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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
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@ -36,21 +36,29 @@ public abstract class BSLinkset
{ {
// private static string LogHeader = "[BULLETSIM LINKSET]"; // 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 // Create the correct type of linkset for this child
public static BSLinkset Factory(BSScene physScene, BSPhysObject parent) public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
{ {
BSLinkset ret = null; 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; 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) => { return s.m_params[0].numberOfSolverIterations; },
(s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ), (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.", new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
ConfigurationParameters.numericFalse, ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, (s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },

1
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@ -300,6 +300,7 @@ public struct ConfigurationParameters
public float shouldEnableFrictionCaching; public float shouldEnableFrictionCaching;
public float numberOfSolverIterations; public float numberOfSolverIterations;
public float linksetImplementation;
public float linkConstraintUseFrameOffset; public float linkConstraintUseFrameOffset;
public float linkConstraintEnableTransMotor; public float linkConstraintEnableTransMotor;
public float linkConstraintTransMotorMaxVel; public float linkConstraintTransMotorMaxVel;