Fixed typo in function OVERLAY_angular_limits

While taking the weighted average of vector locations, the net normal
force was being used as the denominator. The correct value to use is
the sum of the magnitudes of all normal forces in the timestep.

intern/libmv/third_party/msinttypes/inttypes.h

@@ -29,277 +29,276 @@
 // 
 ///////////////////////////////////////////////////////////////////////////////
 
-#ifndef _MSC_VER // [
-#error "Use this header only with Microsoft Visual C++ compilers!"
-#endif // _MSC_VER ]
+#ifndef _MSC_VER  // [
+#  error "Use this header only with Microsoft Visual C++ compilers!"
+#endif  // _MSC_VER ]
 
-#ifndef _MSC_INTTYPES_H_ // [
-#define _MSC_INTTYPES_H_
+#ifndef _MSC_INTTYPES_H_  // [
+#  define _MSC_INTTYPES_H_
 
-#if _MSC_VER > 1000
-#pragma once
-#endif
+#  if _MSC_VER > 1000
+#    pragma once
+#  endif
 
-#include <stdint.h>
+#  include <stdint.h>
 
 // 7.8 Format conversion of integer types
 
 typedef struct {
-   intmax_t quot;
-   intmax_t rem;
+  intmax_t quot;
+  intmax_t rem;
 } imaxdiv_t;
 
 // 7.8.1 Macros for format specifiers
 
-#if !defined(__cplusplus) || defined(__STDC_FORMAT_MACROS) // [   See footnote 185 at page 198
+#  if !defined(__cplusplus) ||                                                 \
+      defined(__STDC_FORMAT_MACROS)  // [   See footnote 185 at page 198
 
 // The fprintf macros for signed integers are:
-#define PRId8       "d"
-#define PRIi8       "i"
-#define PRIdLEAST8  "d"
-#define PRIiLEAST8  "i"
-#define PRIdFAST8   "d"
-#define PRIiFAST8   "i"
+#    define PRId8 "d"
+#    define PRIi8 "i"
+#    define PRIdLEAST8 "d"
+#    define PRIiLEAST8 "i"
+#    define PRIdFAST8 "d"
+#    define PRIiFAST8 "i"
 
-#define PRId16       "hd"
-#define PRIi16       "hi"
-#define PRIdLEAST16  "hd"
-#define PRIiLEAST16  "hi"
-#define PRIdFAST16   "hd"
-#define PRIiFAST16   "hi"
+#    define PRId16 "hd"
+#    define PRIi16 "hi"
+#    define PRIdLEAST16 "hd"
+#    define PRIiLEAST16 "hi"
+#    define PRIdFAST16 "hd"
+#    define PRIiFAST16 "hi"
 
-#define PRId32       "I32d"
-#define PRIi32       "I32i"
-#define PRIdLEAST32  "I32d"
-#define PRIiLEAST32  "I32i"
-#define PRIdFAST32   "I32d"
-#define PRIiFAST32   "I32i"
+#    define PRId32 "I32d"
+#    define PRIi32 "I32i"
+#    define PRIdLEAST32 "I32d"
+#    define PRIiLEAST32 "I32i"
+#    define PRIdFAST32 "I32d"
+#    define PRIiFAST32 "I32i"
 
-#define PRId64       "I64d"
-#define PRIi64       "I64i"
-#define PRIdLEAST64  "I64d"
-#define PRIiLEAST64  "I64i"
-#define PRIdFAST64   "I64d"
-#define PRIiFAST64   "I64i"
+#    define PRId64 "I64d"
+#    define PRIi64 "I64i"
+#    define PRIdLEAST64 "I64d"
+#    define PRIiLEAST64 "I64i"
+#    define PRIdFAST64 "I64d"
+#    define PRIiFAST64 "I64i"
 
-#define PRIdMAX     "I64d"
-#define PRIiMAX     "I64i"
+#    define PRIdMAX "I64d"
+#    define PRIiMAX "I64i"
 
-#define PRIdPTR     "Id"
-#define PRIiPTR     "Ii"
+#    define PRIdPTR "Id"
+#    define PRIiPTR "Ii"
 
 // The fprintf macros for unsigned integers are:
-#define PRIo8       "o"
-#define PRIu8       "u"
-#define PRIx8       "x"
-#define PRIX8       "X"
-#define PRIoLEAST8  "o"
-#define PRIuLEAST8  "u"
-#define PRIxLEAST8  "x"
-#define PRIXLEAST8  "X"
-#define PRIoFAST8   "o"
-#define PRIuFAST8   "u"
-#define PRIxFAST8   "x"
-#define PRIXFAST8   "X"
+#    define PRIo8 "o"
+#    define PRIu8 "u"
+#    define PRIx8 "x"
+#    define PRIX8 "X"
+#    define PRIoLEAST8 "o"
+#    define PRIuLEAST8 "u"
+#    define PRIxLEAST8 "x"
+#    define PRIXLEAST8 "X"
+#    define PRIoFAST8 "o"
+#    define PRIuFAST8 "u"
+#    define PRIxFAST8 "x"
+#    define PRIXFAST8 "X"
 
-#define PRIo16       "ho"
-#define PRIu16       "hu"
-#define PRIx16       "hx"
-#define PRIX16       "hX"
-#define PRIoLEAST16  "ho"
-#define PRIuLEAST16  "hu"
-#define PRIxLEAST16  "hx"
-#define PRIXLEAST16  "hX"
-#define PRIoFAST16   "ho"
-#define PRIuFAST16   "hu"
-#define PRIxFAST16   "hx"
-#define PRIXFAST16   "hX"
+#    define PRIo16 "ho"
+#    define PRIu16 "hu"
+#    define PRIx16 "hx"
+#    define PRIX16 "hX"
+#    define PRIoLEAST16 "ho"
+#    define PRIuLEAST16 "hu"
+#    define PRIxLEAST16 "hx"
+#    define PRIXLEAST16 "hX"
+#    define PRIoFAST16 "ho"
+#    define PRIuFAST16 "hu"
+#    define PRIxFAST16 "hx"
+#    define PRIXFAST16 "hX"
 
-#define PRIo32       "I32o"
-#define PRIu32       "I32u"
-#define PRIx32       "I32x"
-#define PRIX32       "I32X"
-#define PRIoLEAST32  "I32o"
-#define PRIuLEAST32  "I32u"
-#define PRIxLEAST32  "I32x"
-#define PRIXLEAST32  "I32X"
-#define PRIoFAST32   "I32o"
-#define PRIuFAST32   "I32u"
-#define PRIxFAST32   "I32x"
-#define PRIXFAST32   "I32X"
+#    define PRIo32 "I32o"
+#    define PRIu32 "I32u"
+#    define PRIx32 "I32x"
+#    define PRIX32 "I32X"
+#    define PRIoLEAST32 "I32o"
+#    define PRIuLEAST32 "I32u"
+#    define PRIxLEAST32 "I32x"
+#    define PRIXLEAST32 "I32X"
+#    define PRIoFAST32 "I32o"
+#    define PRIuFAST32 "I32u"
+#    define PRIxFAST32 "I32x"
+#    define PRIXFAST32 "I32X"
 
-#define PRIo64       "I64o"
-#define PRIu64       "I64u"
-#define PRIx64       "I64x"
-#define PRIX64       "I64X"
-#define PRIoLEAST64  "I64o"
-#define PRIuLEAST64  "I64u"
-#define PRIxLEAST64  "I64x"
-#define PRIXLEAST64  "I64X"
-#define PRIoFAST64   "I64o"
-#define PRIuFAST64   "I64u"
-#define PRIxFAST64   "I64x"
-#define PRIXFAST64   "I64X"
+#    define PRIo64 "I64o"
+#    define PRIu64 "I64u"
+#    define PRIx64 "I64x"
+#    define PRIX64 "I64X"
+#    define PRIoLEAST64 "I64o"
+#    define PRIuLEAST64 "I64u"
+#    define PRIxLEAST64 "I64x"
+#    define PRIXLEAST64 "I64X"
+#    define PRIoFAST64 "I64o"
+#    define PRIuFAST64 "I64u"
+#    define PRIxFAST64 "I64x"
+#    define PRIXFAST64 "I64X"
 
-#define PRIoMAX     "I64o"
-#define PRIuMAX     "I64u"
-#define PRIxMAX     "I64x"
-#define PRIXMAX     "I64X"
+#    define PRIoMAX "I64o"
+#    define PRIuMAX "I64u"
+#    define PRIxMAX "I64x"
+#    define PRIXMAX "I64X"
 
-#define PRIoPTR     "Io"
-#define PRIuPTR     "Iu"
-#define PRIxPTR     "Ix"
-#define PRIXPTR     "IX"
+#    define PRIoPTR "Io"
+#    define PRIuPTR "Iu"
+#    define PRIxPTR "Ix"
+#    define PRIXPTR "IX"
 
 // The fscanf macros for signed integers are:
-#define SCNd8       "d"
-#define SCNi8       "i"
-#define SCNdLEAST8  "d"
-#define SCNiLEAST8  "i"
-#define SCNdFAST8   "d"
-#define SCNiFAST8   "i"
+#    define SCNd8 "d"
+#    define SCNi8 "i"
+#    define SCNdLEAST8 "d"
+#    define SCNiLEAST8 "i"
+#    define SCNdFAST8 "d"
+#    define SCNiFAST8 "i"
 
-#define SCNd16       "hd"
-#define SCNi16       "hi"
-#define SCNdLEAST16  "hd"
-#define SCNiLEAST16  "hi"
-#define SCNdFAST16   "hd"
-#define SCNiFAST16   "hi"
+#    define SCNd16 "hd"
+#    define SCNi16 "hi"
+#    define SCNdLEAST16 "hd"
+#    define SCNiLEAST16 "hi"
+#    define SCNdFAST16 "hd"
+#    define SCNiFAST16 "hi"
 
-#define SCNd32       "ld"
-#define SCNi32       "li"
-#define SCNdLEAST32  "ld"
-#define SCNiLEAST32  "li"
-#define SCNdFAST32   "ld"
-#define SCNiFAST32   "li"
+#    define SCNd32 "ld"
+#    define SCNi32 "li"
+#    define SCNdLEAST32 "ld"
+#    define SCNiLEAST32 "li"
+#    define SCNdFAST32 "ld"
+#    define SCNiFAST32 "li"
 
-#define SCNd64       "I64d"
-#define SCNi64       "I64i"
-#define SCNdLEAST64  "I64d"
-#define SCNiLEAST64  "I64i"
-#define SCNdFAST64   "I64d"
-#define SCNiFAST64   "I64i"
+#    define SCNd64 "I64d"
+#    define SCNi64 "I64i"
+#    define SCNdLEAST64 "I64d"
+#    define SCNiLEAST64 "I64i"
+#    define SCNdFAST64 "I64d"
+#    define SCNiFAST64 "I64i"
 
-#define SCNdMAX     "I64d"
-#define SCNiMAX     "I64i"
+#    define SCNdMAX "I64d"
+#    define SCNiMAX "I64i"
 
-#ifdef _WIN64 // [
-#  define SCNdPTR     "I64d"
-#  define SCNiPTR     "I64i"
-#else  // _WIN64 ][
-#  define SCNdPTR     "ld"
-#  define SCNiPTR     "li"
-#endif  // _WIN64 ]
+#    ifdef _WIN64  // [
+#      define SCNdPTR "I64d"
+#      define SCNiPTR "I64i"
+#    else  // _WIN64 ][
+#      define SCNdPTR "ld"
+#      define SCNiPTR "li"
+#    endif  // _WIN64 ]
 
 // The fscanf macros for unsigned integers are:
-#define SCNo8       "o"
-#define SCNu8       "u"
-#define SCNx8       "x"
-#define SCNX8       "X"
-#define SCNoLEAST8  "o"
-#define SCNuLEAST8  "u"
-#define SCNxLEAST8  "x"
-#define SCNXLEAST8  "X"
-#define SCNoFAST8   "o"
-#define SCNuFAST8   "u"
-#define SCNxFAST8   "x"
-#define SCNXFAST8   "X"
+#    define SCNo8 "o"
+#    define SCNu8 "u"
+#    define SCNx8 "x"
+#    define SCNX8 "X"
+#    define SCNoLEAST8 "o"
+#    define SCNuLEAST8 "u"
+#    define SCNxLEAST8 "x"
+#    define SCNXLEAST8 "X"
+#    define SCNoFAST8 "o"
+#    define SCNuFAST8 "u"
+#    define SCNxFAST8 "x"
+#    define SCNXFAST8 "X"
 
-#define SCNo16       "ho"
-#define SCNu16       "hu"
-#define SCNx16       "hx"
-#define SCNX16       "hX"
-#define SCNoLEAST16  "ho"
-#define SCNuLEAST16  "hu"
-#define SCNxLEAST16  "hx"
-#define SCNXLEAST16  "hX"
-#define SCNoFAST16   "ho"
-#define SCNuFAST16   "hu"
-#define SCNxFAST16   "hx"
-#define SCNXFAST16   "hX"
+#    define SCNo16 "ho"
+#    define SCNu16 "hu"
+#    define SCNx16 "hx"
+#    define SCNX16 "hX"
+#    define SCNoLEAST16 "ho"
+#    define SCNuLEAST16 "hu"
+#    define SCNxLEAST16 "hx"
+#    define SCNXLEAST16 "hX"
+#    define SCNoFAST16 "ho"
+#    define SCNuFAST16 "hu"
+#    define SCNxFAST16 "hx"
+#    define SCNXFAST16 "hX"
 
-#define SCNo32       "lo"
-#define SCNu32       "lu"
-#define SCNx32       "lx"
-#define SCNX32       "lX"
-#define SCNoLEAST32  "lo"
-#define SCNuLEAST32  "lu"
-#define SCNxLEAST32  "lx"
-#define SCNXLEAST32  "lX"
-#define SCNoFAST32   "lo"
-#define SCNuFAST32   "lu"
-#define SCNxFAST32   "lx"
-#define SCNXFAST32   "lX"
+#    define SCNo32 "lo"
+#    define SCNu32 "lu"
+#    define SCNx32 "lx"
+#    define SCNX32 "lX"
+#    define SCNoLEAST32 "lo"
+#    define SCNuLEAST32 "lu"
+#    define SCNxLEAST32 "lx"
+#    define SCNXLEAST32 "lX"
+#    define SCNoFAST32 "lo"
+#    define SCNuFAST32 "lu"
+#    define SCNxFAST32 "lx"
+#    define SCNXFAST32 "lX"
 
-#define SCNo64       "I64o"
-#define SCNu64       "I64u"
-#define SCNx64       "I64x"
-#define SCNX64       "I64X"
-#define SCNoLEAST64  "I64o"
-#define SCNuLEAST64  "I64u"
-#define SCNxLEAST64  "I64x"
-#define SCNXLEAST64  "I64X"
-#define SCNoFAST64   "I64o"
-#define SCNuFAST64   "I64u"
-#define SCNxFAST64   "I64x"
-#define SCNXFAST64   "I64X"
+#    define SCNo64 "I64o"
+#    define SCNu64 "I64u"
+#    define SCNx64 "I64x"
+#    define SCNX64 "I64X"
+#    define SCNoLEAST64 "I64o"
+#    define SCNuLEAST64 "I64u"
+#    define SCNxLEAST64 "I64x"
+#    define SCNXLEAST64 "I64X"
+#    define SCNoFAST64 "I64o"
+#    define SCNuFAST64 "I64u"
+#    define SCNxFAST64 "I64x"
+#    define SCNXFAST64 "I64X"
 
-#define SCNoMAX     "I64o"
-#define SCNuMAX     "I64u"
-#define SCNxMAX     "I64x"
-#define SCNXMAX     "I64X"
+#    define SCNoMAX "I64o"
+#    define SCNuMAX "I64u"
+#    define SCNxMAX "I64x"
+#    define SCNXMAX "I64X"
 
