106 if (object->rigidbody_constraint) {
295 if (rigidbody_world !=
NULL) {
296 bool need_objects_update =
false;
297 bool need_constraints_update =
false;
302 need_objects_update =
true;
308 need_constraints_update =
true;
313 (need_objects_update || need_constraints_update)) {
317 if (need_objects_update) {
320 if (need_constraints_update) {
366 mesh = rigidbody_get_mesh(ob);
371 CLOG_ERROR(&
LOG,
"cannot make Convex Hull collision shape for non-Mesh object");
378 CLOG_ERROR(&
LOG,
"no vertices to define Convex Hull collision shape with");
399 mesh = rigidbody_get_mesh(ob);
413 if ((totvert == 0) || (tottri == 0)) {
415 &
LOG,
"no geometry data converted for Mesh Collision Shape (ob = %s)", ob->
id.
name + 2);
429 if (mvert && looptri) {
430 for (i = 0; i < tottri; i++) {
435 vtri[0] = mloop[lt->
tri[0]].
v;
436 vtri[1] = mloop[lt->
tri[1]].
v;
437 vtri[2] = mloop[lt->
tri[2]].
v;
463 CLOG_ERROR(&
LOG,
"cannot make Triangular Mesh collision shape for non-Mesh object");
476 float size[3] = {1.0f, 1.0f, 1.0f};
479 float capsule_height;
480 float hull_margin = 0.0f;
481 bool can_embed =
true;
515 switch (rbo->
shape) {
525 capsule_height = (
height - radius) * 2.0f;
542 new_shape = rigidbody_get_shape_convexhull_from_mesh(ob, hull_margin, &can_embed);
544 rbo->
margin = (can_embed && has_volume) ?
550 new_shape = rigidbody_get_shape_trimesh_from_mesh(ob);
555 float loc[3],
rot[4];
559 if (childObject->parent == ob) {
560 childShape = rigidbody_validate_sim_shape_helper(rbw, childObject);
573 if (new_shape ==
NULL) {
607 new_shape = rigidbody_validate_sim_shape_helper(rbw, ob);
624 float size[3] = {1.0f, 1.0f, 1.0f};
650 switch (rbo->
shape) {
656 volume = 4.0f / 3.0f * (
float)
M_PI * radius * radius * radius;
672 Mesh *
mesh = rigidbody_get_mesh(ob);
675 int totvert, tottri = 0;
689 if (totvert > 0 && tottri > 0) {
692 volume *=
fabsf(volume_scale);
714 float size[3] = {1.0f, 1.0f, 1.0f};
729 switch (rbo->
shape) {
742 r_center[2] = -0.25f *
height;
748 Mesh *
mesh = rigidbody_get_mesh(ob);
765 if (totvert > 0 && tottri > 0) {
798 rigidbody_validate_sim_shape(rbw, ob,
true);
856 static void rigidbody_constraint_init_spring(
RigidBodyCon *rbc,
886 static void rigidbody_constraint_set_limits(
RigidBodyCon *rbc,
1038 rigidbody_constraint_init_spring(rbc,
1050 rigidbody_constraint_init_spring(rbc,
1197 rigidbody_update_ob_array(rbw_copy);
1359 if (object->type !=
OB_MESH || object->rigidbody_object !=
NULL) {
1374 if (object->rigidbody_constraint !=
NULL) {
1480 rigidbody_add_object_to_scene(bmain,
scene, ob);
1488 rigidbody_add_constraint_to_scene(bmain,
scene, ob);
1502 if (!rigidbody_add_object_to_scene(bmain,
scene, ob)) {
1541 if (obt && obt->rigidbody_constraint) {
1542 rbc = obt->rigidbody_constraint;
1543 if (rbc->
ob1 == ob) {
1547 if (rbc->
ob2 == ob) {
1649 float adj_gravity[3];
1665 rigidbody_update_ob_array(rbw);
1697 float new_scale[3], old_scale[3];
1743 rigidbody_update_sim_world(
scene, rbw);
1773 "CoW object part of RBW object collection without RB object data, "
1774 "should not happen.\n");
1780 rigidbody_validate_sim_object(rbw, ob,
true);
1793 rigidbody_validate_sim_object(rbw, ob,
true);
1796 rigidbody_validate_sim_object(rbw, ob,
false);
1801 rigidbody_validate_sim_shape(rbw, ob,
true);
1813 rigidbody_update_sim_ob(
depsgraph, ob, rbo);
1831 "CoW object part of RBW constraints collection without RB constraint data, "
1832 "should not happen.\n");
1837 rigidbody_validate_sim_constraint(rbw, ob,
true);
1845 rigidbody_validate_sim_constraint(rbw, ob,
true);
1848 rigidbody_validate_sim_constraint(rbw, ob,
false);
1856 typedef struct KinematicSubstepData {
1865 } KinematicSubstepData;
1880 float loc[3],
rot[4], scale[3];
1882 KinematicSubstepData *
data =
MEM_callocN(
sizeof(KinematicSubstepData),
1883 "RigidBody Substep data");
1909 return substep_targets;
1912 static void rigidbody_update_kinematic_obj_substep(
ListBase *substep_targets,
float interp_fac)
1915 KinematicSubstepData *
data = link->data;
1918 float loc[3],
rot[4];
1926 if (!
