Added pmxRigidBody command - #8
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…nchors) Native C++ pmxRigidBody command — the single body-modification path for pmxPhysicsNode. Create mode only, SIMULATION IS DISABLED: writes the full body DATA (PMX shape_size verbatim into bodyShapeSize, group/mask, physics mode via the core Simulation::PhysicsMode enum) and binds FOLLOW_BONE bodies to their related joint through the kinematic-anchor input. Dynamic bodies are data-only (no write-back, no stepping) — edit/query/remove and the rigid-body-constraint command are later PRs. Adapted from the PR #3 draft to the merged node schema: - bodyShapeSize (single float3) instead of bodyRadius/bodyExtents/bodyLength - core Simulation::PhysicsMode (no node-side enum) - single groupInverseWorldMatrix instead of per-anchor anchorParentInverseMatrix Registration in MayaMMD.cpp + CMake source list + integration tests wired into the 'cmd' suite (11 new tests).
Design cleanup of the pmxRigidBody command (per review): - Rename rigid_body_cmd.h -> rigid_body_cmd.hpp and make it a PURE interface: all private static helpers (resolveSolver, doCreate, matrixFromTR, worldMatrix, connectOrReplace, jointPmxBoneIndex, resolveBone) moved into the .cpp's anonymous namespace. The header now exposes only kName/creator/syntaxCreator/doIt/isUndoable. - Add shared plug utilities to maya_utils.hpp (setPlugMatrixValue, setPlugDouble3, connectOrReplace) so the constraint command reuses them in the next PR instead of duplicating. - const/constexpr pass: use physics_math deg2rad/rad2deg (constexpr), constexpr clamp01, const locals, 3-arg findPlug (non-deprecated). - Bring back rigid-body population in rigid_body_builder.py: every PMX rigid body is now added to the node via pmxRigidBody at import (data + kinematic anchors for FOLLOW_BONE). Simulation still disabled (no joints/write-back/time). Dict lookups keyed by enum VALUE so a duplicate enum class (mayapy double-load of mmd.core) cannot break the mapping. - Import test now asserts bodies mirror the PMX rigid bodies (count + first body data). - Expand cmd integration tests: write-back K offset baked, wiring-field defaults, per-collider shape_size verbatim, MMD->Maya rest-pose conversion, kinematic anchor ordering with multiple bodies. Verified: node/cmd/import suites pass, C++ unit tests 31/31, clang-tidy clean, ruff/clang-format clean.
…plugin reload mmd.maya.pmx.rigid_body_builder was missing from plugin.py's _MMD_MODULES reload list. In a live Maya session the module stays cached in sys.modules with the OLD (empty-node) create_physics_from_pmx_data, so recompiling the .mll and reloading the plugin kept importing the stale builder and bodies never appeared on the node. Add it to the list, BEFORE pmx_scene_builder (which imports create_physics_from_pmx_data from it) so the fresh module is picked up when pmx_scene_builder is reloaded.
- connectOrReplace now returns early when dst is already driven by the SAME source, instead of queuing a duplicate connect that fails. This makes the repeated groupInverseWorldMatrix re-connect (one per kinematic body create) a real no-op instead of a swallowed kFailure. - Add cmd integration tests: numeric -bone <pmxBoneIdx> resolution, query/edit rejection, invalid-target rejection, missing-solver-argument rejection.
- rigid_body_cmd.cpp: anchor offsets (joint-anchored AND static-collider) now build the world matrix directly from world-space T/R via matrixFromTR(worldT, worldR) instead of the group-space round-trip matrixFromTR(localT, localR) * groupWorld, which dropped scale from the offset (the exact bug the K-offset write-back comment documents). - rigid_body_cmd.cpp: clamp -group to the PMX 0..15 range with plain ifs (replaces a nested ternary that tripped clang-tidy). - rigid_body_cmd.hpp: document -group range in the header. - test_pmx_rigid_body_cmd_integration.py: add test_group_clamped (-group=-5 -> 0, -group=99 -> 15); format.
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This was referenced Aug 10, 2026
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Summary
Native C++
pmxRigidBodycommand — the single body-modification path forpmxPhysicsNode. Create mode only, SIMULATION IS DISABLED: writes the full body DATA and binds FOLLOW_BONE bodies to their related joint via the kinematic-anchor input. Dynamic bodies are data-only (no write-back, no stepping) — edit/query/remove and the rigid-body-constraint command are later PRs.Changes
mmd/maya/cmds/rigid_body_cmd.h/.cpp— new native command (create mode only):-index,-name,-nameUniversal,-bone,-shape,-size,-position,-rotation,-mass,-linearDamping,-angularDamping,-friction,-restitution,-group,-mask,-physicsModeshape_sizeverbatim intobodyShapeSize, group/mask bools, physics mode via the coreSimulation::PhysicsModeenum)anchorWorldMatrix+ singlegroupInverseWorldMatrix+ bakedanchorOffset; no-bone bodies become pinned static collidersbodyWriteBackOffset(K) for every body (identity when no joint)mmd/MayaMMD.cpp— registerspmxRigidBody(+ deregisters on unload)CMakeLists.txt— addsrigid_body_cmd.cppto the plugin targettests/integration/maya/cmds/test_pmx_rigid_body_cmd_integration.py— 11 new integration tests (no PMX model needed), wired into thecmdsuitetests/integration/maya/run_all_integration_tests.py—cmdsuite now runs both native command test modules