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blender/intern/rigidbody/RBI_api.h
Sergej Reich c82213359a rigidbody: Add motor constraint 
It's implemented as a separate constraint instead of adding properties
to the existing constraints.
Motors only apply linear and angular impulses and don't limit the
movement of rigid bodies, so it's best to use them in conjunction with
other constraints to limit the degrees of freedom.

Thanks to Markus Kasten (markus111) for the initial patch.
2013-02-23 23:04:07 +00:00

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/*
* ***** 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 */
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__ */
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