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Use the newer version of the bullet 6dof spring constraint for rigidbody. 

The new constraint is slower and not backward compatible, but should
be better, especially in the damping side. The new constraint also
has a different valid range of the damping coefficient, and a limit
implementation that bounces instead of making the object stationary.

Reviewers: sergof

Differential Revision: https://developer.blender.org/D3125
This commit is contained in:
Alexander Gavrilov 2018-03-31 12:08:16 +03:00
parent 7e39d151d8
commit 26a283deae
4 changed files with 68 additions and 55 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
intern/rigidbody/RBI_api.h
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@ -299,6 +299,7 @@ void RB_constraint_set_limits_piston(rbConstraint *con, float lin_lower, float l
void RB_constraint_set_limits_6dof(rbConstraint *con, int axis, float lower, float upper);
/* 6dof spring specific */
void RB_constraint_set_limits_6dof_spring(rbConstraint *con, int axis, float lower, float upper);
void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, int axis, float stiffness);
void RB_constraint_set_damping_6dof_spring(rbConstraint *con, int axis, float damping);
void RB_constraint_set_spring_6dof_spring(rbConstraint *con, int axis, int enable);

28
intern/rigidbody/rb_bullet_api.cpp
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@ -954,7 +954,7 @@ rbConstraint *RB_constraint_new_6dof_spring(float pivot[3], float orn[4], rbRigi
make_constraint_transforms(transform1, transform2, body1, body2, pivot, orn);
btTypedConstraint *con = new btGeneric6DofSpringConstraint(*body1, *body2, transform1, transform2, true);
btTypedConstraint *con = new btGeneric6DofSpring2Constraint(*body1, *body2, transform1, transform2);
return (rbConstraint *)con;
}
@ -1034,32 +1034,38 @@ void RB_constraint_set_limits_6dof(rbConstraint *con, int axis, float lower, flo
constraint->setLimit(axis, lower, upper);
}
void RB_constraint_set_limits_6dof_spring(rbConstraint *con, int axis, float lower, float upper)
{
btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con);
constraint->setLimit(axis, lower, upper);
}
void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, int axis, float stiffness)
{
btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con);
btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con);
constraint->setStiffness(axis, stiffness);
}
void RB_constraint_set_damping_6dof_spring(rbConstraint *con, int axis, float damping)
{
btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con);
// invert damping range so that 0 = no damping
constraint->setDamping(axis, 1.0f - damping);
btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con);
constraint->setDamping(axis, damping);
}
void RB_constraint_set_spring_6dof_spring(rbConstraint *con, int axis, int enable)
{
btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con);
btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con);
constraint->enableSpring(axis, enable);
}
void RB_constraint_set_equilibrium_6dof_spring(rbConstraint *con)
{
btGeneric6DofSpringConstraint *constraint = reinterpret_cast<btGeneric6DofSpringConstraint*>(con);
btGeneric6DofSpring2Constraint *constraint = reinterpret_cast<btGeneric6DofSpring2Constraint*>(con);
constraint->setEquilibriumPoint();
}

70
source/blender/blenkernel/intern/rigidbody.c
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@ -700,6 +700,39 @@ static void rigidbody_validate_sim_object(RigidBodyWorld *rbw, Object *ob, bool
/* --------------------- */
static void rigidbody_constraint_set_limits(RigidBodyCon *rbc, void (*set_limits)(rbConstraint*,int,float,float))
{
if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_X)
set_limits(rbc->physics_constraint, RB_LIMIT_LIN_X, rbc->limit_lin_x_lower, rbc->limit_lin_x_upper);
else
set_limits(rbc->physics_constraint, RB_LIMIT_LIN_X, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_Y)
set_limits(rbc->physics_constraint, RB_LIMIT_LIN_Y, rbc->limit_lin_y_lower, rbc->limit_lin_y_upper);
else
set_limits(rbc->physics_constraint, RB_LIMIT_LIN_Y, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_Z)
set_limits(rbc->physics_constraint, RB_LIMIT_LIN_Z, rbc->limit_lin_z_lower, rbc->limit_lin_z_upper);
else
set_limits(rbc->physics_constraint, RB_LIMIT_LIN_Z, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_X)
set_limits(rbc->physics_constraint, RB_LIMIT_ANG_X, rbc->limit_ang_x_lower, rbc->limit_ang_x_upper);
else
set_limits(rbc->physics_constraint, RB_LIMIT_ANG_X, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_Y)
set_limits(rbc->physics_constraint, RB_LIMIT_ANG_Y, rbc->limit_ang_y_lower, rbc->limit_ang_y_upper);
else
set_limits(rbc->physics_constraint, RB_LIMIT_ANG_Y, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_Z)
set_limits(rbc->physics_constraint, RB_LIMIT_ANG_Z, rbc->limit_ang_z_lower, rbc->limit_ang_z_upper);
else
set_limits(rbc->physics_constraint, RB_LIMIT_ANG_Z, 0.0f, -1.0f);
}
/**
* Create physics sim representation of constraint given rigid body constraint settings
*
@ -818,40 +851,13 @@ static void rigidbody_validate_sim_constraint(RigidBodyWorld *rbw, Object *ob, b
RB_constraint_set_damping_6dof_spring(rbc->physics_constraint, RB_LIMIT_ANG_Z, rbc->spring_damping_ang_z);
RB_constraint_set_equilibrium_6dof_spring(rbc->physics_constraint);
ATTR_FALLTHROUGH;
rigidbody_constraint_set_limits(rbc, RB_constraint_set_limits_6dof_spring);
break;
case RBC_TYPE_6DOF:
if (rbc->type == RBC_TYPE_6DOF) /* a litte awkward but avoids duplicate code for limits */
rbc->physics_constraint = RB_constraint_new_6dof(loc, rot, rb1, rb2);
rbc->physics_constraint = RB_constraint_new_6dof(loc, rot, rb1, rb2);
if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_X)
RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_LIN_X, rbc->limit_lin_x_lower, rbc->limit_lin_x_upper);
else
RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_LIN_X, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_Y)
RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_LIN_Y, rbc->limit_lin_y_lower, rbc->limit_lin_y_upper);
else
RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_LIN_Y, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_LIN_Z)
RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_LIN_Z, rbc->limit_lin_z_lower, rbc->limit_lin_z_upper);
else
RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_LIN_Z, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_X)
RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_ANG_X, rbc->limit_ang_x_lower, rbc->limit_ang_x_upper);
else
RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_ANG_X, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_Y)
RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_ANG_Y, rbc->limit_ang_y_lower, rbc->limit_ang_y_upper);
else
RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_ANG_Y, 0.0f, -1.0f);
if (rbc->flag & RBC_FLAG_USE_LIMIT_ANG_Z)
RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_ANG_Z, rbc->limit_ang_z_lower, rbc->limit_ang_z_upper);
else
RB_constraint_set_limits_6dof(rbc->physics_constraint, RB_LIMIT_ANG_Z, 0.0f, -1.0f);
rigidbody_constraint_set_limits(rbc, RB_constraint_set_limits_6dof);
break;
case RBC_TYPE_MOTOR:
rbc->physics_constraint = RB_constraint_new_motor(loc, rot, rb1, rb2);

