bartvdbraak/blender
1
0
Fork 4
Code Issues 4 Pull Requests 1 Actions 1 Packages Projects Releases Wiki Activity
22dae3e600
blender/intern/rigidbody/RBI_api.h
Sergej Reich ed19108891 rigidbody: Add function to perform convex sweep test 
This is a experimental collision detection function, so the API might
change in the future.

Note: The simulation needs to be stepped before this function can be
used, otherwise the rigid body world might not be valid.

Patch [#34989]  Bullet Convex sweep test API
by Vilem Novak (pildanovak), thanks!
2013-04-21 19:53:40 +00:00

322 lines
12 KiB
C
Raw Blame History

/*
* ***** 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);
/* Collision detection */
void RB_world_convex_sweep_test(rbDynamicsWorld *world, rbRigidBody *object,
const float loc_start[3], const float loc_end[3],
float v_location[3], float v_hitpoint[3], float v_normal[3], int *r_hit);
/* ............ */
/* 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 */
extern rbCollisionShape *RB_shape_new_trimesh(rbMeshData *mesh);
/* 2b - GImpact Meshes */
extern rbCollisionShape *RB_shape_new_gimpact_mesh(rbMeshData *mesh);
/* Cleanup --------------------------- */
extern void RB_shape_delete(rbCollisionShape *shape);
/* Settings --------------------------- */
/* Collision Margin */
extern float RB_shape_get_margin(rbCollisionShape *shape);
extern void RB_shape_set_margin(rbCollisionShape *shape, float value);
/* ********************************** */
/* Constraints */
/* Setup ----------------------------- */
/* Add Rigid Body Constraint to simulation world */
extern void RB_dworld_add_constraint(rbDynamicsWorld *world, rbConstraint *con, int disable_collisions);
/* Remove Rigid Body Constraint from simulation world */
extern void RB_dworld_remove_constraint(rbDynamicsWorld *world, rbConstraint *con);
extern rbConstraint *RB_constraint_new_point(float pivot[3], rbRigidBody *rb1, rbRigidBody *rb2);
extern rbConstraint *RB_constraint_new_fixed(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
extern rbConstraint *RB_constraint_new_hinge(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
extern rbConstraint *RB_constraint_new_slider(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
extern rbConstraint *RB_constraint_new_piston(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
extern rbConstraint *RB_constraint_new_6dof(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
extern rbConstraint *RB_constraint_new_6dof_spring(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
extern rbConstraint *RB_constraint_new_motor(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2);
/* ............ */
/* Cleanup --------------------------- */
extern void RB_constraint_delete(rbConstraint *con);
/* Settings --------------------------- */
/* Enable or disable constraint */
extern void RB_constraint_set_enabled(rbConstraint *con, int enabled);
/* Limits */
#define RB_LIMIT_LIN_X 0
#define RB_LIMIT_LIN_Y 1
#define RB_LIMIT_LIN_Z 2
#define RB_LIMIT_ANG_X 3
#define RB_LIMIT_ANG_Y 4
#define RB_LIMIT_ANG_Z 5
/* Bullet uses the following convention:
* - lower limit == upper limit -> axis is locked
* - lower limit > upper limit -> axis is free
* - lower limit < upper limit -> axis is limited in given range
*/
extern void RB_constraint_set_limits_hinge(rbConstraint *con, float lower, float upper);
extern void RB_constraint_set_limits_slider(rbConstraint *con, float lower, float upper);
extern void RB_constraint_set_limits_piston(rbConstraint *con, float lin_lower, float lin_upper, float ang_lower, float ang_upper);
extern void RB_constraint_set_limits_6dof(rbConstraint *con, int axis, float lower, float upper);
/* 6dof spring specific */
extern void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, int axis, float stiffness);
extern void RB_constraint_set_damping_6dof_spring(rbConstraint *con, int axis, float damping);
extern void RB_constraint_set_spring_6dof_spring(rbConstraint *con, int axis, int enable);
extern void RB_constraint_set_equilibrium_6dof_spring(rbConstraint *con);
/* motors */
extern void RB_constraint_set_enable_motor(rbConstraint *con, int enable_lin, int enable_ang);
extern void RB_constraint_set_max_impulse_motor(rbConstraint *con, float max_impulse_lin, float max_impulse_ang);
extern void RB_constraint_set_target_velocity_motor(rbConstraint *con, float velocity_lin, float velocity_ang);
/* Set number of constraint solver iterations made per step, this overrided world setting
* To use default set it to -1 */
extern void RB_constraint_set_solver_iterations(rbConstraint *con, int num_solver_iterations);
/* Set breaking impulse threshold, if constraint shouldn't break it can be set to FLT_MAX */
extern void RB_constraint_set_breaking_threshold(rbConstraint *con, float threshold);
/* ********************************** */
#ifdef __cplusplus
}
#endif
#endif /* __RB_API_H__ */
Reference in New Issue View Git Blame Copy Permalink