-#ifdef _WIN64 // [
-#  define SCNoPTR     "I64o"
-#  define SCNuPTR     "I64u"
-#  define SCNxPTR     "I64x"
-#  define SCNXPTR     "I64X"
-#else  // _WIN64 ][
-#  define SCNoPTR     "lo"
-#  define SCNuPTR     "lu"
-#  define SCNxPTR     "lx"
-#  define SCNXPTR     "lX"
-#endif  // _WIN64 ]
+#    ifdef _WIN64  // [
+#      define SCNoPTR "I64o"
+#      define SCNuPTR "I64u"
+#      define SCNxPTR "I64x"
+#      define SCNXPTR "I64X"
+#    else  // _WIN64 ][
+#      define SCNoPTR "lo"
+#      define SCNuPTR "lu"
+#      define SCNxPTR "lx"
+#      define SCNXPTR "lX"
+#    endif  // _WIN64 ]
 
-#endif // __STDC_FORMAT_MACROS ]
+#  endif  // __STDC_FORMAT_MACROS ]
 
 // 7.8.2 Functions for greatest-width integer types
 
 // 7.8.2.1 The imaxabs function
-#define imaxabs _abs64
+#  define imaxabs _abs64
 
 // 7.8.2.2 The imaxdiv function
 
 // This is modified version of div() function from Microsoft's div.c found
 // in %MSVC.NET%\crt\src\div.c
-#ifdef STATIC_IMAXDIV // [
+#  ifdef STATIC_IMAXDIV  // [
 static
-#else // STATIC_IMAXDIV ][
+#  else   // STATIC_IMAXDIV ][
 _inline
-#endif // STATIC_IMAXDIV ]
-imaxdiv_t __cdecl imaxdiv(intmax_t numer, intmax_t denom)
-{
-   imaxdiv_t result;
+#  endif  // STATIC_IMAXDIV ]
+    imaxdiv_t __cdecl imaxdiv(intmax_t numer, intmax_t denom) {
+  imaxdiv_t result;
 
-   result.quot = numer / denom;
-   result.rem = numer % denom;
+  result.quot = numer / denom;
+  result.rem = numer % denom;
 
-   if (numer < 0 && result.rem > 0) {
-      // did division wrong; must fix up
-      ++result.quot;
-      result.rem -= denom;
-   }
+  if (numer < 0 && result.rem > 0) {
+    // did division wrong; must fix up
+    ++result.quot;
+    result.rem -= denom;
+  }
 
-   return result;
+  return result;
 }
 
 // 7.8.2.3 The strtoimax and strtoumax functions
-#define strtoimax _strtoi64
-#define strtoumax _strtoui64
+#  define strtoimax _strtoi64
+#  define strtoumax _strtoui64
 
 // 7.8.2.4 The wcstoimax and wcstoumax functions
-#define wcstoimax _wcstoi64
-#define wcstoumax _wcstoui64
+#  define wcstoimax _wcstoi64
+#  define wcstoumax _wcstoui64
 
-
-#endif // _MSC_INTTYPES_H_ ]
+#endif  // _MSC_INTTYPES_H_ ]

intern/libmv/third_party/msinttypes/stdint.h

@@ -29,40 +29,40 @@
 // 
 ///////////////////////////////////////////////////////////////////////////////
 
-#ifndef _MSC_VER // [
-#error "Use this header only with Microsoft Visual C++ compilers!"
-#endif // _MSC_VER ]
+#ifndef _MSC_VER  // [
+#  error "Use this header only with Microsoft Visual C++ compilers!"
+#endif  // _MSC_VER ]
 
-#ifndef _MSC_STDINT_H_ // [
-#define _MSC_STDINT_H_
+#ifndef _MSC_STDINT_H_  // [
+#  define _MSC_STDINT_H_
 
-#if _MSC_VER > 1000
-#pragma once
-#endif
+#  if _MSC_VER > 1000
+#    pragma once
+#  endif
 
-#include <limits.h>
+#  include <limits.h>
 
 // For Visual Studio 6 in C++ mode and for many Visual Studio versions when
 // compiling for ARM we should wrap <wchar.h> include with 'extern "C++" {}'
 // or compiler give many errors like this:
 //   error C2733: second C linkage of overloaded function 'wmemchr' not allowed
-#ifdef __cplusplus
+#  ifdef __cplusplus
 extern "C" {
-#endif
+#  endif
 #  include <wchar.h>
-#ifdef __cplusplus
+#  ifdef __cplusplus
 }
-#endif
+#  endif
 
 // Define _W64 macros to mark types changing their size, like intptr_t.
-#ifndef _W64
-#  if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) && _MSC_VER >= 1300
-#     define _W64 __w64
-#  else
-#     define _W64
+#  ifndef _W64
+#    if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) &&            \
+        _MSC_VER >= 1300
+#      define _W64 __w64
+#    else
+#      define _W64
+#    endif
 #  endif
-#endif
-
 
 // 7.18.1 Integer types
 
@@ -71,177 +71,176 @@ extern "C" {
 // Visual Studio 6 and Embedded Visual C++ 4 doesn't
 // realize that, e.g. char has the same size as __int8
 // so we give up on __intX for them.
-#if (_MSC_VER < 1300)
-   typedef signed char       int8_t;
-   typedef signed short      int16_t;
-   typedef signed int        int32_t;
-   typedef unsigned char     uint8_t;
-   typedef unsigned short    uint16_t;
-   typedef unsigned int      uint32_t;
-#else
-   typedef signed __int8            int8_t;
-   typedef signed __int16           int16_t;
-   typedef signed __int32           int32_t;
-   typedef unsigned __int8   uint8_t;
-   typedef unsigned __int16  uint16_t;
-   typedef unsigned __int32  uint32_t;
-#endif
-typedef __int64              int64_t;
-typedef unsigned __int64     uint64_t;
-
+#  if (_MSC_VER < 1300)
+typedef signed char int8_t;
+typedef signed short int16_t;
+typedef signed int int32_t;
+typedef unsigned char uint8_t;
+typedef unsigned short uint16_t;
+typedef unsigned int uint32_t;
+#  else
+typedef signed __int8 int8_t;
+typedef signed __int16 int16_t;
+typedef signed __int32 int32_t;
+typedef unsigned __int8 uint8_t;
+typedef unsigned __int16 uint16_t;
+typedef unsigned __int32 uint32_t;
+#  endif
+typedef __int64 int64_t;
+typedef unsigned __int64 uint64_t;
 
 // 7.18.1.2 Minimum-width integer types
-typedef int8_t    int_least8_t;
-typedef int16_t   int_least16_t;
-typedef int32_t   int_least32_t;
-typedef int64_t   int_least64_t;
-typedef uint8_t   uint_least8_t;
-typedef uint16_t  uint_least16_t;
-typedef uint32_t  uint_least32_t;
-typedef uint64_t  uint_least64_t;
+typedef int8_t int_least8_t;
+typedef int16_t int_least16_t;
+typedef int32_t int_least32_t;
+typedef int64_t int_least64_t;
+typedef uint8_t uint_least8_t;
+typedef uint16_t uint_least16_t;
+typedef uint32_t uint_least32_t;
+typedef uint64_t uint_least64_t;
 
 // 7.18.1.3 Fastest minimum-width integer types
-typedef int8_t    int_fast8_t;
-typedef int16_t   int_fast16_t;
-typedef int32_t   int_fast32_t;
-typedef int64_t   int_fast64_t;
-typedef uint8_t   uint_fast8_t;
-typedef uint16_t  uint_fast16_t;
-typedef uint32_t  uint_fast32_t;
-typedef uint64_t  uint_fast64_t;
+typedef int8_t int_fast8_t;
+typedef int16_t int_fast16_t;
+typedef int32_t int_fast32_t;
+typedef int64_t int_fast64_t;
+typedef uint8_t uint_fast8_t;
+typedef uint16_t uint_fast16_t;
+typedef uint32_t uint_fast32_t;
+typedef uint64_t uint_fast64_t;
 
 // 7.18.1.4 Integer types capable of holding object pointers
-#ifdef _WIN64 // [
-   typedef __int64           intptr_t;
-   typedef unsigned __int64  uintptr_t;
-#else // _WIN64 ][
-   typedef _W64 int               intptr_t;
-   typedef _W64 unsigned int      uintptr_t;
-#endif // _WIN64 ]
+#  ifdef _WIN64  // [
+typedef __int64 intptr_t;
+typedef unsigned __int64 uintptr_t;
+#  else   // _WIN64 ][
+typedef _W64 int intptr_t;
+typedef _W64 unsigned int uintptr_t;
+#  endif  // _WIN64 ]
 
 // 7.18.1.5 Greatest-width integer types
-typedef int64_t   intmax_t;
-typedef uint64_t  uintmax_t;
-
+typedef int64_t intmax_t;
+typedef uint64_t uintmax_t;
 
 // 7.18.2 Limits of specified-width integer types
 
-#if !defined(__cplusplus) || defined(__STDC_LIMIT_MACROS) // [   See footnote 220 at page 257 and footnote 221 at page 259
+#  if !defined(__cplusplus) ||                                                 \
+      defined(__STDC_LIMIT_MACROS)  // [   See footnote 220 at page 257 and
+                                    // footnote 221 at page 259
 
 // 7.18.2.1 Limits of exact-width integer types
-#define INT8_MIN     ((int8_t)_I8_MIN)
-#define INT8_MAX     _I8_MAX
-#define INT16_MIN    ((int16_t)_I16_MIN)
-#define INT16_MAX    _I16_MAX
-#define INT32_MIN    ((int32_t)_I32_MIN)
-#define INT32_MAX    _I32_MAX
-#define INT64_MIN    ((int64_t)_I64_MIN)
-#define INT64_MAX    _I64_MAX
-#define UINT8_MAX    _UI8_MAX
-#define UINT16_MAX   _UI16_MAX
-#define UINT32_MAX   _UI32_MAX
-#define UINT64_MAX   _UI64_MAX
+#    define INT8_MIN ((int8_t)_I8_MIN)
+#    define INT8_MAX _I8_MAX
+#    define INT16_MIN ((int16_t)_I16_MIN)
+#    define INT16_MAX _I16_MAX
+#    define INT32_MIN ((int32_t)_I32_MIN)
+#    define INT32_MAX _I32_MAX
+#    define INT64_MIN ((int64_t)_I64_MIN)
+#    define INT64_MAX _I64_MAX
+#    define UINT8_MAX _UI8_MAX
+#    define UINT16_MAX _UI16_MAX
+#    define UINT32_MAX _UI32_MAX
+#    define UINT64_MAX _UI64_MAX
 
 // 7.18.2.2 Limits of minimum-width integer types
-#define INT_LEAST8_MIN    INT8_MIN
-#define INT_LEAST8_MAX    INT8_MAX
-#define INT_LEAST16_MIN   INT16_MIN
-#define INT_LEAST16_MAX   INT16_MAX
-#define INT_LEAST32_MIN   INT32_MIN
-#define INT_LEAST32_MAX   INT32_MAX
-#define INT_LEAST64_MIN   INT64_MIN
-#define INT_LEAST64_MAX   INT64_MAX
-#define UINT_LEAST8_MAX   UINT8_MAX
-#define UINT_LEAST16_MAX  UINT16_MAX
-#define UINT_LEAST32_MAX  UINT32_MAX
-#define UINT_LEAST64_MAX  UINT64_MAX
+#    define INT_LEAST8_MIN INT8_MIN
+#    define INT_LEAST8_MAX INT8_MAX
+#    define INT_LEAST16_MIN INT16_MIN
+#    define INT_LEAST16_MAX INT16_MAX
+#    define INT_LEAST32_MIN INT32_MIN
+#    define INT_LEAST32_MAX INT32_MAX
+#    define INT_LEAST64_MIN INT64_MIN
+#    define INT_LEAST64_MAX INT64_MAX
+#    define UINT_LEAST8_MAX UINT8_MAX
+#    define UINT_LEAST16_MAX UINT16_MAX
+#    define UINT_LEAST32_MAX UINT32_MAX
+#    define UINT_LEAST64_MAX UINT64_MAX
 
 // 7.18.2.3 Limits of fastest minimum-width integer types
-#define INT_FAST8_MIN    INT8_MIN
-#define INT_FAST8_MAX    INT8_MAX
-#define INT_FAST16_MIN   INT16_MIN
-#define INT_FAST16_MAX   INT16_MAX
-#define INT_FAST32_MIN   INT32_MIN
-#define INT_FAST32_MAX   INT32_MAX
-#define INT_FAST64_MIN   INT64_MIN
-#define INT_FAST64_MAX   INT64_MAX
-#define UINT_FAST8_MAX   UINT8_MAX
-#define UINT_FAST16_MAX  UINT16_MAX
-#define UINT_FAST32_MAX  UINT32_MAX
-#define UINT_FAST64_MAX  UINT64_MAX
+#    define INT_FAST8_MIN INT8_MIN
+#    define INT_FAST8_MAX INT8_MAX
+#    define INT_FAST16_MIN INT16_MIN
+#    define INT_FAST16_MAX INT16_MAX
+#    define INT_FAST32_MIN INT32_MIN
+#    define INT_FAST32_MAX INT32_MAX
+#    define INT_FAST64_MIN INT64_MIN
+#    define INT_FAST64_MAX INT64_MAX
+#    define UINT_FAST8_MAX UINT8_MAX
+#    define UINT_FAST16_MAX UINT16_MAX
+#    define UINT_FAST32_MAX UINT32_MAX
+#    define UINT_FAST64_MAX UINT64_MAX
 
 // 7.18.2.4 Limits of integer types capable of holding object pointers
-#ifdef _WIN64 // [
-#  define INTPTR_MIN   INT64_MIN
-#  define INTPTR_MAX   INT64_MAX
-#  define UINTPTR_MAX  UINT64_MAX
-#else // _WIN64 ][
-#  define INTPTR_MIN   INT32_MIN
-#  define INTPTR_MAX   INT32_MAX
-#  define UINTPTR_MAX  UINT32_MAX
-#endif // _WIN64 ]
+#    ifdef _WIN64  // [
+#      define INTPTR_MIN INT64_MIN
+#      define INTPTR_MAX INT64_MAX
+#      define UINTPTR_MAX UINT64_MAX
+#    else  // _WIN64 ][
+#      define INTPTR_MIN INT32_MIN
+#      define INTPTR_MAX INT32_MAX
+#      define UINTPTR_MAX UINT32_MAX
+#    endif  // _WIN64 ]
 
 // 7.18.2.5 Limits of greatest-width integer types
-#define INTMAX_MIN   INT64_MIN
-#define INTMAX_MAX   INT64_MAX
-#define UINTMAX_MAX  UINT64_MAX
+#    define INTMAX_MIN INT64_MIN
+#    define INTMAX_MAX INT64_MAX
+#    define UINTMAX_MAX UINT64_MAX
 
 // 7.18.3 Limits of other integer types
 
-#ifdef _WIN64 // [
-#  define PTRDIFF_MIN  _I64_MIN
-#  define PTRDIFF_MAX  _I64_MAX
-#else  // _WIN64 ][
-#  define PTRDIFF_MIN  _I32_MIN
-#  define PTRDIFF_MAX  _I32_MAX
-#endif  // _WIN64 ]
+#    ifdef _WIN64  // [
+#      define PTRDIFF_MIN _I64_MIN
+#      define PTRDIFF_MAX _I64_MAX
+#    else  // _WIN64 ][
+#      define PTRDIFF_MIN _I32_MIN
+#      define PTRDIFF_MAX _I32_MAX
+#    endif  // _WIN64 ]
 