data->scale_changed) {
1967 float eff_force[3] = {0.0f, 0.0f, 0.0f};
1968 float eff_loc[3], eff_vel[3];
1984 printf(
"\tapplying force (%f,%f,%f) to '%s'\n",
1997 printf(
"\tno forces to apply to '%s'\n", ob->
id.
name + 2);
2008 static void rigidbody_free_substep_data(
ListBase *substep_targets)
2011 KinematicSubstepData *
data = link->data;
2056 float mat[4][4], size_mat[4][4],
size[3];
2075 Object *ob,
float loc[3],
float rot[3],
float quat[4],
float rotAxis[3],
float rotAngle)
2084 if (correct_delta) {
2092 if (correct_delta) {
2108 if (correct_delta) {
2122 if (correct_delta) {
2157 int startframe, endframe;
2180 if (ctime == startframe + 1 && rbw->
ltime == startframe) {
2196 int startframe, endframe;
2202 if (ctime <= startframe) {
2203 rbw->
ltime = startframe;
2207 if (ctime > endframe) {
2216 rigidbody_update_ob_array(rbw);
2242 const float frame_diff = ctime - rbw->
ltime;
2248 ListBase kinematic_substep_targets = rigidbody_create_substep_data(rbw);
2251 float cur_interp_val = interp_step;
2258 rigidbody_update_kinematic_obj_substep(&kinematic_substep_targets, cur_interp_val);
2260 cur_interp_val += interp_step;
2262 rigidbody_free_substep_data(&kinematic_substep_targets);
2264 rigidbody_update_simulation_post_step(
depsgraph, rbw);
2278 # if defined(__GNUC__) || defined(__clang__)
2279 # pragma GCC diagnostic push
2280 # pragma GCC diagnostic ignored "-Wunused-parameter"
2349 Object *ob,
float loc[3],
float rot[3],
float quat[4],
float rotAxis[3],
float rotAngle)
2375 # if defined(__GNUC__) || defined(__clang__)
2376 # pragma GCC diagnostic pop
typedef float(TangentPoint)[2]
struct Collection * BKE_collection_add(struct Main *bmain, struct Collection *parent, const char *name)
#define FOREACH_COLLECTION_OBJECT_RECURSIVE_END
bool BKE_collection_object_add(struct Main *bmain, struct Collection *collection, struct Object *ob)
bool BKE_collection_has_object(struct Collection *collection, const struct Object *ob)
bool BKE_collection_object_remove(struct Main *bmain, struct Collection *collection, struct Object *object, bool free_us)
#define FOREACH_COLLECTION_OBJECT_RECURSIVE_BEGIN(_collection, _object)
void BKE_effectors_free(struct ListBase *lb)
void BKE_effectors_apply(struct ListBase *effectors, struct ListBase *colliders, struct EffectorWeights *weights, struct EffectedPoint *point, float *force, float *wind_force, float *impulse)
struct EffectorWeights * BKE_effector_add_weights(struct Collection *collection)
void pd_point_from_loc(struct Scene *scene, float *loc, float *vel, int index, struct EffectedPoint *point)
struct ListBase * BKE_effectors_create(struct Depsgraph *depsgraph, struct Object *ob_src, struct ParticleSystem *psys_src, struct EffectorWeights *weights, bool use_rotation)
struct Base * BKE_view_layer_base_find(struct ViewLayer *view_layer, struct Object *ob)
@ LIB_ID_COPY_SET_COPIED_ON_WRITE
@ LIB_ID_CREATE_NO_USER_REFCOUNT
@ LIB_ID_CREATE_NO_DEG_TAG
@ LIB_ID_COPY_RIGID_BODY_NO_COLLECTION_HANDLING
void id_us_plus(struct ID *id)
void BKE_mesh_calc_volume(const struct MVert *mverts, int mverts_num, const struct MLoopTri *mlooptri, int looptri_num, const struct MLoop *mloop, float *r_volume, float r_center[3])
const struct MLoopTri * BKE_mesh_runtime_looptri_ensure(const struct Mesh *mesh)
General operations, lookup, etc. for blender objects.
