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

@@ -51,7 +51,8 @@ typedef struct {
 
 // 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"
@@ -277,8 +278,7 @@ static
 #  else   // STATIC_IMAXDIV ][
 _inline
 #  endif  // STATIC_IMAXDIV ]
-imaxdiv_t __cdecl imaxdiv(intmax_t numer, intmax_t denom)
+    imaxdiv_t __cdecl imaxdiv(intmax_t numer, intmax_t denom) {
-{
   imaxdiv_t result;
 
   result.quot = numer / denom;
@@ -301,5 +301,4 @@ imaxdiv_t __cdecl imaxdiv(intmax_t numer, intmax_t denom)
 #  define wcstoimax _wcstoi64
 #  define wcstoumax _wcstoui64
 
-
 #endif  // _MSC_INTTYPES_H_ ]

intern/libmv/third_party/msinttypes/stdint.h

@@ -56,14 +56,14 @@ extern "C" {
 
 // 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
+#    if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) &&            \
+        _MSC_VER >= 1300
 #      define _W64 __w64
 #    else
 #      define _W64
 #    endif
 #  endif
 
-
 // 7.18.1 Integer types
 
 // 7.18.1.1 Exact-width integer types
@@ -89,7 +89,6 @@ extern "C" {
 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;
@@ -123,10 +122,11 @@ typedef uint64_t  uint_fast64_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)
@@ -220,10 +220,10 @@ typedef uint64_t  uintmax_t;
 
 #  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
 
@@ -243,5 +243,4 @@ typedef uint64_t  uintmax_t;
 
 #  endif  // __STDC_CONSTANT_MACROS ]
 
-
 #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

@@ -127,6 +127,12 @@ static int ptcache_data_size[] = {
     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;
+        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);
@@ -200,8 +228,15 @@ 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)) {
+        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]);