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BulletSim: parameterize selection of linkset implementation

integration
Robert Adams 2012-11-02 10:35:12 -07:00
parent b0eccd5044
commit 1dc23b2b97
3 changed files with 24 additions and 10 deletions
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28
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@ -36,21 +36,29 @@ public abstract class BSLinkset
{
// private static string LogHeader = "[BULLETSIM LINKSET]";
public enum LinksetImplementation
{
Constraint = 0, // linkset tied together with constraints
Compound = 1, // linkset tied together as a compound object
Manual = 2 // linkset tied together manually (code moves all the pieces)
}
// Create the correct type of linkset for this child
public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
{
BSLinkset ret = null;
/*
if (parent.IsPhysical)
ret = new BSLinksetConstraints(physScene, parent);
else
ret = new BSLinksetManual(physScene, parent);
*/
// at the moment, there is only one
// ret = new BSLinksetConstraints(physScene, parent);
ret = new BSLinksetCompound(physScene, parent);
switch ((int)physScene.Params.linksetImplementation)
{
case (int)LinksetImplementation.Compound:
ret = new BSLinksetCompound(physScene, parent);
break;
case (int)LinksetImplementation.Manual:
// ret = new BSLinksetManual(physScene, parent);
break;
default:
ret = new BSLinksetConstraints(physScene, parent);
break;
}
return ret;
}

5
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -1214,6 +1214,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
(s) => { return s.m_params[0].numberOfSolverIterations; },
(s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ),
new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound)",
(float)BSLinkset.LinksetImplementation.Constraint,
(s,cf,p,v) => { s.m_params[0].linksetImplementation = cf.GetFloat(p,v); },
(s) => { return s.m_params[0].linksetImplementation; },
(s,p,l,v) => { s.m_params[0].linksetImplementation = v; } ),
new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },

1
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -300,6 +300,7 @@ public struct ConfigurationParameters
public float shouldEnableFrictionCaching;
public float numberOfSolverIterations;
public float linksetImplementation;
public float linkConstraintUseFrameOffset;
public float linkConstraintEnableTransMotor;
public float linkConstraintTransMotorMaxVel;