reset(scene, &pid, PTCACHE_RESET_OUTDATED);
- rigidbody_update_simulation(scene, rbw, true);
+ rigidbody_update_objects(scene, rbw, true);
BKE_ptcache_validate(cache, (int)ctime);
cache->last_exact = 0;
cache->flag &= ~PTCACHE_REDO_NEEDED;
}
+
+ rigidbody_update_ghosts(scene, rbw, true);
}
}
/* Run RigidBody simulation for the specified physics world */
void BKE_rigidbody_do_simulation(Scene *scene, float ctime)
{
- float timestep;
RigidBodyWorld *rbw = scene->rigidbody_world;
PointCache *cache;
PTCacheID pid;
int startframe, endframe;
+ bool cache_baked, cache_valid;
BKE_ptcache_id_from_rigidbody(&pid, NULL, rbw);
BKE_ptcache_id_time(&pid, scene, ctime, &startframe, &endframe, NULL);
@@ -1539,38 +1589,60 @@ void BKE_rigidbody_do_simulation(Scene *scene, float ctime)
else if (rbw->objects == NULL)
rigidbody_update_ob_array(rbw);
+ cache_baked = (cache->flag & PTCACHE_BAKED);
+
/* try to read from cache */
// RB_TODO deal with interpolated, old and baked results
- if (BKE_ptcache_read(&pid, ctime)) {
+ cache_valid = BKE_ptcache_read(&pid, ctime);
+ if (cache_valid) {
BKE_ptcache_validate(cache, (int)ctime);
rbw->ltime = ctime;
- return;
}
/* advance simulation, we can only step one frame forward */
- if (ctime == rbw->ltime + 1 && !(cache->flag & PTCACHE_BAKED)) {
- /* write cache for first frame when on second frame */
- if (rbw->ltime == startframe && (cache->flag & PTCACHE_OUTDATED || cache->last_exact == 0)) {
- BKE_ptcache_write(&pid, startframe);
+ if (ctime == rbw->ltime + 1) { /* full dynamics step (includes collision) */
+ int stepmode = 0;
+ float timestep, timesubstep;
+
+ stepmode |= rigidbody_update_scene(scene, rbw, false);
+
+ if (!cache_baked && !cache_valid) {
+ /* write cache for first frame when on second frame */
+ if (rbw->ltime == startframe && (cache->flag & PTCACHE_OUTDATED || cache->last_exact == 0)) {
+ BKE_ptcache_write(&pid, startframe);
+ }
+
+ /* update and validate simulation */
+ stepmode |= rigidbody_update_objects(scene, rbw, false);
}
-
- /* update and validate simulation */
- rigidbody_update_simulation(scene, rbw, false);
-
- /* calculate how much time elapsed since last step in seconds */
- timestep = 1.0f / (float)FPS * (ctime - rbw->ltime) * rbw->time_scale;
- /* step simulation by the requested timestep, steps per second are adjusted to take time scale into account */
- RB_dworld_step_simulation(rbw->physics_world, timestep, INT_MAX, 1.0f / (float)rbw->steps_per_second * min_ff(rbw->time_scale, 1.0f));
-
- rigidbody_update
@@ Diff output truncated at 10240 characters. @@
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