-#define SIG_ATOMIC_MIN  INT_MIN
-#define SIG_ATOMIC_MAX  INT_MAX
+#    define SIG_ATOMIC_MIN INT_MIN
+#    define SIG_ATOMIC_MAX INT_MAX
 
-#ifndef SIZE_MAX // [
-#  ifdef _WIN64 // [
-#     define SIZE_MAX  _UI64_MAX
-#  else // _WIN64 ][
-#     define SIZE_MAX  _UI32_MAX
-#  endif // _WIN64 ]
-#endif // SIZE_MAX ]
+#    ifndef SIZE_MAX  // [
+#      ifdef _WIN64   // [
+#        define SIZE_MAX _UI64_MAX
+#      else  // _WIN64 ][
+#        define SIZE_MAX _UI32_MAX
+#      endif  // _WIN64 ]
+#    endif    // SIZE_MAX ]
 
 // WCHAR_MIN and WCHAR_MAX are also defined in <wchar.h>
-#ifndef WCHAR_MIN // [
-#  define WCHAR_MIN  0
-#endif  // WCHAR_MIN ]
-#ifndef WCHAR_MAX // [
-#  define WCHAR_MAX  _UI16_MAX
-#endif  // WCHAR_MAX ]
+#    ifndef WCHAR_MIN  // [
+#      define WCHAR_MIN 0
+#    endif             // WCHAR_MIN ]
+#    ifndef WCHAR_MAX  // [
+#      define WCHAR_MAX _UI16_MAX
+#    endif  // WCHAR_MAX ]
 
-#define WINT_MIN  0
-#define WINT_MAX  _UI16_MAX
-
-#endif // __STDC_LIMIT_MACROS ]
+#    define WINT_MIN 0
+#    define WINT_MAX _UI16_MAX
 
+#  endif  // __STDC_LIMIT_MACROS ]
 
 // 7.18.4 Limits of other integer types
 
-#if !defined(__cplusplus) || defined(__STDC_CONSTANT_MACROS) // [   See footnote 224 at page 260
+#  if !defined(__cplusplus) ||                                                 \
+      defined(__STDC_CONSTANT_MACROS)  // [   See footnote 224 at page 260
 
 // 7.18.4.1 Macros for minimum-width integer constants
 
-#define INT8_C(val)  val##i8
-#define INT16_C(val) val##i16
-#define INT32_C(val) val##i32
-#define INT64_C(val) val##i64
+#    define INT8_C(val) val##i8
+#    define INT16_C(val) val##i16
+#    define INT32_C(val) val##i32
+#    define INT64_C(val) val##i64
 
-#define UINT8_C(val)  val##ui8
-#define UINT16_C(val) val##ui16
-#define UINT32_C(val) val##ui32
-#define UINT64_C(val) val##ui64
+#    define UINT8_C(val) val##ui8
+#    define UINT16_C(val) val##ui16
+#    define UINT32_C(val) val##ui32
+#    define UINT64_C(val) val##ui64
 
 // 7.18.4.2 Macros for greatest-width integer constants
-#define INTMAX_C   INT64_C
-#define UINTMAX_C  UINT64_C
+#    define INTMAX_C INT64_C
+#    define UINTMAX_C UINT64_C
 
-#endif // __STDC_CONSTANT_MACROS ]
+#  endif  // __STDC_CONSTANT_MACROS ]
 
-
-#endif // _MSC_STDINT_H_ ]
+#endif  // _MSC_STDINT_H_ ]

intern/rigidbody/RBI_api.h

@@ -81,6 +81,16 @@ void RB_dworld_set_solver_iterations(rbDynamicsWorld *world, int num_solver_iter
 /* Split Impulse */
 void RB_dworld_set_split_impulse(rbDynamicsWorld *world, int split_impulse);
 
+/* Get latest applied impulse */
+void RB_dworld_get_impulse(rbDynamicsWorld *world,
+                           rbRigidBody *rbo,
+                           float timeSubStep,
+                           float norm_forces[3][3],
+                           float fric_forces[3][3],
+                           float vec_locations[3][3],
+                           bool norm_flag,
+                           bool fric_flag);
+
 /* Simulation ----------------------- */
 
 /* Step the simulation by the desired amount (in seconds) with extra controls on substep sizes and
@@ -264,6 +274,10 @@ void RB_shape_trimesh_update(rbCollisionShape *shape,
                              int vert_stride,
                              float min[3],
                              float max[3]);
+/* Get scale data */
+void RB_box_shape_get_half_extents(rbCollisionShape *shape, float *r_half_extents);
+void RB_cone_shape_get_half_extents(rbCollisionShape *shape, float *r_half_extents);
+void RB_cylinder_shape_get_half_extents(rbCollisionShape *shape, float *r_half_extents);
 
 /* ********************************** */
 /* Constraints */
@@ -361,6 +375,20 @@ void RB_constraint_set_target_velocity_motor(rbConstraint *con,
                                              float velocity_lin,
                                              float velocity_ang);
 
+/* Get object transforms */
+void RB_constraint_get_transforms_hinge(rbConstraint *con,
+                                        float r_ob1_basis[3][3],
+                                        float r_ob2_basis[3][3],
+                                        float r_ob1_orig[3],
+                                        float r_ob2_orig[3]);
+
+void RB_constraint_get_transforms_slider(rbConstraint *con,
+                                        float r_ob1_basis[3][3],
+                                        float r_ob2_basis[3][3],
+                                        float r_ob1_orig[3],
+                                        float r_ob2_orig[3],
+                                        float r_initial_dist[]);
+
 /* Set number of constraint solver iterations made per step, this overrided world setting
  * To use default set it to -1 */
 void RB_constraint_set_solver_iterations(rbConstraint *con, int num_solver_iterations);

intern/rigidbody/rb_bullet_api.cpp

@@ -204,6 +204,103 @@ void RB_dworld_set_split_impulse(rbDynamicsWorld *world, int split_impulse)
   info.m_splitImpulse = split_impulse;
 }
 
+/* Get last applied impulse at contact points */
+/* TODO: this may not be the most efficient way to do it. get all forces at once and store in a
+ * lookup table. */
+void RB_dworld_get_impulse(rbDynamicsWorld *world,
+                           rbRigidBody *rbo,
+                           float timeSubStep,
+                           float norm_forces[3][3],
+                           float fric_forces[3][3],
+                           float vec_locations[3][3],
+                           bool norm_flag,
+                           bool fric_flag)
+{
+  int numManifolds = world->dispatcher->getNumManifolds();
+  int num_norm_forces = 0;
+  int num_fric_forces = 0;
+
+  /* Loop through all persisent contact manifolds. The persistant manifold contains all contact points between
+   * 2 overlapping objects in the world. It can contain between 0 and 4 points. This is the contact point cache
+   * after reduction of the contact manifold. */
+  for (int i = 0; i < numManifolds; i++) {
+    btPersistentManifold *contactManifold = world->dispatcher->getManifoldByIndexInternal(i);
+    /* The 2 overlapping obejcts. */
+    const void *obA = contactManifold->getBody0();
+    const void *obB = contactManifold->getBody1();
+
+    /* Break if we cannot store any more forces. upperlimit is 3 */
+    /* Friction cannot exist without a normal force, so counting number of normal forces stored is enough. */
+    if (num_norm_forces > 2) {
+      break;
+    }
+    /* Continue to next manifold if this one does not invlove the current rigid body. */
+    if (obA != rbo->body && obB != rbo->body) {
+      continue;
+    }
+    else {
+      btVector3 tot_impulse = btVector3(0.0, 0.0, 0.0);
+      btVector3 final_loc = btVector3(0.0, 0.0, 0.0);
+      btScalar tot_impulse_magnitude = 0.f;
+      btVector3 tot_lat_impulse = btVector3(0.0, 0.0, 0.0);
+      int numContacts = contactManifold->getNumContacts();
+      int num_impulse_points = 0;
+      /* Find points where impulse was appplied. */
+      for (int j = 0; j < numContacts; j++) {
+        btManifoldPoint &pt = contactManifold->getContactPoint(j);
+        if (pt.getAppliedImpulse() > 0.f || -pt.getAppliedImpulse() > 0.f) {
+          num_impulse_points++;
+        }
+      }
+
+      /* Loop throught contact points and add impulses applied at each point.
+       * Devide by time to get the equivilant force. */
+      for (int j = 0; j < numContacts; j++) {
+        btManifoldPoint &pt = contactManifold->getContactPoint(j);
+        if (pt.getAppliedImpulse() > 0.f || -pt.getAppliedImpulse() > 0.f) {
+          const btVector3 &loc = pt.getPositionWorldOnB();
+          const btVector3 imp = (rbo->body == obB) ?
+                                    -pt.m_normalWorldOnB * pt.getAppliedImpulse() / timeSubStep :
+                                    pt.m_normalWorldOnB * pt.getAppliedImpulse() / timeSubStep;
+          tot_impulse_magnitude += pt.getAppliedImpulse() > 0.f? pt.getAppliedImpulse() : -pt.getAppliedImpulse();
+          tot_impulse += imp;
+          final_loc += num_impulse_points > 1 ? loc * pt.getAppliedImpulse() : loc;
+          if (fric_flag) {
+            const btVector3 lat_imp1 = (rbo->body == obB) ?
+                                           -pt.m_appliedImpulseLateral1 *
+                                               pt.m_lateralFrictionDir1 / timeSubStep :
+                                           pt.m_appliedImpulseLateral1 * pt.m_lateralFrictionDir1 /
+                                               timeSubStep;
+            const btVector3 lat_imp2 = (rbo->body == obB) ?
+                                           -pt.m_appliedImpulseLateral2 *
+                                               pt.m_lateralFrictionDir2 / timeSubStep :
+                                           pt.m_appliedImpulseLateral2 * pt.m_lateralFrictionDir2 /
+                                               timeSubStep;
+            tot_lat_impulse += lat_imp1 + lat_imp2;
+          }
+        }
+      }
+      /* If impulse was applied at more than one point, the location of the force is taken as average of points
+       * weighted by the magnitude of impulse applied at each point. */
+      if(fabsf(tot_impulse_magnitude)==0.0f){
+          continue;
+      }
+      if (num_impulse_points > 1) {
+        final_loc = final_loc / tot_impulse_magnitude;
+      }
+      copy_v3_btvec3(vec_locations[num_norm_forces], final_loc);
+      if (norm_flag) {
+        copy_v3_btvec3(norm_forces[num_norm_forces], tot_impulse);
+        num_norm_forces++;
+      }
+      if (fric_flag) {
+        copy_v3_btvec3(fric_forces[num_fric_forces], tot_lat_impulse);
+        num_fric_forces++;
+      }
+    }
+  }
+}
+
 /* Simulation ----------------------- */
 
 void RB_dworld_step_simulation(rbDynamicsWorld *world,
@@ -930,6 +1027,25 @@ void RB_shape_set_margin(rbCollisionShape *shape, float value)
   shape->cshape->setMargin(value);
 }
 
+/* Get scale data--------------------------- */
+void RB_box_shape_get_half_extents(rbCollisionShape *shape, float *r_half_extents)
+{
+    btBoxShape *box = (btBoxShape*)shape->cshape;
+    copy_v3_btvec3(r_half_extents, box->getHalfExtentsWithMargin());
+}
+
+void RB_cone_shape_get_half_extents(rbCollisionShape *shape, float *r_half_extents)
+{
+    btConeShapeZ *cone = (btConeShapeZ*)shape->cshape;
+    copy_v3_btvec3(r_half_extents, btVector3(cone->getRadius(), cone->getRadius(), cone->getHeight()*0.5));
+}
+
+void RB_cylinder_shape_get_half_extents(rbCollisionShape *shape, float *r_half_extents)
+{
+    btCylinderShapeZ *box = (btCylinderShapeZ*)shape->cshape;
+    copy_v3_btvec3(r_half_extents, box->getHalfExtentsWithMargin());
+}
+
 /* ********************************** */
 /* Constraints */
 
@@ -1302,4 +1418,51 @@ void RB_constraint_set_target_velocity_motor(rbConstraint *con,
   constraint->getRotationalLimitMotor(0)->m_targetVelocity = velocity_ang;
 }
 
+void RB_constraint_get_transforms_hinge(rbConstraint *con,
+                                        float r_ob1_basis[3][3],
+                                        float r_ob2_basis[3][3],
+                                        float r_ob1_orig[3],
+                                        float r_ob2_orig[3]) {
+    btHingeConstraint *constraint = reinterpret_cast<btHingeConstraint *>(con);
+    btTransform transform1;
+    btTransform transform2;
+
+    transform1 = constraint->getAFrame();
+    transform2 = constraint->getBFrame();
+
+    for(int i=0; i<3; i++) {
+        copy_v3_btvec3(r_ob1_basis[i], btVector3(transform1.getBasis()[0][i],transform1.getBasis()[1][i], transform1.getBasis()[2][i]));
+        copy_v3_btvec3(r_ob2_basis[i], btVector3(transform2.getBasis()[0][i],transform2.getBasis()[1][i], transform2.getBasis()[2][i]));
+    }
+    copy_v3_btvec3(r_ob1_orig, btVector3(transform1.getOrigin().x(),transform1.getOrigin().y(), transform1.getOrigin().z()));
+    copy_v3_btvec3(r_ob2_orig, btVector3(transform2.getOrigin().x() ,transform2.getOrigin().y(), transform2.getOrigin().z()));
+
+}
+
+void RB_constraint_get_transforms_slider(rbConstraint *con,
+                                        float r_ob1_basis[3][3],
+                                        float r_ob2_basis[3][3],
+                                        float r_ob1_orig[3],
+                                        float r_ob2_orig[3],
+                                        float r_initial_dist[3]) {
+    btSliderConstraint *constraint = reinterpret_cast<btSliderConstraint *>(con);
+    btTransform transform1;
+    btTransform transform2;
+
+    transform1 = constraint->getFrameOffsetA();
+    transform2 = constraint->getFrameOffsetB();
+
+    for(int i=0; i<3; i++) {
+        copy_v3_btvec3(r_ob1_basis[i], btVector3(transform1.getBasis()[0][i],transform1.getBasis()[1][i], transform1.getBasis()[2][i]));
+        copy_v3_btvec3(r_ob2_basis[i], btVector3(transform2.getBasis()[0][i],transform2.getBasis()[1][i], transform2.getBasis()[2][i]));
+    }
+    copy_v3_btvec3(r_ob1_orig, btVector3(transform1.getOrigin().x(),transform1.getOrigin().y(), transform1.getOrigin().z()));
+    copy_v3_btvec3(r_ob2_orig, btVector3(transform2.getOrigin().x() ,transform2.getOrigin().y(), transform2.getOrigin().z()));
+
+    if(r_initial_dist) {
+      btTransform transform3 = transform1 * transform2.inverse();
+      copy_v3_btvec3(r_initial_dist, btVector3(transform3.getOrigin().x() ,transform3.getOrigin().y(), transform3.getOrigin().z()));
+    }
+}
+
 /* ********************************** */

release/scripts/startup/bl_ui/properties_physics_rigidbody.py

@@ -307,6 +307,72 @@ class PHYSICS_PT_rigid_body_dynamics_deactivation(PHYSICS_PT_rigidbody_panel, Pa
         # TODO: other params such as time?
 
