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2018-06-28T18:43:37Z

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wiki>Kazanbas: updated depsgraph integration text and pseudo-code as corrected by Brecht

2009-11-10T16:35:14Z

updated depsgraph integration text and pseudo-code as corrected by Brecht

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=Bullet Integration Proposal=



==Integration==

===Note===

This design is by Brecht, I only ask him questions and write code :) (Arystan).

===Groups===

Rigid bodies are organized into groups. This facilitates playback
speed and user control. For example, one can 'mute' simulation in one
group for faster playback in another group. Grouping also allows to
have per-group physics settings and do per-group baking.

TODO: more about per-group physics settings.

===Depsgraph===

Regular transform evaluation order is slightly re-arranged to allow
rigid bodies to remain participating in parent-child and constraint
relationships while being driven by physics.

<strike>
Object transforms are evaluated as follows:

# evaluate transform on rigid bodies (according to flags set by DAG)
# perform physics simulation step
# evaluate transform on all the rest objects
</strike>

Here's the pseudocode (for scene_update):

<strike>
<pre>
for all physics groups:
if group is 'enabled':

for all objects in group:
object_handle_update();

# simulate physics in this group
rigidbody_group_step(group, time);

for all objects in scene:
object_handle_update();
</pre>
</strike>

The above is a bad method because it doesn't first update objects that rigid bodies depend on.
Brecht suggested the following method:

<pre>
for all physics groups:
for all objects in group:
physics group count++

for all objects in scene:
object_handle_update(object);

for all physics groups:
if object in group:
physics group count--
if physics group count == 0:
rigidbody_group_step(group, time);

</pre>

===Animation and Simulation Blending===

Later...

==Integration with Soft body, Cloth and Fluid==
This is the difficult part that I currently can't cope with. I can tackle this later when I better understand physics sim. internals.

==References==

* [http://bulletphysics.com/Bullet/BulletPhysics2.74_2.htm Bullet Physics SDK Manual]

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wiki>Kazanbas: updated depsgraph integration text and pseudo-code as corrected by Brecht

Yamyam: 1版をインポートしました