24
source/blender/makesrna/intern/rna_rigidbody.c
View File

@ -1293,49 +1293,49 @@ static void rna_def_rigidbody_constraint(BlenderRNA *brna)
RNA_def_property_ui_text(prop, "Z Angle Stiffness", "Stiffness on the Z rotational axis");
RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
prop = RNA_def_property(srna, "spring_damping_x", PROP_FLOAT, PROP_FACTOR);
prop = RNA_def_property(srna, "spring_damping_x", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "spring_damping_x");
RNA_def_property_range(prop, 0.0f, 1.0f);
RNA_def_property_range(prop, 0.0f, FLT_MAX);
RNA_def_property_float_default(prop, 0.5f);
RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyCon_spring_damping_x_set", NULL);
RNA_def_property_ui_text(prop, "Damping X", "Damping on the X axis");
RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
prop = RNA_def_property(srna, "spring_damping_y", PROP_FLOAT, PROP_FACTOR);
prop = RNA_def_property(srna, "spring_damping_y", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "spring_damping_y");
RNA_def_property_range(prop, 0.0f, 1.0f);
RNA_def_property_range(prop, 0.0f, FLT_MAX);
RNA_def_property_float_default(prop, 0.5f);
RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyCon_spring_damping_y_set", NULL);
RNA_def_property_ui_text(prop, "Damping Y", "Damping on the Y axis");
RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
prop = RNA_def_property(srna, "spring_damping_z", PROP_FLOAT, PROP_FACTOR);
prop = RNA_def_property(srna, "spring_damping_z", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "spring_damping_z");
RNA_def_property_range(prop, 0.0f, 1.0f);
RNA_def_property_range(prop, 0.0f, FLT_MAX);
RNA_def_property_float_default(prop, 0.5f);
RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyCon_spring_damping_z_set", NULL);
RNA_def_property_ui_text(prop, "Damping Z", "Damping on the Z axis");
RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
prop = RNA_def_property(srna, "spring_damping_ang_x", PROP_FLOAT, PROP_FACTOR);
prop = RNA_def_property(srna, "spring_damping_ang_x", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "spring_damping_ang_x");
RNA_def_property_range(prop, 0.0f, 1.0f);
RNA_def_property_range(prop, 0.0f, FLT_MAX);
RNA_def_property_float_default(prop, 0.5f);
RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyCon_spring_damping_ang_x_set", NULL);
RNA_def_property_ui_text(prop, "Damping X Angle", "Damping on the X rotational axis");
RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
prop = RNA_def_property(srna, "spring_damping_ang_y", PROP_FLOAT, PROP_FACTOR);
prop = RNA_def_property(srna, "spring_damping_ang_y", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "spring_damping_ang_y");
RNA_def_property_range(prop, 0.0f, 1.0f);
RNA_def_property_range(prop, 0.0f, FLT_MAX);
RNA_def_property_float_default(prop, 0.5f);
RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyCon_spring_damping_ang_y_set", NULL);
RNA_def_property_ui_text(prop, "Damping Y Angle", "Damping on the Y rotational axis");
RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
prop = RNA_def_property(srna, "spring_damping_ang_z", PROP_FLOAT, PROP_FACTOR);
prop = RNA_def_property(srna, "spring_damping_ang_z", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "spring_damping_ang_z");
RNA_def_property_range(prop, 0.0f, 1.0f);
RNA_def_property_range(prop, 0.0f, FLT_MAX);
RNA_def_property_float_default(prop, 0.5f);
RNA_def_property_float_funcs(prop, NULL, "rna_RigidBodyCon_spring_damping_ang_z_set", NULL);
RNA_def_property_ui_text(prop, "Damping Z Angle", "Damping on the Z rotational axis");