 
+class PHYSICS_PT_rigid_body_display_options(PHYSICS_PT_rigidbody_panel, Panel):
+    bl_label = "Display Options"
+    bl_parent_id = 'PHYSICS_PT_rigid_body'
+    bl_options = {'DEFAULT_CLOSED'}
+    COMPAT_ENGINES = {'BLENDER_RENDER', 'BLENDER_EEVEE', 'BLENDER_WORKBENCH'}
+
+    @classmethod
+    def poll(cls, context):
+        obj = context.object
+        if obj.parent is not None and obj.parent.rigid_body is not None:
+            return False
+        return (obj and obj.rigid_body and (context.engine in cls.COMPAT_ENGINES))
+
+    def draw(self, context):
+        layout = self.layout
+        layout.use_property_split = True
+
+        ob = context.object
+        rbo = ob.rigid_body
+
+        if rbo is None:
+            rigid_body_warning(layout, "Object does not have a Rigid Body")
+            return
+
+
+        col = layout.column()
+        if rbo.type == 'ACTIVE' and not rbo.kinematic:
+          col.prop(rbo, "display_acceleration")
+          col.prop(rbo, "display_velocity")
+          col.prop(rbo, "display_collisions")
+          col.prop(rbo, "display_data_text")
+        col.prop(rbo, "display_state")
+
+class PHYSICS_PT_rigid_body_display_force_types(PHYSICS_PT_rigidbody_panel, Panel):
+    bl_label = "Forces"
+    bl_parent_id = 'PHYSICS_PT_rigid_body_display_options'
+    bl_options = {'DEFAULT_CLOSED'}
+    COMPAT_ENGINES = {'BLENDER_RENDER', 'BLENDER_EEVEE', 'BLENDER_WORKBENCH'}
+
+    @classmethod
+    def poll(cls, context):
+        obj = context.object
+        if obj.parent is not None and obj.parent.rigid_body is not None:
+            return False
+        return (obj and obj.rigid_body and (context.engine in cls.COMPAT_ENGINES))
+
+    def draw_header(self, context):
+        ob = context.object
+        rbo = ob.rigid_body
+
+        self.layout.prop(rbo, "display_forces", text="")
+
+    def draw(self, context):
+        layout = self.layout
+        layout.use_property_split = True
+
+        ob = context.object
+        rbo = ob.rigid_body
+        col = layout.column()
+        col.active = rbo.display_forces
+        col.prop(rbo, "show_gravity")
+        col.prop(rbo, "show_effectors_force")
+        col.prop(rbo, "show_normal_force")
+        col.prop(rbo, "show_frictional_force")
+        col.prop(rbo, "show_net_force")
+
 classes = (
     PHYSICS_PT_rigid_body,
     PHYSICS_PT_rigid_body_settings,
@@ -316,10 +382,13 @@ classes = (
     PHYSICS_PT_rigid_body_collisions_collections,
     PHYSICS_PT_rigid_body_dynamics,
     PHYSICS_PT_rigid_body_dynamics_deactivation,
+    PHYSICS_PT_rigid_body_display_options,
+    PHYSICS_PT_rigid_body_display_force_types,
 )
 
 
 if __name__ == "__main__":  # only for live edit.
-    from bpy.utils import register_class
+    from bpy.utils import register_class, unregister_class
     for cls in classes:
         register_class(cls)
+

release/scripts/startup/bl_ui/properties_physics_rigidbody_constraint.py

@@ -474,6 +474,34 @@ class PHYSICS_PT_rigid_body_constraint_springs_linear(PHYSICS_PT_rigidbody_const
         sub.prop(rbc, "spring_stiffness_z", text="Stiffness")
         sub.prop(rbc, "spring_damping_z", text="Damping")
 
+class PHYSICS_PT_rigid_body_constraint_debug_draw(PHYSICS_PT_rigidbody_constraint_panel, Panel):
+    bl_label = "Debug draw"
+    bl_parent_id = 'PHYSICS_PT_rigid_body_constraint'
+    COMPAT_ENGINES = {'BLENDER_RENDER', 'BLENDER_EEVEE', 'BLENDER_WORKBENCH'}
+
+    @classmethod
+    def poll(cls, context):
+        ob = context.object
+        rbc = ob.rigid_body_constraint
+
+        return (ob and rbc
+                and (rbc.type in {'SLIDER', 'HINGE', 'PISTON'})
+                and context.engine in cls.COMPAT_ENGINES)
+
+    def draw(self, context):
+        layout = self.layout
+        layout.use_property_split = True
+        flow = layout.grid_flow(row_major=True, columns=0, even_columns=True, even_rows=False, align=True)
+
+        ob = context.object
+        rbc = ob.rigid_body_constraint
+
+        col = flow.column()
+        col.prop(rbc, "debug_draw_limits", text="Debug draw")
+
+        if rbc.type in {'PISTON', 'SLIDER'}:
+            col = flow.column()
+            col.prop(rbc, "debug_draw_fade_walls", text="Fade walls")
 
 classes = (
     PHYSICS_PT_rigid_body_constraint,
@@ -489,6 +517,7 @@ classes = (
     PHYSICS_PT_rigid_body_constraint_springs,
     PHYSICS_PT_rigid_body_constraint_springs_angular,
     PHYSICS_PT_rigid_body_constraint_springs_linear,
+    PHYSICS_PT_rigid_body_constraint_debug_draw,
 )
 
 

source/blender/blenkernel/BKE_effect.h

@@ -140,7 +140,8 @@ void BKE_effectors_apply(struct ListBase *effectors,
                          struct EffectedPoint *point,
                          float *force,
                          float *wind_force,
-                         float *impulse);
+                         float *impulse,
+                         float r_eff_forces[3][3]);
 void BKE_effectors_free(struct ListBase *lb);
 
 void pd_point_from_particle(struct ParticleSimulationData *sim,

source/blender/blenkernel/BKE_pointcache.h

@@ -25,6 +25,7 @@
 
 #include "DNA_boid_types.h"       /* for #BoidData */
 #include "DNA_pointcache_types.h" /* for #BPHYS_TOT_DATA */
+#include "DNA_rigidbody_types.h"
 
 #include <stdio.h> /* for #FILE */
 
@@ -103,6 +104,12 @@ typedef struct PTCacheData {
   float size;
   float times[3];
   struct BoidData boids;
+  struct sim_data_vec eff_forces[3];
+  struct sim_data_vec norm_forces[3];
+  struct sim_data_vec fric_forces[3];
+  struct sim_data_vec vec_locations[3];
+  float pvel[3];
+  int colliding_faces[3];
 } PTCacheData;
 
 typedef struct PTCacheFile {

source/blender/blenkernel/BKE_rigidbody.h

@@ -244,6 +244,12 @@ void BKE_rigidbody_object_sync_transforms(struct Depsgraph *depsgraph,
                                           struct Scene *scene,
                                           struct Object *ob);
 
+/* -------------------- */
+/* Debug draw collision shapes */
+/* -------------------- */
+void BKE_rigidbody_store_convex_hull_draw_data(struct Object *ob);
+void BKE_rigidbody_store_trimesh_draw_data(struct Object *ob);
+
 /** \} */
 
 #ifdef __cplusplus

source/blender/blenkernel/intern/boids.c

@@ -1374,6 +1374,7 @@ void boid_body(BoidBrainData *bbd, ParticleData *pa)
                       &epoint,
                       force,
                       NULL,
+                      NULL,
                       NULL);
 
   if (ELEM(bpa->data.mode, eBoidMode_OnLand, eBoidMode_Climbing)) {

source/blender/blenkernel/intern/dynamicpaint.c

@@ -5082,7 +5082,8 @@ static void dynamic_paint_prepare_effect_cb(void *__restrict userdata,
     EffectedPoint epoint;
     pd_point_from_loc(scene, realCoord[bData->s_pos[index]].v, vel, index, &epoint);
     epoint.vel_to_sec = 1.0f;
-    BKE_effectors_apply(effectors, NULL, surface->effector_weights, &epoint, forc, NULL, NULL);
+    BKE_effectors_apply(
+        effectors, NULL, surface->effector_weights, &epoint, forc, NULL, NULL, NULL);
   }
 
   /* if global gravity is enabled, add it too */

source/blender/blenkernel/intern/effect.c

@@ -1135,7 +1135,8 @@ void BKE_effectors_apply(ListBase *effectors,
                          EffectedPoint *point,
                          float *force,
                          float *wind_force,
-                         float *impulse)
+                         float *impulse,
+                         float r_eff_forces[3][3])
 {
   /* WARNING(@campbellbarton): historic comment?
    * Many of these parameters don't exist!
@@ -1173,6 +1174,8 @@ void BKE_effectors_apply(ListBase *effectors,
   /* Cycle through collected objects, get total of (1/(gravity_strength * dist^gravity_power)) */
   /* Check for min distance here? (yes would be cool to add that, ton) */
 
+  int num_eff_forces = 0;
+  float out_force[3] = {0, 0, 0};
   if (effectors) {
     for (eff = effectors->first; eff; eff = eff->next) {
       /* object effectors were fully checked to be OK to evaluate! */
@@ -1187,7 +1190,7 @@ void BKE_effectors_apply(ListBase *effectors,
             efd.falloff *= eff_calc_visibility(colliders, eff, &efd, point);
           }
           if (efd.falloff > 0.0f) {
-            float out_force[3] = {0, 0, 0};
+            zero_v3(out_force);
 
             if (eff->pd->forcefield == PFIELD_TEXTURE) {
               do_texture_effector(eff, &efd, point, out_force);
@@ -1214,6 +1217,11 @@ void BKE_effectors_apply(ListBase *effectors,
           /* special case for harmonic effector */
           add_v3_v3v3(impulse, impulse, efd.vel);
         }
+
+        if (r_eff_forces != NULL && num_eff_forces < 3) {
+          copy_v3_v3(r_eff_forces[num_eff_forces], out_force);
+          num_eff_forces++;
+        }
       }
     }
   }

source/blender/blenkernel/intern/fluid.c

@@ -3195,7 +3195,7 @@ static void update_effectors_task_cb(void *__restrict userdata,
       /* Do effectors. */
       pd_point_from_loc(data->scene, voxel_center, vel, index, &epoint);
       BKE_effectors_apply(
-          data->effectors, NULL, fds->effector_weights, &epoint, retvel, NULL, NULL);
+          data->effectors, NULL, fds->effector_weights, &epoint, retvel, NULL, NULL, NULL);
 
       /* Convert retvel to local space. */
       mag = len_v3(retvel);

source/blender/blenkernel/intern/particle.c

@@ -2572,6 +2572,7 @@ static void do_path_effectors(ParticleSimulationData *sim,
                       &epoint,
                       force,
                       NULL,
+                      NULL,
                       NULL);
 
   mul_v3_fl(force,

source/blender/blenkernel/intern/particle_system.c

@@ -2256,7 +2256,8 @@ static void basic_force_cb(void *efdata_v, ParticleKey *state, float *force, flo
                         &epoint,
                         force,
                         NULL,
-                        impulse);
+                        impulse,
+                        NULL);
   }
 
   mul_v3_fl(force, efdata->ptex.field);

source/blender/blenkernel/intern/pointcache.c

@@ -119,14 +119,20 @@
 static CLG_LogRef LOG = {"bke.pointcache"};
 
 static int ptcache_data_size[] = {
-    sizeof(unsigned int), /* BPHYS_DATA_INDEX */
-    sizeof(float[3]),     /* BPHYS_DATA_LOCATION */
-    sizeof(float[3]),     /* BPHYS_DATA_VELOCITY */
-    sizeof(float[4]),     /* BPHYS_DATA_ROTATION */
-    sizeof(float[3]),     /* BPHYS_DATA_AVELOCITY / BPHYS_DATA_XCONST */
-    sizeof(float),        /* BPHYS_DATA_SIZE */
-    sizeof(float[3]),     /* BPHYS_DATA_TIMES */
-    sizeof(BoidData),     /* case BPHYS_DATA_BOIDS */
+    sizeof(unsigned int),    /* BPHYS_DATA_INDEX */
+    sizeof(float[3]),        /* BPHYS_DATA_LOCATION */
+    sizeof(float[3]),        /* BPHYS_DATA_VELOCITY */
+    sizeof(float[4]),        /* BPHYS_DATA_ROTATION */
+    sizeof(float[3]),        /* BPHYS_DATA_AVELOCITY / BPHYS_DATA_XCONST */
+    sizeof(float),           /* BPHYS_DATA_SIZE */
+    sizeof(float[3]),        /* BPHYS_DATA_TIMES */
+    sizeof(BoidData),        /* case BPHYS_DATA_BOIDS */
+    sizeof(sim_data_vec[3]), /* BPHYS_DATA_EFF_FORCES */
+    sizeof(sim_data_vec[3]), /* BPHYS_DATA_NORM_FORCES */
+    sizeof(sim_data_vec[3]), /* BPHYS_DATA_FRIC_FORCES */
+    sizeof(sim_data_vec[3]), /* BPHYS_DATA_VEC_LOCATIONS */
+    sizeof(float[3]),        /* BHYS_DATA_PREV_VELOCITY */
+    sizeof(int[3]),          /* BHYS_DATA_COLLIDING_FACES */
 };
 
 static int ptcache_extra_datasize[] = {
@@ -781,6 +787,13 @@ static int ptcache_rigidbody_write(int index, void *rb_v, void **data, int UNUSE
 #endif
       PTCACHE_DATA_FROM(data, BPHYS_DATA_LOCATION, rbo->pos);
       PTCACHE_DATA_FROM(data, BPHYS_DATA_ROTATION, rbo->orn);
+      PTCACHE_DATA_FROM(data, BPHYS_DATA_VELOCITY, rbo->vel);
+      PTCACHE_DATA_FROM(data, BPHYS_DATA_EFF_FORCES, rbo->eff_forces);
+      PTCACHE_DATA_FROM(data, BPHYS_DATA_NORM_FORCES, rbo->norm_forces);
+      PTCACHE_DATA_FROM(data, BPHYS_DATA_FRIC_FORCES, rbo->fric_forces);
+      PTCACHE_DATA_FROM(data, BPHYS_DATA_VEC_LOCATIONS, rbo->vec_locations);
+      PTCACHE_DATA_FROM(data, BPHYS_DATA_PREV_VELOCITY, rbo->pvel);
+      PTCACHE_DATA_FROM(data, BPHYS_DATA_COLLIDING_FACES, rbo->colliding_faces);
     }
   }
 
@@ -804,10 +817,24 @@ static void ptcache_rigidbody_read(
       if (old_data) {
         memcpy(rbo->pos, data, sizeof(float[3]));
         memcpy(rbo->orn, data + 3, sizeof(float[4]));
+        memcpy(rbo->vel, data + 7, sizeof(float[3]));
+        memcpy(rbo->eff_forces, data + 10, sizeof(sim_data_vec[3]));
+        memcpy(rbo->norm_forces, data + 19, sizeof(sim_data_vec[3]));
+        memcpy(rbo->fric_forces, data + 28, sizeof(sim_data_vec[3]));
+        memcpy(rbo->vec_locations, data + 37, sizeof(sim_data_vec[3]));
+        memcpy(rbo->pvel, data + 46, sizeof(float[3]));
+        memcpy(rbo->colliding_faces, data + 49, sizeof(int[3]));
       }
       else {
         PTCACHE_DATA_TO(data, BPHYS_DATA_LOCATION, 0, rbo->pos);
         PTCACHE_DATA_TO(data, BPHYS_DATA_ROTATION, 0, rbo->orn);
+        PTCACHE_DATA_TO(data, BPHYS_DATA_VELOCITY, 0, rbo->vel);
+        PTCACHE_DATA_TO(data, BPHYS_DATA_EFF_FORCES, 0, rbo->eff_forces);
+        PTCACHE_DATA_TO(data, BPHYS_DATA_NORM_FORCES, 0, rbo->norm_forces);
+        PTCACHE_DATA_TO(data, BPHYS_DATA_FRIC_FORCES, 0, rbo->fric_forces);
+        PTCACHE_DATA_TO(data, BPHYS_DATA_VEC_LOCATIONS, 0, rbo->vec_locations);
+        PTCACHE_DATA_TO(data, BPHYS_DATA_PREV_VELOCITY, 0, rbo->pvel);
+        PTCACHE_DATA_TO(data, BPHYS_DATA_COLLIDING_FACES, 0, rbo->colliding_faces);
       }
     }
   }
@@ -1085,7 +1112,11 @@ void BKE_ptcache_id_from_rigidbody(PTCacheID *pid, Object *ob, RigidBodyWorld *r
   pid->write_header = ptcache_basic_header_write;
   pid->read_header = ptcache_basic_header_read;
 
