BulletSim: add Bullet HACD library invocation. Turned off by default as not

totally debugged. Updated DLLs and SOs with more debugged HACD library code.

OpenSim/Region/Physics/BulletSPlugin/BSParam.cs

@@ -86,6 +86,7 @@ public static class BSParam
     public static bool ShouldForceSimplePrimMeshing { get; private set; }   // if a cube or sphere, let Bullet do internal shapes
     public static bool ShouldUseHullsForPhysicalObjects { get; private set; }   // 'true' if should create hulls for physical objects
     public static bool ShouldRemoveZeroWidthTriangles { get; private set; }
+    public static bool ShouldUseBulletHACD { get; set; }
 
     public static float TerrainImplementation { get; private set; }
     public static int TerrainMeshMagnification { get; private set; }
@@ -149,6 +150,15 @@ public static class BSParam
     public static float CSHullVolumeConservationThresholdPercent { get; private set; }
     public static int CSHullMaxVertices { get; private set; }
     public static float CSHullMaxSkinWidth { get; private set; }
+	public static float BHullMaxVerticesPerHull { get; private set; }		// 100
+	public static float BHullMinClusters { get; private set; }				// 2
+	public static float BHullCompacityWeight { get; private set; }			// 0.1
+	public static float BHullVolumeWeight { get; private set; }				// 0.0
+	public static float BHullConcavity { get; private set; }				    // 100
+	public static bool BHullAddExtraDistPoints { get; private set; }		// false
+	public static bool BHullAddNeighboursDistPoints { get; private set; }	// false
+	public static bool BHullAddFacesPoints { get; private set; }			// false
+	public static bool BHullShouldAdjustCollisionMargin { get; private set; }	// false
 
     // Linkset implementation parameters
     public static float LinksetImplementation { get; private set; }
@@ -325,6 +335,10 @@ public static class BSParam
             true,
             (s) => { return ShouldRemoveZeroWidthTriangles; },
             (s,v) => { ShouldRemoveZeroWidthTriangles = v; } ),
+        new ParameterDefn<bool>("ShouldUseBulletHACD", "If true, use the Bullet version of HACD",
+            false,
+            (s) => { return ShouldUseBulletHACD; },
+            (s,v) => { ShouldUseBulletHACD = v; } ),
 
         new ParameterDefn<int>("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions",
             5,
@@ -663,10 +677,47 @@ public static class BSParam
             (s) => { return CSHullMaxVertices; },
             (s,v) => { CSHullMaxVertices = v; } ),
 	    new ParameterDefn<float>("CSHullMaxSkinWidth", "CS impl: skin width to apply to output hulls.",
-            0,
+            0f,
             (s) => { return CSHullMaxSkinWidth; },
             (s,v) => { CSHullMaxSkinWidth = v; } ),
 
+	    new ParameterDefn<float>("BHullMaxVerticesPerHull", "Bullet impl: max number of vertices per created hull",
+            100f,
+            (s) => { return BHullMaxVerticesPerHull; },
+            (s,v) => { BHullMaxVerticesPerHull = v; } ),
+	    new ParameterDefn<float>("BHullMinClusters", "Bullet impl: minimum number of hulls to create per mesh",
+            2f,
+            (s) => { return BHullMinClusters; },
+            (s,v) => { BHullMinClusters = v; } ),
+	    new ParameterDefn<float>("BHullCompacityWeight", "Bullet impl: weight factor for how compact to make hulls",
+            2f,
+            (s) => { return BHullCompacityWeight; },
+            (s,v) => { BHullCompacityWeight = v; } ),
+	    new ParameterDefn<float>("BHullVolumeWeight", "Bullet impl: weight factor for volume in created hull",
+            0.1f,
+            (s) => { return BHullVolumeWeight; },
+            (s,v) => { BHullVolumeWeight = v; } ),
+	    new ParameterDefn<float>("BHullConcavity", "Bullet impl: weight factor for how convex a created hull can be",
+            100f,
+            (s) => { return BHullConcavity; },
+            (s,v) => { BHullConcavity = v; } ),
+	    new ParameterDefn<bool>("BHullAddExtraDistPoints", "Bullet impl: whether to add extra vertices for long distance vectors",
+            false,
+            (s) => { return BHullAddExtraDistPoints; },
+            (s,v) => { BHullAddExtraDistPoints = v; } ),
+	    new ParameterDefn<bool>("BHullAddNeighboursDistPoints", "Bullet impl: whether to add extra vertices between neighbor hulls",
+            false,
+            (s) => { return BHullAddNeighboursDistPoints; },
+            (s,v) => { BHullAddNeighboursDistPoints = v; } ),
+	    new ParameterDefn<bool>("BHullAddFacesPoints", "Bullet impl: whether to add extra vertices to break up hull faces",
+            false,
+            (s) => { return BHullAddFacesPoints; },
+            (s,v) => { BHullAddFacesPoints = v; } ),
+	    new ParameterDefn<bool>("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin",
+            false,
+            (s) => { return BHullShouldAdjustCollisionMargin; },
+            (s,v) => { BHullShouldAdjustCollisionMargin = v; } ),
+
 	    new ParameterDefn<float>("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
             (float)BSLinkset.LinksetImplementation.Compound,
             (s) => { return LinksetImplementation; },