void BKE_object_dimensions_get(struct Object *ob, float r_vec[3])
struct Mesh * BKE_object_get_evaluated_mesh(const struct Object *object)
const struct BoundBox * BKE_object_boundbox_get(struct Object *ob)
void BKE_object_matrix_local_get(struct Object *ob, float r_mat[4][4])
void BKE_ptcache_id_time(PTCacheID *pid, struct Scene *scene, float cfra, int *startframe, int *endframe, float *timescale)
void BKE_ptcache_id_from_rigidbody(PTCacheID *pid, struct Object *ob, struct RigidBodyWorld *rbw)
struct PointCache * BKE_ptcache_copy_list(struct ListBase *ptcaches_new, const struct ListBase *ptcaches_old, int flag)
void BKE_ptcache_validate(struct PointCache *cache, int framenr)
int BKE_ptcache_id_reset(struct Scene *scene, PTCacheID *id, int mode)
struct PointCache * BKE_ptcache_add(struct ListBase *ptcaches)
int BKE_ptcache_read(PTCacheID *pid, float cfra, bool no_extrapolate_old)
int BKE_ptcache_write(PTCacheID *pid, unsigned int cfra)
void BKE_ptcache_free_list(struct ListBase *ptcaches)
#define PTCACHE_RESET_OUTDATED
#define PTCACHE_READ_EXACT
void BKE_report(ReportList *reports, eReportType type, const char *message)
API for Blender-side Rigid Body stuff.
#define RBO_GET_MASS(rbo)
#define RBO_GET_MARGIN(rbo)
void(* RigidbodyWorldIDFunc)(struct RigidBodyWorld *rbw, struct ID **idpoin, void *userdata, int cb_flag)
bool BKE_scene_check_rigidbody_active(const struct Scene *scene)
bool BKE_scene_object_find(struct Scene *scene, struct Object *ob)
#define BLI_assert_msg(a, msg)
void BLI_kdtree_nd_() free(KDTree *tree)
#define LISTBASE_FOREACH(type, var, list)
struct LinkData * BLI_genericNodeN(void *data)
void void BLI_freelistN(struct ListBase *listbase) ATTR_NONNULL(1)
void BLI_addtail(struct ListBase *listbase, void *vlink) ATTR_NONNULL(1)
MINLINE float max_fff(float a, float b, float c)
MINLINE int compare_ff_relative(float a, float b, float max_diff, int max_ulps)
void mul_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4])
void mat4_decompose(float loc[3], float quat[4], float size[3], const float wmat[4][4])
void size_to_mat4(float R[4][4], const float size[3])
void copy_m4_m4(float m1[4][4], const float m2[4][4])
void mat4_to_loc_quat(float loc[3], float quat[4], const float wmat[4][4])
void mat4_to_size(float size[3], const float M[4][4])
float mat4_to_volume_scale(const float M[4][4])
void interp_qt_qtqt(float q[4], const float a[4], const float b[4], float t)
void axis_angle_to_quat(float r[4], const float axis[3], float angle)
float normalize_qt(float q[4])
void mul_qt_qtqt(float q[4], const float a[4], const float b[4])
void eulO_to_quat(float quat[4], const float eul[3], short order)
void copy_qt_qt(float q[4], const float a[4])
void quat_to_mat4(float mat[4][4], const float q[4])
MINLINE void copy_v4_v4(float r[4], const float a[4])
MINLINE void mul_v3_fl(float r[3], float f)
MINLINE void copy_v3_v3(float r[3], const float a[3])
MINLINE bool is_zero_v3(const float a[3]) ATTR_WARN_UNUSED_RESULT
void interp_v3_v3v3(float r[3], const float a[3], const float b[3], float t)
MINLINE bool compare_size_v3v3(const float a[3], const float b[3], float limit) ATTR_WARN_UNUSED_RESULT
MINLINE void zero_v3(float r[3])
MINLINE void add_v3_v3(float r[3], const float a[3])
#define CLOG_ERROR(clg_ref,...)