-  pid->data_types = (1 << BPHYS_DATA_LOCATION) | (1 << BPHYS_DATA_ROTATION);
+  pid->data_types = (1 << BPHYS_DATA_LOCATION) | (1 << BPHYS_DATA_ROTATION) |
+                    (1 << BPHYS_DATA_VELOCITY) | (1 << BPHYS_DATA_EFF_FORCES) |
+                    (1 << BPHYS_DATA_NORM_FORCES) | (1 << BPHYS_DATA_FRIC_FORCES) |
+                    (1 << BPHYS_DATA_VEC_LOCATIONS) | (1 << BPHYS_DATA_PREV_VELOCITY) |
+                    (1 << BPHYS_DATA_COLLIDING_FACES);
   pid->info_types = 0;
 
   pid->stack_index = pid->cache->index;
@@ -1727,6 +1758,24 @@ static void ptcache_file_pointers_init(PTCacheFile *pf)
   pf->cur[BPHYS_DATA_SIZE] = (data_types & (1 << BPHYS_DATA_SIZE)) ? &pf->data.size : NULL;
   pf->cur[BPHYS_DATA_TIMES] = (data_types & (1 << BPHYS_DATA_TIMES)) ? &pf->data.times : NULL;
   pf->cur[BPHYS_DATA_BOIDS] = (data_types & (1 << BPHYS_DATA_BOIDS)) ? &pf->data.boids : NULL;
+  pf->cur[BPHYS_DATA_EFF_FORCES] = (data_types & (1 << BPHYS_DATA_EFF_FORCES)) ?
+                                       &pf->data.eff_forces :
+                                       NULL;
+  pf->cur[BPHYS_DATA_NORM_FORCES] = (data_types & (1 << BPHYS_DATA_NORM_FORCES)) ?
+                                        &pf->data.norm_forces :
+                                        NULL;
+  pf->cur[BPHYS_DATA_FRIC_FORCES] = (data_types & (1 << BPHYS_DATA_FRIC_FORCES)) ?
+                                        &pf->data.fric_forces :
+                                        NULL;
+  pf->cur[BPHYS_DATA_VEC_LOCATIONS] = (data_types & (1 << BPHYS_DATA_VEC_LOCATIONS)) ?
+                                          &pf->data.vec_locations :
+                                          NULL;
+  pf->cur[BPHYS_DATA_PREV_VELOCITY] = (data_types & (1 << BPHYS_DATA_PREV_VELOCITY)) ?
+                                          &pf->data.pvel :
+                                          NULL;
+  pf->cur[BPHYS_DATA_COLLIDING_FACES] = (data_types & (1 << BPHYS_DATA_COLLIDING_FACES)) ?
+                                          &pf->data.pvel :
+                                          NULL;
 }
 
 int BKE_ptcache_mem_index_find(PTCacheMem *pm, unsigned int index)
@@ -3781,6 +3830,12 @@ static const char *ptcache_data_struct[] = {
     "",          // BPHYS_DATA_SIZE:
     "",          // BPHYS_DATA_TIMES:
     "BoidData",  // case BPHYS_DATA_BOIDS:
+    "sim_data_vec", //BPHYS_DATA_EFF_FORCES:
+    "sim_data_vec", //BPHYS_DATA_NORM_FORCES:
+    "sim_data_vec", //BPHYS_DATA_FRIC_FORCES:
+    "sim_data_vec", //BPHYS_DATA_VEC_LOCATIONS:
+    "",             //BPHYS_DATA_PREV_VELOCITY:
+    "",             //BPHYS_DATA_COLLIDING_FACES
 };
 static const char *ptcache_extra_struct[] = {
     "",

source/blender/blenkernel/intern/rigidbody.c

@@ -35,9 +35,11 @@
 
 #include "BLI_listbase.h"
 #include "BLI_math.h"
+#include "BLI_ghash.h"
 
 #ifdef WITH_BULLET
 #  include "RBI_api.h"
+#  include "RBI_hull_api.h"
 #endif
 
 #include "DNA_ID.h"
@@ -198,6 +200,12 @@ void BKE_rigidbody_free_object(Object *ob, RigidBodyWorld *rbw)
       rbo->shared->physics_shape = NULL;
     }
 
+    if (rbo->shared->col_shape_draw_data) {
+        BKE_mesh_clear_geometry(rbo->shared->col_shape_draw_data);
+        BKE_id_free(NULL, rbo->shared->col_shape_draw_data);
+        rbo->shared->col_shape_draw_data = NULL;
+    }
+
     MEM_freeN(rbo->shared);
   }
 
@@ -478,7 +486,6 @@ static rbCollisionShape *rigidbody_get_shape_trimesh_from_mesh(Object *ob)
   else {
     CLOG_ERROR(&LOG, "cannot make Triangular Mesh collision shape for non-Mesh object");
   }
-
   return shape;
 }
 
@@ -628,7 +635,20 @@ static void rigidbody_validate_sim_shape(RigidBodyWorld *rbw, Object *ob, bool r
     if (rbo->shared->physics_shape) {
       RB_shape_delete(rbo->shared->physics_shape);
     }
+    /* Delete old debug drawing mesh data if it exists. */
+    if (rbo->shared->col_shape_draw_data) {
+        BKE_mesh_clear_geometry(rbo->shared->col_shape_draw_data);
+        BKE_id_free(NULL, rbo->shared->col_shape_draw_data);
+        rbo->shared->col_shape_draw_data = NULL;
+    }
     rbo->shared->physics_shape = new_shape;
+
+    if(rbo->shape == RB_SHAPE_CONVEXH) {
+        BKE_rigidbody_store_convex_hull_draw_data(ob);
+    }
+    if(rbo->shape == RB_SHAPE_TRIMESH) {
+        BKE_rigidbody_store_trimesh_draw_data(ob);
+    }
   }
 }
 
@@ -1273,6 +1293,28 @@ RigidBodyOb *BKE_rigidbody_create_object(Scene *scene, Object *ob, short type)
 
   rbo->col_groups = 1;
 
+  zero_v3(rbo->eff_forces[0].vector);
+  zero_v3(rbo->eff_forces[1].vector);
+  zero_v3(rbo->eff_forces[2].vector);
+  zero_v3(rbo->norm_forces[0].vector);
+  zero_v3(rbo->norm_forces[1].vector);
+  zero_v3(rbo->norm_forces[2].vector);
+  zero_v3(rbo->fric_forces[0].vector);
+  zero_v3(rbo->fric_forces[1].vector);
+  zero_v3(rbo->fric_forces[2].vector);
+  zero_v3(rbo->vec_locations[0].vector);
+  zero_v3(rbo->vec_locations[1].vector);
+  zero_v3(rbo->vec_locations[2].vector);
+
+  rbo->colliding_faces[0] = -1;
+  rbo->colliding_faces[1] = -1;
+  rbo->colliding_faces[2] = -1;
+
+  zero_v3(rbo->pvel);
+  zero_v3(rbo->vel);
+
+  rbo->shared->col_shape_draw_data = NULL;
+
   /* use triangle meshes for passive objects
    * use convex hulls for active objects since dynamic triangle meshes are very unstable
    */
@@ -1754,7 +1796,14 @@ static void rigidbody_update_sim_ob(
       /* Calculate net force of effectors, and apply to sim object:
        * - we use 'central force' since apply force requires a "relative position"
        *   which we don't have... */
-      BKE_effectors_apply(effectors, NULL, effector_weights, &epoint, eff_force, NULL, NULL);
+      float eff_forces[3][3] = {{0.0}};
+      BKE_effectors_apply(
+          effectors, NULL, effector_weights, &epoint, eff_force, NULL, NULL, eff_forces);
+      if (rbo->sim_display_options & RB_SIM_FORCES) {
+        for (int i = 0; i < 3; i++) {
+          copy_v3_v3(rbo->eff_forces[i].vector, eff_forces[i]);
+        }
+      }
       if (G.f & G_DEBUG) {
         printf("\tapplying force (%f,%f,%f) to '%s'\n",
                eff_force[0],
@@ -2034,6 +2083,215 @@ static void rigidbody_update_simulation_post_step(Depsgraph *depsgraph, RigidBod
   FOREACH_COLLECTION_OBJECT_RECURSIVE_END;
 }
 
+static void rigidbody_debug_draw_get_colliding_face(Object *ob, const float points[3][3], const float forces[3][3]) {
+
+    /* Unit Box vertices. */
+    float box_shape[8][3] = {
+        {1.0f, -1.0f, 1.0f},
+        {1.0f, -1.0f, -1.0f},
+        {-1.0f, -1.0f, -1.0f},
+        {-1.0f, -1.0f, 1.0f},
+        {1.0f, 1.0f, 1.0f},
+        {1.0f, 1.0f, -1.0f},
+        {-1.0f, 1.0f, -1.0f},
+        {-1.0f, 1.0f, 1.0f},
+    };
+
+    /* Triangles that make up the faces of the box. */
+    uint box_shape_tris[12][3] = {
+        {0, 1, 2},
+        {0, 2, 3},
+
+        {0, 1, 5},
+        {0, 5, 4},
+
+        {1, 2, 6},
+        {1, 6, 5},
+
+        {2, 3, 7},
+        {2, 7, 6},
+
+        {3, 0, 4},
+        {3, 4, 7},
+
+        {4, 5, 6},
+        {4, 6, 7},
+    };
+
+    float transform_mat[4][4] = {{0.0f}};
+    float size[3] = {1.0f};
+    float pos[3] = {0.0f};
+    float rot[4] = {0.0f};
+
+    float isect_co[3] ={0.0f};
+    float point[3] = {0.0f};
+    float dir[3];
+    int stored_faces = 0;
+    int max_faces = 0;
+
+    RigidBodyOb *rbo = ob->rigidbody_object;
+    if(rbo->shared->physics_object) {
+        RB_body_get_position(rbo->shared->physics_object, pos);
+        RB_body_get_orientation(rbo->shared->physics_object, rot);
+    }
+
+    switch(rbo->shape) {
+      case RB_SHAPE_BOX:
+        max_faces = 3;
+        if(rbo->shared->physics_shape) {
+            RB_box_shape_get_half_extents(rbo->shared->physics_shape, size);
+        }
+        break;
+      case RB_SHAPE_CYLINDER:
+        max_faces = 2;
+        if(rbo->shared->physics_shape) {
+            RB_cylinder_shape_get_half_extents(rbo->shared->physics_shape, size);
+        }
+        break;
+      case RB_SHAPE_CONE:
+        max_faces = 1;
+        if(rbo->shared->physics_shape) {
+            RB_cone_shape_get_half_extents(rbo->shared->physics_shape, size);
+        }
+        break;
+    }
+
+    loc_quat_size_to_mat4(transform_mat, pos, rot, size);
+
+    /* Transform the box to correct location, orientaion and scale. */
+    for (int i = 0; i < 8; i++) {
+      mul_m4_v3(transform_mat, box_shape[i]);
+    }
+    if(ELEM(rbo->shape, RB_SHAPE_BOX, RB_SHAPE_CYLINDER, RB_SHAPE_CONE)) {
+      for(int i=0; i<3; i++) {
+        if(stored_faces >= max_faces) {
+            break;
+        }
+        copy_v3_v3(point, points[i]);
+        normalize_v3_v3(dir, forces[i]);
+        /* If face has already collided don't overwrite. */
+        if(rbo->colliding_faces[i] > -1) {
+            stored_faces++;
+        }
+        for (int j = 0; j < 6; j++) {
+          /* The cylinder and cone have fewer faces. */
+          if(rbo->shape == RB_SHAPE_CYLINDER) {
+              if(!ELEM(j, 2, 4)) {
+                  continue;
+              }
+          }
+          if(rbo->shape == RB_SHAPE_CONE) {
+              if(j!=2) {
+                  continue;
+              }
+          }
+          if (isect_point_tri_v3(point,
+                                 box_shape[box_shape_tris[2 * j][0]],
+                                 box_shape[box_shape_tris[2 * j][1]],
+                                 box_shape[box_shape_tris[2 * j][2]],
+                                 isect_co) ||
+              isect_point_tri_v3(point,
+                                 box_shape[box_shape_tris[2 * j + 1][0]],
+                                 box_shape[box_shape_tris[2 * j + 1][1]],
+                                 box_shape[box_shape_tris[2 * j + 1][2]],
+                                 isect_co)) {
+            /* Find normal to the face. */
+            float edge1[3], edge2[3], norm[3];
+            sub_v3_v3v3(edge1, box_shape[box_shape_tris[2 * j][0]], box_shape[box_shape_tris[2 * j][1]]);
+            sub_v3_v3v3(edge2, box_shape[box_shape_tris[2 * j][2]], box_shape[box_shape_tris[2 * j][1]]);
+            cross_v3_v3v3(norm, edge1, edge2);
+            normalize_v3(norm);
+            /* Check that distance is small and force is perpendicular to the face. */
+            if ((len_v3v3(point, isect_co) <= rbo->margin) &&
+              (fabsf(dot_v3v3(norm, dir)) > 0.99))
+            {
+              if(ELEM(j, rbo->colliding_faces[0], rbo->colliding_faces[1], rbo->colliding_faces[2])) {
+                  continue;
+              }
+              rbo->colliding_faces[stored_faces] = j;
+              stored_faces++;
+              break;
+            }
+          }
+        }
+      }
+    }
+}
+
+static void rigidbody_get_debug_draw_data(RigidBodyWorld *rbw, float substep, GHash *norm_forces_magnitudes, bool is_last_substep) {
+    /*Loop through all rigid bodies and get the forces being applied in the substep (for drawing debug info).
+     * Store average force acting on objects during all substeps.
+     * We store the average of the forces and not the forces themselves, because storing forces
+     * would mean that only the force applied in the last substep is displayed on the screen.
+     * Average is a better representation of what happened during the whole timestep.*/
+    for (int j = 0; j < rbw->numbodies; j++) {
+
+      float num_substeps = (float)rbw->substeps_per_frame;
+
+      float norm_forces[3][3] = {{0.0f}};
+      float fric_forces[3][3] = {{0.0f}};
+      float vec_locations[3][3] = {{0.0f}};
+
+      Object *ob = rbw->objects[j];
+      float *norm_forces_mag = (float *)BLI_ghash_lookup(norm_forces_magnitudes, ob);
+      if (ob->rigidbody_object != NULL) {
+        rbRigidBody *rbo = (rbRigidBody *)(ob->rigidbody_object->shared->physics_object);
+
+        if(((ob->rigidbody_object->sim_display_options & RB_SIM_VELOCITY) ||
+           (ob->rigidbody_object->sim_display_options & RB_SIM_ACCELERATION)) &&
+            is_last_substep)
+        {
+          /* Get velocity. */
+          copy_v3_v3(ob->rigidbody_object->pvel, ob->rigidbody_object->vel);
+          RB_body_get_linear_velocity(rbo, ob->rigidbody_object->vel);
+         }
+
+        bool norm_flag = (ob->rigidbody_object->display_force_types & RB_SIM_NORMAL) ||
+                        (ob->rigidbody_object->display_force_types & RB_SIM_NET_FORCE) ||
+                        (ob->rigidbody_object->sim_display_options & RB_SIM_COLLISIONS);
+        bool fric_flag = (ob->rigidbody_object->display_force_types & RB_SIM_FRICTION) ||
+                        (ob->rigidbody_object->display_force_types & RB_SIM_NET_FORCE);
+        if (norm_flag || fric_flag) {
+          RB_dworld_get_impulse(rbw->shared->physics_world,
+                                rbo,
+                                substep,
+                                norm_forces,
+                                fric_forces,
+                                vec_locations,
+                                norm_flag,
+                                fric_flag);
+          if(!is_zero_v3(norm_forces[0])) {
+            rigidbody_debug_draw_get_colliding_face(ob, vec_locations, norm_forces);
+          }
+
+          for(int k=0; k<3; k++){
+               if (norm_flag || fric_flag) {
+
+                mul_v3_fl(norm_forces[k], 1/num_substeps);
+                norm_forces_mag[k] += len_v3(norm_forces[k]);
+                add_v3_v3(ob->rigidbody_object->norm_forces[k].vector, norm_forces[k]);
+                mul_v3_fl(vec_locations[k], len_v3(norm_forces[k]));
+                add_v3_v3(ob->rigidbody_object->vec_locations[k].vector, vec_locations[k]);
+              }
+              if (fric_flag) {
+                mul_v3_fl(fric_forces[k], 1/num_substeps);
+                add_v3_v3(ob->rigidbody_object->fric_forces[k].vector, fric_forces[k]);
+              }
+
+              if(is_last_substep) {
+                  if(norm_forces_mag[k]>0.0f) {
+                    mul_v3_fl(ob->rigidbody_object->vec_locations[k].vector, (1.0f/norm_forces_mag[k]));
+                  }
+                  else {
+                      zero_v3(ob->rigidbody_object->vec_locations[k].vector);
+                  }
+              }
+          }
+        }
+      }
+    }
+}
+
 bool BKE_rigidbody_check_sim_running(RigidBodyWorld *rbw, float ctime)
 {
   return (rbw && (rbw->flag & RBW_FLAG_MUTED) == 0 && ctime > rbw->shared->pointcache->startframe);
@@ -2251,11 +2509,49 @@ void BKE_rigidbody_do_simulation(Depsgraph *depsgraph, Scene *scene, float ctime
     const float interp_step = 1.0f / rbw->substeps_per_frame;
     float cur_interp_val = interp_step;
 