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -316,6 +316,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
                 break;
             case "bulletxna":
                 ret = new BSAPIXNA(engineName, this);
+                BSParam.ShouldUseBulletHACD = false;
                 break;
         }
 

OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs

@@ -720,7 +720,7 @@ public sealed class BSShapeCollection : IDisposable
         // Remove usage of the previous shape.
         DereferenceShape(prim.PhysShape, shapeCallback);
 
-        newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
+        newShape = CreatePhysicalHull(prim, newHullKey, prim.BaseShape, prim.Size, lod);
         // It might not have been created if we're waiting for an asset.
         newShape = VerifyMeshCreated(newShape, prim);
 
@@ -731,7 +731,7 @@ public sealed class BSShapeCollection : IDisposable
     }
 
     List<ConvexResult> m_hulls;
-    private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
+    private BulletShape CreatePhysicalHull(BSPhysObject prim, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
     {
 
         BulletShape newShape = new BulletShape();
@@ -744,13 +744,50 @@ public sealed class BSShapeCollection : IDisposable
             newShape = hullDesc.shape.Clone();
         }
         else
+        {
+            if (BSParam.ShouldUseBulletHACD)
+            {
+                DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID);
+                MeshDesc meshDesc;
+                if (!Meshes.TryGetValue(newHullKey, out meshDesc))
+                {
+                    // That's odd because the mesh should have been created before the hull
+                    //     but, since it doesn't exist, create it.
+                    newShape = CreatePhysicalMesh(prim, newHullKey, prim.BaseShape, prim.Size, lod);
+                    DetailLog("{0},BSShapeCollection.CreatePhysicalHull,noMeshBuiltNew,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
+
+                    if (newShape.HasPhysicalShape)
+                    {
+                        ReferenceShape(newShape);
+                        Meshes.TryGetValue(newHullKey, out meshDesc);
+                    }
+                }
+                if (meshDesc.shape.HasPhysicalShape)
+                {
+                    HACDParams parms;
+                    parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull;
+                    parms.minClusters = BSParam.BHullMinClusters;
+                    parms.compacityWeight = BSParam.BHullCompacityWeight;
+                    parms.volumeWeight = BSParam.BHullVolumeWeight;
+                    parms.concavity = BSParam.BHullConcavity;
+                	parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints);
+                	parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints);
+                	parms.addFacesPoints =  BSParam.NumericBool(BSParam.BHullAddFacesPoints);
+                    parms.shouldAdjustCollisionMargin =  BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin);
+
+                    DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape);
+                    newShape = PhysicsScene.PE.BuildHullShapeFromMesh(PhysicsScene.World, meshDesc.shape, parms);
+                    DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
+                }
+                DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
+            }
+            if (!newShape.HasPhysicalShape)
             {
                 // Build a new hull in the physical world.
                 // Pass true for physicalness as this prevents the creation of bounding box which is not needed
-            IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
+                IMesh meshData = PhysicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
                 if (meshData != null)
                 {
-
                     int[] indices = meshData.getIndexListAsInt();
                     List<OMV.Vector3> vertices = meshData.getVertexList();
 
@@ -852,8 +889,8 @@ public sealed class BSShapeCollection : IDisposable
                     newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls);
                 }
             }
-
             newShape.shapeKey = newHullKey;
+        }
 
         return newShape;
     }