#define CLOG_WARN(clg_ref,...)
struct Depsgraph Depsgraph
bool DEG_is_active(const struct Depsgraph *depsgraph)
void DEG_debug_print_eval_time(struct Depsgraph *depsgraph, const char *function_name, const char *object_name, const void *object_address, float time)
void DEG_id_tag_update(struct ID *id, int flag)
void DEG_relations_tag_update(struct Main *bmain)
float DEG_get_ctime(const Depsgraph *graph)
struct ViewLayer * DEG_get_input_view_layer(const Depsgraph *graph)
ID and Library types, which are fundamental for sdna.
@ ID_RECALC_COPY_ON_WRITE
@ LIB_TAG_COPIED_ON_WRITE
#define ID_REAL_USERS(id)
Object groups, one object can be in many groups at once.
Object is a sort of wrapper for general info.
Types and defines for representing Rigid Body entities.
@ RBW_FLAG_USE_SPLIT_IMPULSE
@ RBO_FLAG_START_DEACTIVATED
@ RBO_FLAG_NEEDS_VALIDATE
@ RBO_FLAG_USE_DEACTIVATION
@ RBC_FLAG_NEEDS_VALIDATE
@ RBC_FLAG_USE_SPRING_ANG_Y
@ RBC_FLAG_USE_SPRING_ANG_X
@ RBC_FLAG_USE_LIMIT_ANG_X
@ RBC_FLAG_USE_LIMIT_LIN_Y
@ RBC_FLAG_USE_LIMIT_ANG_Y
@ RBC_FLAG_DISABLE_COLLISIONS
@ RBC_FLAG_OVERRIDE_SOLVER_ITERATIONS
@ RBC_FLAG_USE_LIMIT_LIN_X
@ RBC_FLAG_USE_SPRING_ANG_Z
@ RBC_FLAG_USE_LIMIT_LIN_Z
@ RBC_FLAG_USE_LIMIT_ANG_Z
#define PHYS_GLOBAL_GRAVITY
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei height
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum type
Read Guarded memory(de)allocation.
Rigid Body API for interfacing with external Physics Engines.
struct rbConstraint rbConstraint
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
const Depsgraph * depsgraph
SyclQueue void void size_t num_bytes void
void(* MEM_freeN)(void *vmemh)
void *(* MEM_dupallocN)(const void *vmemh)
void *(* MEM_callocN)(size_t len, const char *str)
void RB_constraint_set_max_impulse_motor(rbConstraint *con, float max_impulse_lin, float max_impulse_ang)
rbConstraint * RB_constraint_new_point(float pivot[3], rbRigidBody *rb1, rbRigidBody *rb2)
void RB_dworld_set_solver_iterations(rbDynamicsWorld *world, int num_solver_iterations)
void RB_dworld_add_body(rbDynamicsWorld *world, rbRigidBody *object, int col_groups)
void RB_dworld_set_split_impulse(rbDynamicsWorld *world, int split_impulse)
rbCollisionShape * RB_shape_new_convex_hull(float *verts, int stride, int count, float margin, bool *can_embed)
rbCollisionShape * RB_shape_new_cone(float radius, float height)
rbCollisionShape * RB_shape_new_compound()
void RB_constraint_set_stiffness_6dof_spring(rbConstraint *con, int axis, float stiffness)
void RB_body_set_restitution(rbRigidBody *object, float value)
void RB_body_set_friction(rbRigidBody *object, float value)
void RB_body_set_mass(rbRigidBody *object, float value)
void RB_body_set_activation_state(rbRigidBody *object, int use_deactivation)
rbCollisionShape * RB_shape_new_box(float x, float y, float z)
void RB_shape_trimesh_update(rbCollisionShape *shape, float *vertices, int num_verts, int vert_stride, const float min[3], const float max[3])
void RB_dworld_add_constraint(rbDynamicsWorld *world, rbConstraint *con, int disable_collisions)
void RB_constraint_set_damping_6dof_spring(rbConstraint *con, int axis, float damping)
rbConstraint * RB_constraint_new_motor(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
rbConstraint * RB_constraint_new_piston(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
void RB_body_get_linear_velocity(rbRigidBody *object, float v_out[3])
void RB_constraint_set_enabled(rbConstraint *con, int enabled)
rbConstraint * RB_constraint_new_6dof_spring(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
void RB_constraint_set_stiffness_6dof_spring2(rbConstraint *con, int axis, float stiffness)
void RB_constraint_set_equilibrium_6dof_spring(rbConstraint *con)