+    GHash *norm_forces_magnitudes = BLI_ghash_ptr_new(__func__);
+
+    /* Set all contact forces and their locations to zero. (for drawing debug info) */
+    for (int i = 0; i < rbw->numbodies; i++) {
+        Object *ob = rbw->objects[i];
+        for(int j=0; j<3; j++) {
+          zero_v3(ob->rigidbody_object->norm_forces[j].vector);
+          zero_v3(ob->rigidbody_object->vec_locations[j].vector);
+          zero_v3(ob->rigidbody_object->fric_forces[j].vector);
+          ob->rigidbody_object->colliding_faces[j] = -1;
+        }
+        if((ob->rigidbody_object->display_force_types & RB_SIM_NORMAL) ||
+            (ob->rigidbody_object->display_force_types & RB_SIM_FRICTION) ||
+               (ob->rigidbody_object->sim_display_options & RB_SIM_COLLISIONS)) {
+
+          float *arr = MEM_callocN(sizeof(float) * 3 ,__func__);
+          BLI_ghash_insert(norm_forces_magnitudes, ob, arr);
+
+        }
+    }
+
     for (int i = 0; i < rbw->substeps_per_frame; i++) {
       rigidbody_update_kinematic_obj_substep(&substep_targets, cur_interp_val);
       RB_dworld_step_simulation(rbw->shared->physics_world, substep, 0, substep);
       cur_interp_val += interp_step;
+
+      if(i == rbw->substeps_per_frame-1) {
+        rigidbody_get_debug_draw_data(rbw, substep, norm_forces_magnitudes, true);
+      }
+      else {
+        rigidbody_get_debug_draw_data(rbw, substep, norm_forces_magnitudes, false);
+      }
     }
+
+    if (norm_forces_magnitudes) {
+      GHashIterator gh_iter;
+      GHASH_ITER(gh_iter, norm_forces_magnitudes) {
+        float *arr = BLI_ghashIterator_getValue(&gh_iter);
+        MEM_SAFE_FREE(arr);
+      }
+      BLI_ghash_free(norm_forces_magnitudes, NULL, NULL);
+    }
+
     rigidbody_free_substep_data(&substep_targets);
 
     rigidbody_update_simulation_post_step(depsgraph, rbw);
@@ -2267,6 +2563,151 @@ void BKE_rigidbody_do_simulation(Depsgraph *depsgraph, Scene *scene, float ctime
     rbw->ltime = ctime;
   }
 }
+
+void BKE_rigidbody_store_convex_hull_draw_data(Object *ob) {
+    Mesh *hull_draw_data;
+
+    Mesh *mesh = NULL;
+    MVert *mvert = NULL;
+    int totvert = 0;
+
+    if (ob->type == OB_MESH && ob->data) {
+      mesh = rigidbody_get_mesh(ob);
+      mvert = (mesh) ? mesh->mvert : NULL;
+      totvert = (mesh) ? mesh->totvert : 0;
+    }
+    else {
+      CLOG_ERROR(&LOG, "cannot make Convex Hull collision shape for non-Mesh object");
+    }
+    float (*verts)[3] = (float(*)[3])MEM_malloc_arrayN(sizeof(float[3]), totvert, __func__);
+    for(int i=0; i<totvert; i++){
+       // verts[i] = (float*)MEM_malloc_arrayN(sizeof(float), 3, __func__);
+        copy_v3_v3(verts[i], mvert[i].co);
+    }
+
+    plConvexHull hull = plConvexHullCompute((float(*)[3])verts, totvert);
+    MEM_freeN(verts);
+    const int num_verts = plConvexHullNumVertices(hull);
+    const int num_faces = num_verts <= 2 ? 0 : plConvexHullNumFaces(hull);
+    const int num_loops = num_verts <= 2 ? 0 : plConvexHullNumLoops(hull);
+
+    const int num_edges = num_verts == 2 ? 1 : num_verts < 2 ? 0 : num_loops / 2;
+    hull_draw_data = BKE_mesh_new_nomain(num_verts, num_edges, 0, num_loops, num_faces);
+
+    for (int i=0; i<num_verts; i++) {
+      float co[3];
+      int original_index;
+      plConvexHullGetVertex(hull, i, co, &original_index);
+
+      if (original_index >= 0 && original_index < totvert) {
+
+        copy_v3_v3(hull_draw_data->mvert[i].co, co);
+      }
+      else {
+        BLI_assert(!"Unexpected new vertex in hull output");
+      }
+    }
+
+   MLoop *mloop_src = MEM_mallocN(num_loops * sizeof(MLoop), __func__);
+
+    uint edge_index = 0;
+    for (int i=0; i<num_loops; i++) {
+      int v_from;
+      int v_to;
+      plConvexHullGetLoop(hull, i, &v_from, &v_to);
+
+      mloop_src[i].v = v_from;
+      if (v_from < v_to) {
+        hull_draw_data->medge[edge_index].v1 = v_from;
+        hull_draw_data->medge[edge_index].v2 = v_to;
+        hull_draw_data->medge[edge_index].flag = ME_EDGEDRAW | ME_EDGERENDER;
+
+        int reverse_index = plConvexHullGetReversedLoopIndex(hull, i);
+        mloop_src[i].e = edge_index;
+        mloop_src[reverse_index].e = edge_index;
+        edge_index++;
+
+      }
+    }
+
+    /* Copy faces. */
+    int *loops;
+    int j = 0;
+    MLoop *loop = hull_draw_data->mloop;
+    for (int i=0; i<num_faces; i++) {
+      const int len = plConvexHullGetFaceSize(hull, i);
+
+      BLI_assert(len > 2);
+
+      /* Get face loop indices. */
+      loops = MEM_mallocN(sizeof(int)*len, __func__);
+      plConvexHullGetFaceLoops(hull, i, loops);
+
+      MPoly *face = &(hull_draw_data->mpoly[i]);
+      face->loopstart = j;
+      face->totloop = len;
+      for (int k=0; k<len; k++) {
+        MLoop src_loop = mloop_src[loops[k]];
+        loop->v = src_loop.v;
+        loop->e = src_loop.e;
+        loop++;
+      }
+      j += len;
+      MEM_freeN(loops);
+    }
+    MEM_freeN(mloop_src);
+    plConvexHullDelete(hull);
+    ob->rigidbody_object->shared->col_shape_draw_data = hull_draw_data;
+
+}
+
+void BKE_rigidbody_store_trimesh_draw_data(Object *ob) {
+
+    Mesh *mesh = NULL;
+    Mesh *trimesh_draw_data;
+    MLoop *mloop;
+    const MLoopTri *looptri;
+    int tottri;
+
+
+    int num_verts;
+    int num_loops;
+
+    mesh = rigidbody_get_mesh(ob);
+
+    if(mesh != NULL) {
+        looptri = BKE_mesh_runtime_looptri_ensure(mesh);
+        tottri = mesh->runtime.looptris.len;
+
+        num_verts = mesh->totvert;
+        num_loops = tottri*3;
+        mloop = mesh->mloop;
+
+        trimesh_draw_data = BKE_mesh_new_nomain(num_verts, 0, tottri, num_loops, 0);
+        for(int i=0; i<num_verts; i++){
+            MVert *vert = &(trimesh_draw_data->mvert[i]);
+            copy_v3_v3(vert->co, mesh->mvert[i].co);
+        }
+
+        for (int i = 0; i < tottri; i++) {
+          /* add first triangle - verts 1,2,3 */
+          const MLoopTri *lt = &looptri[i];
+          MFace *face = &(trimesh_draw_data->mface[i]);
+
+          face->v1 = mloop[lt->tri[0]].v;
+          face->v2 = mloop[lt->tri[1]].v;
+          face->v3 = mloop[lt->tri[2]].v;
+
+        }
+        BKE_mesh_convert_mfaces_to_mpolys(trimesh_draw_data);
+        BKE_mesh_calc_edges(trimesh_draw_data, false, false);
+
+        ob->rigidbody_object->shared->col_shape_draw_data = trimesh_draw_data;
+
+    }
+
+}
+
 /* ************************************** */
 
 #else /* WITH_BULLET */

source/blender/blenkernel/intern/softbody.c

@@ -1479,7 +1479,7 @@ static void _scan_for_ext_spring_forces(
             mid_v3_v3v3(vel, sb->bpoint[bs->v1].vec, sb->bpoint[bs->v2].vec);
             pd_point_from_soft(scene, pos, vel, -1, &epoint);
             BKE_effectors_apply(
-                effectors, NULL, sb->effector_weights, &epoint, force, NULL, speed);
+                effectors, NULL, sb->effector_weights, &epoint, force, NULL, speed, NULL);
 
             mul_v3_fl(speed, windfactor);
             add_v3_v3(vel, speed);
@@ -2107,7 +2107,8 @@ static int _softbody_calc_forces_slice_in_a_thread(Scene *scene,
         float eval_sb_fric_force_scale = sb_fric_force_scale(ob);
 
         pd_point_from_soft(scene, bp->pos, bp->vec, sb->bpoint - bp, &epoint);
-        BKE_effectors_apply(effectors, NULL, sb->effector_weights, &epoint, force, NULL, speed);
+        BKE_effectors_apply(
+            effectors, NULL, sb->effector_weights, &epoint, force, NULL, speed, NULL);
 
         /* Apply force-field. */
         mul_v3_fl(force, fieldfactor * eval_sb_fric_force_scale);

source/blender/draw/CMakeLists.txt

@@ -444,6 +444,7 @@ set(GLSL_SRC
   engines/overlay/shaders/armature_wire_vert.glsl
   engines/overlay/shaders/background_frag.glsl
   engines/overlay/shaders/clipbound_vert.glsl
+  engines/overlay/shaders/constraint_angular_limits_vert.glsl
   engines/overlay/shaders/depth_only_vert.glsl
   engines/overlay/shaders/edit_curve_handle_geom.glsl
   engines/overlay/shaders/edit_curve_handle_vert.glsl
@@ -513,6 +514,7 @@ set(GLSL_SRC
   engines/overlay/shaders/particle_frag.glsl
   engines/overlay/shaders/sculpt_mask_vert.glsl
   engines/overlay/shaders/sculpt_mask_frag.glsl
+  engines/overlay/shaders/vector_vert.glsl
   engines/overlay/shaders/volume_velocity_vert.glsl
   engines/overlay/shaders/volume_gridlines_vert.glsl
   engines/overlay/shaders/wireframe_vert.glsl
@@ -581,6 +583,14 @@ if(WITH_GTESTS)
   endif()
 endif()
 
+if(WITH_BULLET)
+  list(APPEND INC
+    ../../../intern/rigidbody
+  )
+  add_definitions(-DWITH_BULLET)
+endif()
+
+
 
 blender_add_lib(bf_draw "${SRC}" "${INC}" "${INC_SYS}" "${LIB}")
 

source/blender/draw/engines/overlay/overlay_private.h

@@ -695,6 +695,7 @@ GPUShader *OVERLAY_shader_armature_stick(void);
 GPUShader *OVERLAY_shader_armature_wire(void);
 GPUShader *OVERLAY_shader_background(void);
 GPUShader *OVERLAY_shader_clipbound(void);
+GPUShader *OVERLAY_shader_constraint_angular_limits(void);
 GPUShader *OVERLAY_shader_depth_only(void);
 GPUShader *OVERLAY_shader_edit_curve_handle(void);
 GPUShader *OVERLAY_shader_edit_curve_point(void);
@@ -740,6 +741,7 @@ GPUShader *OVERLAY_shader_outline_prepass(bool use_wire);
 GPUShader *OVERLAY_shader_outline_prepass_gpencil(void);
 GPUShader *OVERLAY_shader_outline_prepass_pointcloud(void);
 GPUShader *OVERLAY_shader_extra_grid(void);
+GPUShader *OVERLAY_shader_vector(void);
 GPUShader *OVERLAY_shader_outline_detect(void);
 GPUShader *OVERLAY_shader_paint_face(void);
 GPUShader *OVERLAY_shader_paint_point(void);

source/blender/draw/engines/overlay/overlay_shader.c

@@ -50,6 +50,7 @@ extern char datatoc_armature_wire_frag_glsl[];
 extern char datatoc_armature_wire_vert_glsl[];
 extern char datatoc_background_frag_glsl[];
 extern char datatoc_clipbound_vert_glsl[];
+extern char datatoc_constraint_angular_limits_vert_glsl[];
 extern char datatoc_depth_only_vert_glsl[];
 extern char datatoc_edit_curve_handle_geom_glsl[];
 extern char datatoc_edit_curve_handle_vert_glsl[];
@@ -91,6 +92,7 @@ extern char datatoc_extra_wire_frag_glsl[];
 extern char datatoc_extra_wire_vert_glsl[];
 extern char datatoc_facing_frag_glsl[];
 extern char datatoc_facing_vert_glsl[];
+extern char datatoc_vector_vert_glsl[];
 extern char datatoc_grid_background_frag_glsl[];
 extern char datatoc_grid_frag_glsl[];
 extern char datatoc_grid_vert_glsl[];
@@ -158,6 +160,7 @@ typedef struct OVERLAY_Shaders {
   GPUShader *armature_wire;
   GPUShader *background;
   GPUShader *clipbound;
+  GPUShader *constraint_angular_limits;
   GPUShader *depth_only;
   GPUShader *edit_curve_handle;
   GPUShader *edit_curve_point;
@@ -197,6 +200,7 @@ typedef struct OVERLAY_Shaders {
   GPUShader *extra_lightprobe_grid;
   GPUShader *extra_loose_point;
   GPUShader *facing;
+  GPUShader *force_vector;
   GPUShader *gpencil_canvas;
   GPUShader *grid;
   GPUShader *grid_background;
@@ -1467,6 +1471,34 @@ struct GPUShader *OVERLAY_shader_uniform_color(void)
   return sh_data->uniform_color;
 }
 