void RB_body_apply_central_force(rbRigidBody *object, const float v_in[3])
void RB_constraint_set_limits_slider(rbConstraint *con, float lower, float upper)
rbCollisionShape * RB_shape_new_sphere(float radius)
void RB_constraint_set_breaking_threshold(rbConstraint *con, float threshold)
rbConstraint * RB_constraint_new_hinge(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
rbConstraint * RB_constraint_new_fixed(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
rbDynamicsWorld * RB_dworld_new(const float gravity[3])
void RB_constraint_set_enable_motor(rbConstraint *con, int enable_lin, int enable_ang)
void RB_body_get_orientation(rbRigidBody *object, float v_out[4])
void RB_dworld_set_gravity(rbDynamicsWorld *world, const float g_in[3])
void RB_compound_add_child_shape(rbCollisionShape *parentShape, rbCollisionShape *shape, const float loc[3], const float rot[4])
rbCollisionShape * RB_shape_new_gimpact_mesh(rbMeshData *mesh)
void RB_trimesh_add_triangle_indices(rbMeshData *mesh, int num, int index0, int index1, int index2)
void RB_trimesh_add_vertices(rbMeshData *mesh, float *vertices, int num_verts, int vert_stride)
void RB_constraint_set_limits_6dof_spring2(rbConstraint *con, int axis, float lower, float upper)
void RB_constraint_set_solver_iterations(rbConstraint *con, int num_solver_iterations)
void RB_constraint_set_damping_6dof_spring2(rbConstraint *con, int axis, float damping)
void RB_body_set_collision_shape(rbRigidBody *object, rbCollisionShape *shape)
void RB_body_set_scale(rbRigidBody *object, const float scale[3])
void RB_body_set_damping(rbRigidBody *object, float linear, float angular)
void RB_constraint_set_spring_6dof_spring(rbConstraint *con, int axis, int enable)
void RB_shape_set_margin(rbCollisionShape *shape, float value)
void RB_body_deactivate(rbRigidBody *object)
rbRigidBody * RB_body_new(rbCollisionShape *shape, const float loc[3], const float rot[4])
void RB_body_set_kinematic_state(rbRigidBody *object, int kinematic)
void RB_trimesh_finish(rbMeshData *mesh)
void RB_body_get_position(rbRigidBody *object, float v_out[3])
rbCollisionShape * RB_shape_new_cylinder(float radius, float height)
rbConstraint * RB_constraint_new_6dof_spring2(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
void RB_constraint_set_limits_piston(rbConstraint *con, float lin_lower, float lin_upper, float ang_lower, float ang_upper)
void RB_constraint_set_limits_6dof(rbConstraint *con, int axis, float lower, float upper)
void RB_body_set_loc_rot(rbRigidBody *object, const float loc[3], const float rot[4])
void RB_constraint_set_limits_hinge(rbConstraint *con, float lower, float upper)
rbMeshData * RB_trimesh_data_new(int num_tris, int num_verts)
void RB_constraint_set_target_velocity_motor(rbConstraint *con, float velocity_lin, float velocity_ang)
rbCollisionShape * RB_shape_new_trimesh(rbMeshData *mesh)
void RB_body_activate(rbRigidBody *object)
void RB_body_set_linear_factor(rbRigidBody *object, float x, float y, float z)
void RB_body_set_sleep_thresh(rbRigidBody *object, float linear, float angular)
rbConstraint * RB_constraint_new_slider(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
void RB_dworld_step_simulation(rbDynamicsWorld *world, float timeStep, int maxSubSteps, float timeSubStep)
void RB_constraint_set_equilibrium_6dof_spring2(rbConstraint *con)
void RB_body_get_scale(rbRigidBody *object, float v_out[3])
rbConstraint * RB_constraint_new_6dof(float pivot[3], float orn[4], rbRigidBody *rb1, rbRigidBody *rb2)
void RB_constraint_set_spring_6dof_spring2(rbConstraint *con, int axis, int enable)
rbCollisionShape * RB_shape_new_capsule(float radius, float height)