+struct GPUShader *OVERLAY_shader_vector()
+{
+  OVERLAY_Shaders *sh_data = &e_data.sh_data[0];
+  if (!sh_data->force_vector) {
+    sh_data->force_vector = DRW_shader_create_with_lib(
+        datatoc_vector_vert_glsl,
+        NULL,
+        datatoc_gpu_shader_flat_color_frag_glsl,
+        datatoc_common_view_lib_glsl,
+        "#define blender_srgb_to_framebuffer_space(a) a\n");
+  }
+  return sh_data->force_vector;
+}
+
+struct GPUShader *OVERLAY_shader_constraint_angular_limits()
+{
+  OVERLAY_Shaders *sh_data = &e_data.sh_data[0];
+  if (!sh_data->constraint_angular_limits) {
+    sh_data->constraint_angular_limits = DRW_shader_create_with_lib(
+        datatoc_constraint_angular_limits_vert_glsl,
+        NULL,
+        datatoc_gpu_shader_flat_color_frag_glsl,
+        datatoc_common_view_lib_glsl,
+        "#define blender_srgb_to_framebuffer_space(a) a\n");
+  }
+  return sh_data->constraint_angular_limits;
+}
+
 struct GPUShader *OVERLAY_shader_volume_velocity(bool use_needle, bool use_mac)
 {
   OVERLAY_Shaders *sh_data = &e_data.sh_data[0];

source/blender/draw/engines/overlay/shaders/constraint_angular_limits_vert.glsl

@@ -0,0 +1,42 @@
+uniform vec4 mat_vecs[4];
+uniform float offset;
+uniform float angle;
+uniform vec3 color;
+
+flat out vec4 finalColor;
+
+const float PI = 3.141592653589;
+const float segment_angular_width = PI * 10/180;
+
+int n_segments = int(floor(angle/segment_angular_width));
+
+int indices[74];
+
+void main(void)
+{
+    for(int i=0; i<=(n_segments); i++) {
+        indices[2*i] = i;
+        indices[2*i+1] = i+1;
+    }
+    indices[2*(n_segments+1)] = n_segments+1;
+    indices[2*(n_segments+1)+1] = 0;
+
+  vec4 p[37];
+  p[0] = vec4(0.0, 0.0, 0.0, 1.0);
+  for (int i = 0; i < n_segments; i++) {
+    p[i+1] = vec4(cos((angle * i / n_segments)+ offset), sin((angle * i / n_segments)+offset), 0.0, 1.0);
+  }
+   p[n_segments+1] = vec4(cos(angle + offset), sin(angle + offset), 0.0, 1.0);
+
+  int ind = indices[gl_VertexID%74];
+
+  vec4 transform;
+  mat4 mat;
+  mat = mat4(mat_vecs[0], mat_vecs[1], mat_vecs[2], mat_vecs[3]);
+  transform = mat * p[ind];
+
+  vec3 pos = transform.xyz;
+  finalColor = vec4(color, 1.0);
+  vec3 world_pos = point_object_to_world(pos);
+  gl_Position = point_world_to_ndc(world_pos);
+}

source/blender/draw/engines/overlay/shaders/vector_vert.glsl

@@ -0,0 +1,39 @@
+
+uniform vec3 objPosition;
+uniform vec3 vector;
+uniform float scale;
+uniform float min_clamp;
+uniform vec3 colour;
+
+flat out vec4 finalColor;
+
+vec3 verts[5] = vec3[5](vec3(0.0, 0.0, 0.0),   // origin of arrow
+                        vec3(0.0, 0.0, 0.0),   // neck
+                        vec3(0.0, 0.0, 0.0),   // point on the right
+                        vec3(0.0, 0.0, 0.0),   // topmost point
+                        vec3(0.0, 0.0, 0.0));  // point on the left
+
+const int indices[6] = int[6](0, 3, 3, 2, 3, 4);
+
+void main()
+{
+
+  GPU_INTEL_VERTEX_SHADER_WORKAROUND
+
+  vec3 pos = vec3(0.0, 0.0, 0.0);
+  vec3 v = normalize(vector);
+  vec4 dir = ViewMatrixInverse * vec4(0.0, 0.0, -1.0, 0.0);  // viewing direction
+  vec3 dir1 = normalize(cross(dir.xyz, v));  // perpendicular to view dir. and length of arrow
+  if (gl_VertexID % 6 != 0) {
+
+    verts[3] = v * length(vector) * scale + v * min_clamp;            // topmost point
+    verts[1] = v * length(vector) * scale + v * min_clamp - v * 0.2;  // neck
+    verts[2] = verts[1] + dir1 * 0.0866;                              // right side point of head
+    verts[4] = verts[1] - dir1 * 0.0866;                              // left side point of head
+  }
+  pos += verts[indices[gl_VertexID % 6]];
+  pos += objPosition;
+  finalColor = vec4(colour, 1.0);
+  vec3 world_pos = point_object_to_world(pos);
+  gl_Position = point_world_to_ndc(world_pos);
+}

source/blender/draw/engines/workbench/workbench_materials.c

@@ -32,6 +32,7 @@
 
 #include "DNA_mesh_types.h"
 #include "DNA_node_types.h"
+#include "DNA_rigidbody_types.h"
 
 #include "GPU_uniform_buffer.h"
 
@@ -49,7 +50,6 @@ void workbench_material_ubo_data(WORKBENCH_PrivateData *wpd,
   float metallic = 0.0f;
   float roughness = 0.632455532f; /* sqrtf(0.4f); */
   float alpha = wpd->shading.xray_alpha;
-
   switch (color_type) {
     case V3D_SHADING_SINGLE_COLOR:
       copy_v3_v3(data->base_color, wpd->shading.single_color);
@@ -74,7 +74,36 @@ void workbench_material_ubo_data(WORKBENCH_PrivateData *wpd,
     default:
       if (mat) {
         alpha *= mat->a;
-        copy_v3_v3(data->base_color, &mat->r);
+        if(ob && ob->rigidbody_object) {
+            if(ob->rigidbody_object->sim_display_options & RB_SIM_STATE) {
+                float rbo_color_active[4] = {0.8f, 0.8f, 0.8f, 1.0f};
+                float rbo_color_passive[4] = {0.3f, 0.3f, 0.3f, 1.0f};
+                float *rbo_color;
+                if(ob->rigidbody_object->type == RBO_TYPE_ACTIVE){
+                  rbo_color = rbo_color_active;
+                  if(ob->rigidbody_object->flag & RBO_FLAG_KINEMATIC) {
+                      rbo_color[2] += 0.2f;
+                      rbo_color[0] -= 0.1f;
+                      rbo_color[1] -= 0.1f;
+                  }
+                }
+                else if(ob->rigidbody_object->type == RBO_TYPE_PASSIVE){
+                  rbo_color = rbo_color_passive;
+                  if(ob->rigidbody_object->flag & RBO_FLAG_KINEMATIC) {
+                      rbo_color[2] += 0.2f;
+                  }
+                }
+
+                copy_v3_v3(data->base_color, rbo_color);
+
+            }
+            else {
+              copy_v3_v3(data->base_color, &mat->r);
+            }
+        }
+        else {
+          copy_v3_v3(data->base_color, &mat->r);
+        }
         metallic = mat->metallic;
         roughness = sqrtf(mat->roughness); /* Remap to Disney roughness. */
       }
@@ -177,7 +206,6 @@ DRWShadingGroup *workbench_material_setup_ex(WORKBENCH_PrivateData *wpd,
       color_type = V3D_SHADING_MATERIAL_COLOR;
     }
   }
-
   switch (color_type) {
     case V3D_SHADING_TEXTURE_COLOR: {
       return workbench_image_setup_ex(wpd, ob, mat_nr, ima, iuser, sampler, datatype);
@@ -200,7 +228,14 @@ DRWShadingGroup *workbench_material_setup_ex(WORKBENCH_PrivateData *wpd,
       DRWShadingGroup **grp_mat = NULL;
       /* A hash-map stores material shgroups to pack all similar drawcalls together. */
       if (BLI_ghash_ensure_p(prepass->material_hash, ma, (void ***)&grp_mat)) {
-        return *grp_mat;
+        if(ob){
+            if(!ob->rigidbody_object){
+                return *grp_mat;
+            }
+        }
+        if(!ob){
+          return *grp_mat;
+        }
       }
 
       uint32_t mat_id, id = wpd->material_index++;
@@ -209,12 +244,14 @@ DRWShadingGroup *workbench_material_setup_ex(WORKBENCH_PrivateData *wpd,
       workbench_material_ubo_data(wpd, ob, ma, &wpd->material_ubo_data_curr[mat_id], color_type);
 
       DRWShadingGroup *grp = prepass->common_shgrp;
+
       *grp_mat = grp = DRW_shgroup_create_sub(grp);
       DRW_shgroup_uniform_block(grp, "materials_data", wpd->material_ubo_curr);
       DRW_shgroup_uniform_int_copy(grp, "materialIndex", mat_id);
       return grp;
     }
     case V3D_SHADING_VERTEX_COLOR: {
+      printf("b\n");
       const bool transp = wpd->shading.xray_alpha < 1.0f;
       DRWShadingGroup *grp = wpd->prepass[transp][infront][datatype].vcol_shgrp;
       return grp;

source/blender/draw/intern/draw_cache.c

@@ -22,11 +22,13 @@
 #include "DNA_curves_types.h"
 #include "DNA_lattice_types.h"
 #include "DNA_mesh_types.h"
+#include "DNA_meshdata_types.h"
 #include "DNA_meta_types.h"
 #include "DNA_modifier_types.h"
 #include "DNA_object_types.h"
 #include "DNA_particle_types.h"
 #include "DNA_pointcloud_types.h"
+#include "DNA_rigidbody_types.h"
 #include "DNA_scene_types.h"
 #include "DNA_volume_types.h"
 
@@ -37,6 +39,8 @@
 
 #include "BKE_object.h"
 #include "BKE_paint.h"
+#include "BKE_mesh.h"
+#include "BKE_lib_id.h"
 
 #include "GPU_batch.h"
 #include "GPU_batch_utils.h"
@@ -113,6 +117,8 @@ static struct DRWShapeCache {
   GPUBatch *drw_single_arrow;
   GPUBatch *drw_cube;
   GPUBatch *drw_circle;
+  GPUBatch *drw_solid_cylinder_face;
+  GPUBatch *drw_solid_cone_face;
   GPUBatch *drw_normal_arrow;
   GPUBatch *drw_empty_cube;
   GPUBatch *drw_empty_sphere;
@@ -171,6 +177,7 @@ void DRW_shape_cache_free(void)
     GPU_BATCH_DISCARD_SAFE(*batch);
     batch++;
   }
+
 }
 
 /** \} */
@@ -761,6 +768,8 @@ GPUBatch *DRW_cache_circle_get(void)
 #undef CIRCLE_RESOL
 }
 
+
+
 GPUBatch *DRW_cache_normal_arrow_get(void)
 {
   if (!SHC.drw_normal_arrow) {
@@ -1180,6 +1189,78 @@ GPUBatch *DRW_cache_empty_cylinder_get(void)
 #undef NSEGMENTS
 }
 
+GPUBatch *DRW_cache_cylinder_face_get(void)
+{
+#define NSEGMENTS 12
+  if (!SHC.drw_solid_cylinder_face) {
+    GPUVertFormat format = extra_vert_format();
+    GPUVertBuf *vbo = GPU_vertbuf_create_with_format(&format);
+    GPU_vertbuf_data_alloc(vbo, NSEGMENTS * 3);
+
+    /* a single ring of vertices */
+    int v = 0;
+    int flag = VCLASS_EMPTY_SCALED;
+    float p[NSEGMENTS][2];
+    for (int i = 0; i < NSEGMENTS; i++) {
+      float angle = 2 * M_PI * ((float)i / (float)NSEGMENTS);
+      p[i][0] = cosf(angle);
+      p[i][1] = sinf(angle);
+    }
+    for (int i = 0; i < NSEGMENTS; i++) {
+      float cv[2], pv[2];
+      cv[0] = p[(i) % NSEGMENTS][0];
+      cv[1] = p[(i) % NSEGMENTS][1];
+      pv[0] = p[(i + 1) % NSEGMENTS][0];
+      pv[1] = p[(i + 1) % NSEGMENTS][1];
+
+      GPU_vertbuf_vert_set(vbo, v++, &(Vert){{cv[0], cv[1], 0.0f}, flag});
+      GPU_vertbuf_vert_set(vbo, v++, &(Vert){{0.0f, 0.0f, 0.0f}, flag});
+      GPU_vertbuf_vert_set(vbo, v++, &(Vert){{pv[0], pv[1], 0.0f}, flag});
+
+    }
+
+    SHC.drw_solid_cylinder_face = GPU_batch_create_ex(GPU_PRIM_TRIS, vbo, NULL, GPU_BATCH_OWNS_VBO);
+  }
+  return SHC.drw_solid_cylinder_face;
+#undef NSEGMENTS
+}
+
+GPUBatch *DRW_cache_cone_face_get(void)
+{
+#define NSEGMENTS 8
+  if (!SHC.drw_solid_cone_face) {
+    GPUVertFormat format = extra_vert_format();
+    GPUVertBuf *vbo = GPU_vertbuf_create_with_format(&format);
+    GPU_vertbuf_data_alloc(vbo, NSEGMENTS * 3);
+
+    /* a single ring of vertices */
+    int v = 0;
+    int flag = VCLASS_EMPTY_SCALED;
+    float p[NSEGMENTS][2];
+    for (int i = 0; i < NSEGMENTS; i++) {
+      float angle = 2 * M_PI * ((float)i / (float)NSEGMENTS);
+      p[i][0] = cosf(angle);
+      p[i][1] = sinf(angle);
+    }
+    for (int i = 0; i < NSEGMENTS; i++) {
+      float cv[2], pv[2];
+      cv[0] = p[(i) % NSEGMENTS][0];
+      cv[1] = p[(i) % NSEGMENTS][1];
+      pv[0] = p[(i + 1) % NSEGMENTS][0];
+      pv[1] = p[(i + 1) % NSEGMENTS][1];
+
+      GPU_vertbuf_vert_set(vbo, v++, &(Vert){{cv[0], cv[1], 0.0f}, flag});
+      GPU_vertbuf_vert_set(vbo, v++, &(Vert){{0.0f, 0.0f, 0.0f}, flag});
+      GPU_vertbuf_vert_set(vbo, v++, &(Vert){{pv[0], pv[1], 0.0f}, flag});
+
+    }
+
+    SHC.drw_solid_cone_face = GPU_batch_create_ex(GPU_PRIM_TRIS, vbo, NULL, GPU_BATCH_OWNS_VBO);
+  }
+  return SHC.drw_solid_cone_face;
+#undef NSEGMENTS
+}
+
 GPUBatch *DRW_cache_empty_capsule_body_get(void)
 {
   if (!SHC.drw_empty_capsule_body) {
@@ -3374,6 +3455,24 @@ GPUBatch *DRW_cache_cursor_get(bool crosshair_lines)
   return *drw_cursor;
 }
 
+GPUBatch *DRW_cache_non_primitive_col_shape_get(Object *ob)
+{
+
+    GPUBatch *geom = NULL;
+    if(ob->rigidbody_object->shared->col_shape_draw_data != NULL){
+        const DRWContextState *draw_ctx = DRW_context_state_get();
+        DRW_mesh_batch_cache_validate(ob, ob->rigidbody_object->shared->col_shape_draw_data);
+
+        geom = DRW_mesh_batch_cache_get_all_edges(ob->rigidbody_object->shared->col_shape_draw_data);
+
+        struct TaskGraph *task_graph = BLI_task_graph_create();
+        DRW_mesh_batch_cache_create_requested(task_graph, ob, ob->rigidbody_object->shared->col_shape_draw_data, draw_ctx->scene, false, false);
+        BLI_task_graph_work_and_wait(task_graph);
+        BLI_task_graph_free(task_graph);
+    }
+    return geom;
+}
+
 /** \} */
 
 /* -------------------------------------------------------------------- */

source/blender/draw/intern/draw_cache.h

@@ -97,7 +97,9 @@ struct GPUBatch *DRW_cache_empty_cube_get(void);
 struct GPUBatch *DRW_cache_circle_get(void);
 struct GPUBatch *DRW_cache_empty_sphere_get(void);
 struct GPUBatch *DRW_cache_empty_cylinder_get(void);
+struct GPUBatch *DRW_cache_cylinder_face_get(void);
 struct GPUBatch *DRW_cache_empty_cone_get(void);
+struct GPUBatch *DRW_cache_cone_face_get(void);
 struct GPUBatch *DRW_cache_empty_capsule_cap_get(void);
 struct GPUBatch *DRW_cache_empty_capsule_body_get(void);
 
@@ -304,6 +306,8 @@ struct bGPDstroke *DRW_cache_gpencil_sbuffer_stroke_data_get(struct Object *ob);
  */
 void DRW_cache_gpencil_sbuffer_clear(struct Object *ob);
 
+/* Non primitive collision shapes */
+struct GPUBatch *DRW_cache_non_primitive_col_shape_get(Object *ob);
 #ifdef __cplusplus
 }
 #endif

source/blender/makesdna/DNA_pointcache_types.h

@@ -45,8 +45,14 @@ extern "C" {
 #define BPHYS_DATA_SIZE 5
 #define BPHYS_DATA_TIMES 6
 #define BPHYS_DATA_BOIDS 7
+#define BPHYS_DATA_EFF_FORCES 8
+#define BPHYS_DATA_NORM_FORCES 9
+#define BPHYS_DATA_FRIC_FORCES 10
+#define BPHYS_DATA_VEC_LOCATIONS 11
+#define BPHYS_DATA_PREV_VELOCITY 12
+#define BPHYS_DATA_COLLIDING_FACES 13
 
-#define BPHYS_TOT_DATA 8
+#define BPHYS_TOT_DATA 14
 
 #define BPHYS_EXTRA_FLUID_SPRINGS 1
 #define BPHYS_EXTRA_CLOTH_ACCELERATION 2
@@ -63,7 +69,7 @@ typedef struct PTCacheMem {
   unsigned int data_types, flag;
 
   /** BPHYS_TOT_DATA. */
-  void *data[8];
+  void *data[14];
 
   struct ListBase extradata;
 } PTCacheMem;

source/blender/makesdna/DNA_rigidbody_types.h

@@ -26,6 +26,7 @@
 
 #include "DNA_listBase.h"
 #include "DNA_object_force_types.h"
+#include "DNA_mesh_types.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -100,6 +101,10 @@ typedef enum eRigidBodyWorld_Flag {
   RBW_FLAG_USE_SPLIT_IMPULSE = (1 << 2),
 } eRigidBodyWorld_Flag;
 
+typedef struct sim_data_vec {
+  float vector[3];
+} sim_data_vec;
+
 /* ******************************** */
 /* RigidBody Object */
 
@@ -115,6 +120,8 @@ typedef struct RigidBodyOb_Shared {
   void *physics_object;
   /** Collision shape used by physics sim (i.e. btCollisionShape). */
   void *physics_shape;
+  /** Mesh used to store non pprimitive collision shapes for debug drawing. */
+  Mesh *col_shape_draw_data;
 } RigidBodyOb_Shared;
 
 /* RigidBodyObject (rbo)
@@ -129,7 +136,6 @@ typedef struct RigidBodyOb {
   short type;
   /** (eRigidBody_Shape) collision shape to use. */
   short shape;
-
   /** (eRigidBodyOb_Flag). */
   int flag;
   /** Collision groups that determines which rigid bodies can collide with each other. */
@@ -165,9 +171,30 @@ typedef struct RigidBodyOb {
   /** Rigid body position. */
   float pos[3];
   char _pad1[4];
-
   /** This pointer is shared between all evaluated copies. */
   struct RigidBodyOb_Shared *shared;
+
+  /** Options for debug drawing. */
+  int sim_display_options;
+  int display_force_types;
+
+  /** Force vectors. */
+  sim_data_vec eff_forces[3];
+  char _pad2[4];
+  sim_data_vec norm_forces[3];
+  char _pad3[4];
+  sim_data_vec fric_forces[3];
+  char _pad4[4];
+  sim_data_vec vec_locations[3];
+
+  /** For box, cyllinder and cone shapes. */
+  int colliding_faces[3];
+
+  /** Velocity */
+  float vel[3];
+  /** Previous velocity, to calculate acceleration. */
+  float pvel[3];
+
 } RigidBodyOb;
 
 /** #RigidBodyOb.type */
@@ -220,6 +247,34 @@ typedef enum eRigidBody_Shape {
   RB_SHAPE_COMPOUND = 7,
 } eRigidBody_Shape;
 
+enum {
+  /** Display forces. */
+  RB_SIM_FORCES = (1 << 0),
+  /** Display acceleration. */
+  RB_SIM_ACCELERATION = (1 << 1),
+  /** Display velocity. */
+  RB_SIM_VELOCITY = (1 << 2),
+  /** Display magnitude as text */
+  RB_SIM_TEXT = (1 << 3),
+  /** Indicate when collisions occur. */
+  RB_SIM_COLLISIONS = (1 << 4),
+  /** Display states of rigid body. */
+  RB_SIM_STATE = (1 << 5),
+};
+
+enum {
+  /** Display gravity force. */
+  RB_SIM_GRAVITY = (1 << 0),
+  /** Display force due to effectors. */
+  RB_SIM_EFFECTORS = (1 << 1),
+  /** Display contact normal forces. */
+  RB_SIM_NORMAL = (1 << 2),
+  /** Display contact normal frictional. */
+  RB_SIM_FRICTION = (1 << 3),
+  /** Display resultant force. */
+  RB_SIM_NET_FORCE = (1 << 4),
+};
+
 typedef enum eRigidBody_MeshSource {
   /* base mesh */
   RBO_MESH_BASE = 0,
@@ -369,6 +424,10 @@ typedef enum eRigidBodyCon_Flag {
   RBC_FLAG_USE_SPRING_ANG_X = (1 << 16),
   RBC_FLAG_USE_SPRING_ANG_Y = (1 << 17),
   RBC_FLAG_USE_SPRING_ANG_Z = (1 << 18),
+  /* Debug draw constraint limits */
+  RBC_FLAG_DEBUG_DRAW_LIMITS = (1 << 19),
+  /* Fade linear limit walls when object is not close to hitting the limit. */
+  RBC_FLAG_DEBUG_DRAW_FADE_WALLS = (1 << 20),
 } eRigidBodyCon_Flag;
 
 /* ******************************** */

source/blender/makesrna/RNA_access.h

@@ -591,6 +591,7 @@ extern StructRNA RNA_ShapeKeyCurvePoint;
 extern StructRNA RNA_ShapeKeyPoint;
 extern StructRNA RNA_ShrinkwrapConstraint;
 extern StructRNA RNA_ShrinkwrapModifier;
+extern StructRNA RNA_sim_data_vec;
 extern StructRNA RNA_SimpleDeformModifier;
 extern StructRNA RNA_SimplifyGpencilModifier;
 extern StructRNA RNA_Simulation;

source/blender/makesrna/intern/rna_rigidbody.c

@@ -861,6 +861,14 @@ static PointerRNA rna_RigidBodyWorld_PointCache_get(PointerRNA *ptr)
 
 #else
 
+static void rna_def_rigidbody_sim_data(BlenderRNA *brna)
+{
+  StructRNA *srna;
+
+  srna = RNA_def_struct(brna, "sim_data_vec", NULL);
+  RNA_def_struct_sdna(srna, "sim_data_vec");
+}
+
 static void rna_def_rigidbody_world(BlenderRNA *brna)
 {
   StructRNA *srna;
@@ -1203,6 +1211,63 @@ static void rna_def_rigidbody_object(BlenderRNA *brna)
       prop, "Collision Collections", "Collision collections rigid body belongs to");
   RNA_def_property_update(prop, NC_OBJECT | ND_POINTCACHE, "rna_RigidBodyOb_reset");
   RNA_def_property_flag(prop, PROP_LIB_EXCEPTION);
+
+  /* sim data display options. */
+  prop = RNA_def_property(srna, "display_forces", PROP_BOOLEAN, PROP_NONE);
+  RNA_def_property_boolean_sdna(prop, NULL, "sim_display_options", RB_SIM_FORCES);
+  RNA_def_property_ui_text(prop, "Forces", "Display forces acting on rigid body");
+  RNA_def_property_update(prop, NC_OBJECT | ND_DRAW, "rna_RigidBodyOb_reset");
+
+  prop = RNA_def_property(srna, "display_acceleration", PROP_BOOLEAN, PROP_NONE);
+  RNA_def_property_boolean_sdna(prop, NULL, "sim_display_options", RB_SIM_ACCELERATION);
+  RNA_def_property_ui_text(prop, "Acceleration", "Display acceleration of rigid body");
+  RNA_def_property_update(prop, NC_OBJECT | ND_DRAW, "rna_RigidBodyOb_reset");
+
+  prop = RNA_def_property(srna, "display_velocity", PROP_BOOLEAN, PROP_NONE);
+  RNA_def_property_boolean_sdna(prop, NULL, "sim_display_options", RB_SIM_VELOCITY);
+  RNA_def_property_ui_text(prop, "Velocity", "Display velocity acting on rigid body");
+  RNA_def_property_update(prop, NC_OBJECT | ND_DRAW, "rna_RigidBodyOb_reset");
+
+  prop = RNA_def_property(srna, "display_data_text", PROP_BOOLEAN, PROP_NONE);
+  RNA_def_property_boolean_sdna(prop, NULL, "sim_display_options", RB_SIM_TEXT);
+  RNA_def_property_ui_text(prop, "Text", "Display the magnitudes of the vectors as text");
+  RNA_def_property_update(prop, NC_OBJECT | ND_DRAW, "rna_RigidBodyOb_reset");
+
+  prop = RNA_def_property(srna, "display_collisions", PROP_BOOLEAN, PROP_NONE);
+  RNA_def_property_boolean_sdna(prop, NULL, "sim_display_options", RB_SIM_COLLISIONS);
+  RNA_def_property_ui_text(prop, "Collisions", "Indicate when collisions occur");
+  RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
+
+  prop = RNA_def_property(srna, "display_state", PROP_BOOLEAN, PROP_NONE);
+  RNA_def_property_boolean_sdna(prop, NULL, "sim_display_options", RB_SIM_STATE);
+  RNA_def_property_ui_text(prop, "State", "Active/Passive/sleeping");
+  RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
+
+  prop = RNA_def_property(srna, "show_gravity", PROP_BOOLEAN, PROP_NONE);
+  RNA_def_property_boolean_sdna(prop, NULL, "display_force_types", RB_SIM_GRAVITY);
+  RNA_def_property_ui_text(prop, "Gravity", "Display the force of gravity");
+  RNA_def_property_update(prop, NC_OBJECT | ND_DRAW, "rna_RigidBodyOb_reset");
+
+  prop = RNA_def_property(srna, "show_effectors_force", PROP_BOOLEAN, PROP_NONE);
+  RNA_def_property_boolean_sdna(prop, NULL, "display_force_types", RB_SIM_EFFECTORS);
+  RNA_def_property_ui_text(prop, "Effectors", "Display the forces aplied by effectors");
+  RNA_def_property_update(prop, NC_OBJECT | ND_DRAW, "rna_RigidBodyOb_reset");
+
+  prop = RNA_def_property(srna, "show_normal_force", PROP_BOOLEAN, PROP_NONE);
+  RNA_def_property_boolean_sdna(prop, NULL, "display_force_types", RB_SIM_NORMAL);
+  RNA_def_property_ui_text(prop, "Normal forces", "Display contact normal forces");
+  RNA_def_property_update(prop, NC_OBJECT | ND_DRAW, "rna_RigidBodyOb_reset");
+
+  prop = RNA_def_property(srna, "show_frictional_force", PROP_BOOLEAN, PROP_NONE);
+  RNA_def_property_boolean_sdna(prop, NULL, "display_force_types", RB_SIM_FRICTION);
+  RNA_def_property_ui_text(prop, "Frictional forces", "Display contact frcitional forces");
+  RNA_def_property_update(prop, NC_OBJECT | ND_DRAW, "rna_RigidBodyOb_reset");
+
+  prop = RNA_def_property(srna, "show_net_force", PROP_BOOLEAN, PROP_NONE);
+  RNA_def_property_boolean_sdna(prop, NULL, "display_force_types", RB_SIM_NET_FORCE);
+  RNA_def_property_ui_text(
+      prop, "Resultant force", "Display the net force acting on the rigid body");
+  RNA_def_property_update(prop, NC_OBJECT | ND_DRAW, "rna_RigidBodyOb_reset");
 }
 
 static void rna_def_rigidbody_constraint(BlenderRNA *brna)
@@ -1369,6 +1434,16 @@ static void rna_def_rigidbody_constraint(BlenderRNA *brna)
   RNA_def_property_ui_text(prop, "Linear Motor", "Enable linear motor");
   RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
 
+  prop = RNA_def_property(srna, "debug_draw_limits", PROP_BOOLEAN, PROP_NONE);
+  RNA_def_property_boolean_sdna(prop, NULL, "flag", RBC_FLAG_DEBUG_DRAW_LIMITS);
+  RNA_def_property_ui_text(prop, "Visualise Limits", "Display the limits imposed by the constraint");
+  RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
+
+  prop = RNA_def_property(srna, "debug_draw_fade_walls", PROP_BOOLEAN, PROP_NONE);
+  RNA_def_property_boolean_sdna(prop, NULL, "flag", RBC_FLAG_DEBUG_DRAW_FADE_WALLS);
+  RNA_def_property_ui_text(prop, "Fade walls", "Fade the linear limit walls when object is not close to them");
+  RNA_def_property_update(prop, NC_OBJECT, "rna_RigidBodyOb_reset");
+
   prop = RNA_def_property(srna, "use_motor_ang", PROP_BOOLEAN, PROP_NONE);
   RNA_def_property_boolean_sdna(prop, NULL, "flag", RBC_FLAG_USE_MOTOR_ANG);
   RNA_def_property_boolean_funcs(prop, NULL, "rna_RigidBodyCon_use_motor_ang_set");
@@ -1597,6 +1672,7 @@ void RNA_def_rigidbody(BlenderRNA *brna)
   rna_def_rigidbody_world(brna);
   rna_def_rigidbody_object(brna);
   rna_def_rigidbody_constraint(brna);
+  rna_def_rigidbody_sim_data(brna);
 }
 
 #endif

source/blender/simulation/intern/SIM_mass_spring.cpp

@@ -738,7 +738,8 @@ static void cloth_calc_force(
                           &epoint,
                           forcevec[i],
                           winvec[i],
-                          nullptr);
+                          nullptr,
+                          NULL);
 
       has_wind = has_wind || !is_zero_v3(winvec[i]);
       has_force = has_force || !is_zero_v3(forcevec[i]);