void RB_body_set_angular_factor(rbRigidBody *object, float x, float y, float z)
struct RigidBodyWorld * BKE_rigidbody_get_world(Scene *scene)
void BKE_rigidbody_free_world(Scene *scene)
void BKE_rigidbody_validate_sim_world(Scene *scene, RigidBodyWorld *rbw, bool rebuild)
void BKE_rigidbody_object_sync_transforms(Depsgraph *depsgraph, Scene *scene, Object *ob)
void BKE_rigidbody_objects_collection_validate(Main *bmain, Scene *scene, RigidBodyWorld *rbw)
void BKE_rigidbody_remove_constraint(Main *bmain, Scene *scene, Object *ob, const bool free_us)
static void RB_dworld_remove_constraint(void *UNUSED(world), void *UNUSED(con))
void BKE_rigidbody_main_collection_object_add(Main *bmain, Collection *collection, Object *object)
void BKE_rigidbody_object_copy(Main *bmain, Object *ob_dst, const Object *ob_src, const int flag)
void BKE_rigidbody_sync_transforms(RigidBodyWorld *rbw, Object *ob, float ctime)
void BKE_rigidbody_cache_reset(RigidBodyWorld *rbw)
void BKE_rigidbody_free_constraint(Object *ob)
void BKE_rigidbody_calc_center_of_mass(Object *ob, float r_center[3])
static void RB_dworld_delete(void *UNUSED(world))
void BKE_rigidbody_remove_object(struct Main *bmain, Scene *scene, Object *ob, const bool free_us)
void BKE_rigidbody_rebuild_world(Depsgraph *depsgraph, Scene *scene, float ctime)
bool BKE_rigidbody_add_object(Main *bmain, Scene *scene, Object *ob, int type, ReportList *reports)
void BKE_rigidbody_eval_simulation(Depsgraph *depsgraph, Scene *scene)
static void RB_body_delete(void *UNUSED(body))
bool BKE_rigidbody_is_affected_by_simulation(Object *ob)
static void RB_shape_delete(void *UNUSED(shape))
void BKE_rigidbody_world_id_loop(struct RigidBodyWorld *rbw, RigidbodyWorldIDFunc func, void *userdata)
static void RB_constraint_delete(void *UNUSED(con))
void BKE_rigidbody_ensure_local_object(Main *bmain, Object *ob)
bool BKE_rigidbody_check_sim_running(RigidBodyWorld *rbw, float ctime)
void BKE_rigidbody_free_object(Object *ob, RigidBodyWorld *rbw)
void BKE_rigidbody_rebuild_sim(Depsgraph *depsgraph, Scene *scene)
struct RigidBodyWorld * BKE_rigidbody_world_copy(RigidBodyWorld *rbw, const int flag)
void BKE_rigidbody_world_groups_relink(struct RigidBodyWorld *rbw)
struct RigidBodyCon * BKE_rigidbody_create_constraint(Scene *scene, Object *ob, short type)
static void RB_dworld_remove_body(void *UNUSED(world), void *UNUSED(body))
struct RigidBodyOb * BKE_rigidbody_create_object(Scene *scene, Object *ob, short type)
void BKE_rigidbody_do_simulation(Depsgraph *depsgraph, Scene *scene, float ctime)
void BKE_rigidbody_calc_volume(Object *ob, float *r_vol)
void BKE_rigidbody_constraints_collection_validate(Scene *scene, RigidBodyWorld *rbw)
struct RigidBodyWorld * BKE_rigidbody_create_world(Scene *scene)
void BKE_rigidbody_aftertrans_update(Object *ob, float loc[3], float rot[3], float quat[4], float rotAxis[3], float rotAngle)
struct Collection * group
struct MLoopTri_Store looptris
struct Mesh * mesh_deform_eval
struct RigidBodyOb * rigidbody_object
struct RigidBodyCon * rigidbody_constraint
float motor_lin_target_velocity
float motor_ang_max_impulse
float spring_stiffness_ang_z
float motor_ang_target_velocity
short num_solver_iterations
float spring_damping_ang_z
float spring_damping_ang_y
float motor_lin_max_impulse
float spring_damping_ang_x
float spring_stiffness_ang_y
void * physics_constraint
float spring_stiffness_ang_x
struct RigidBodyOb_Shared * shared
struct PointCache * pointcache
struct Collection * constraints
short num_solver_iterations
struct Collection * group
struct RigidBodyWorld_Shared * shared
struct EffectorWeights * effector_weights
struct Collection * master_collection
struct PhysicsSettings physics_settings
struct RigidBodyWorld * rigidbody_world