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

totally debugged. Updated DLLs and SOs with more debugged HACD library code.
user_profiles
Robert Adams 2013-04-09 16:32:54 -07:00
parent 17fd075f39
commit 59135c9a31
7 changed files with 190 additions and 101 deletions
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53
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
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@ -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; },

1
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -316,6 +316,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
break;
case "bulletxna":
ret = new BSAPIXNA(engineName, this);
BSParam.ShouldUseBulletHACD = false;
break;
}

237
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
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@ -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();
@ -745,115 +745,152 @@ public sealed class BSShapeCollection : IDisposable
}
else
{
// 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 */);
if (meshData != null)
if (BSParam.ShouldUseBulletHACD)
{
int[] indices = meshData.getIndexListAsInt();
List<OMV.Vector3> vertices = meshData.getVertexList();
//format conversion from IMesh format to DecompDesc format
List<int> convIndices = new List<int>();
List<float3> convVertices = new List<float3>();
for (int ii = 0; ii < indices.GetLength(0); ii++)
DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID);
MeshDesc meshDesc;
if (!Meshes.TryGetValue(newHullKey, out meshDesc))
{
convIndices.Add(indices[ii]);
}
foreach (OMV.Vector3 vv in vertices)
{
convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
}
// 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);
uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit;
if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes)
{
// Simple primitive shapes we know are convex so they are better implemented with
// fewer hulls.
// Check for simple shape (prim without cuts) and reduce split parameter if so.
if (PrimHasNoCuts(pbs))
if (newShape.HasPhysicalShape)
{
maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes;
ReferenceShape(newShape);
Meshes.TryGetValue(newHullKey, out meshDesc);
}
}
// setup and do convex hull conversion
m_hulls = new List<ConvexResult>();
DecompDesc dcomp = new DecompDesc();
dcomp.mIndices = convIndices;
dcomp.mVertices = convVertices;
dcomp.mDepth = maxDepthSplit;
dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent;
dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent;
dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices;
dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth;
ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
// create the hull into the _hulls variable
convexBuilder.process(dcomp);
DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}",
BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count);
// Convert the vertices and indices for passing to unmanaged.
// The hull information is passed as a large floating point array.
// The format is:
// convHulls[0] = number of hulls
// convHulls[1] = number of vertices in first hull
// convHulls[2] = hull centroid X coordinate
// convHulls[3] = hull centroid Y coordinate
// convHulls[4] = hull centroid Z coordinate
// convHulls[5] = first hull vertex X
// convHulls[6] = first hull vertex Y
// convHulls[7] = first hull vertex Z
// convHulls[8] = second hull vertex X
// ...
// convHulls[n] = number of vertices in second hull
// convHulls[n+1] = second hull centroid X coordinate
// ...
//
// TODO: is is very inefficient. Someday change the convex hull generator to return
// data structures that do not need to be converted in order to pass to Bullet.
// And maybe put the values directly into pinned memory rather than marshaling.
int hullCount = m_hulls.Count;
int totalVertices = 1; // include one for the count of the hulls
foreach (ConvexResult cr in m_hulls)
if (meshDesc.shape.HasPhysicalShape)
{
totalVertices += 4; // add four for the vertex count and centroid
totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
}
float[] convHulls = new float[totalVertices];
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);
convHulls[0] = (float)hullCount;
int jj = 1;
foreach (ConvexResult cr in m_hulls)
{
// copy vertices for index access
float3[] verts = new float3[cr.HullVertices.Count];
int kk = 0;
foreach (float3 ff in cr.HullVertices)
{
verts[kk++] = ff;
}
// add to the array one hull's worth of data
convHulls[jj++] = cr.HullIndices.Count;
convHulls[jj++] = 0f; // centroid x,y,z
convHulls[jj++] = 0f;
convHulls[jj++] = 0f;
foreach (int ind in cr.HullIndices)
{
convHulls[jj++] = verts[ind].x;
convHulls[jj++] = verts[ind].y;
convHulls[jj++] = verts[ind].z;
}
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);
}
// create the hull data structure in Bullet
newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls);
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(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
if (meshData != null)
{
int[] indices = meshData.getIndexListAsInt();
List<OMV.Vector3> vertices = meshData.getVertexList();
newShape.shapeKey = newHullKey;
//format conversion from IMesh format to DecompDesc format
List<int> convIndices = new List<int>();
List<float3> convVertices = new List<float3>();
for (int ii = 0; ii < indices.GetLength(0); ii++)
{
convIndices.Add(indices[ii]);
}
foreach (OMV.Vector3 vv in vertices)
{
convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
}
uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit;
if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes)
{
// Simple primitive shapes we know are convex so they are better implemented with
// fewer hulls.
// Check for simple shape (prim without cuts) and reduce split parameter if so.
if (PrimHasNoCuts(pbs))
{
maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes;
}
}
// setup and do convex hull conversion
m_hulls = new List<ConvexResult>();
DecompDesc dcomp = new DecompDesc();
dcomp.mIndices = convIndices;
dcomp.mVertices = convVertices;
dcomp.mDepth = maxDepthSplit;
dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent;
dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent;
dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices;
dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth;
ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
// create the hull into the _hulls variable
convexBuilder.process(dcomp);
DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}",
BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count);
// Convert the vertices and indices for passing to unmanaged.
// The hull information is passed as a large floating point array.
// The format is:
// convHulls[0] = number of hulls
// convHulls[1] = number of vertices in first hull
// convHulls[2] = hull centroid X coordinate
// convHulls[3] = hull centroid Y coordinate
// convHulls[4] = hull centroid Z coordinate
// convHulls[5] = first hull vertex X
// convHulls[6] = first hull vertex Y
// convHulls[7] = first hull vertex Z
// convHulls[8] = second hull vertex X
// ...
// convHulls[n] = number of vertices in second hull
// convHulls[n+1] = second hull centroid X coordinate
// ...
//
// TODO: is is very inefficient. Someday change the convex hull generator to return
// data structures that do not need to be converted in order to pass to Bullet.
// And maybe put the values directly into pinned memory rather than marshaling.
int hullCount = m_hulls.Count;
int totalVertices = 1; // include one for the count of the hulls
foreach (ConvexResult cr in m_hulls)
{
totalVertices += 4; // add four for the vertex count and centroid
totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
}
float[] convHulls = new float[totalVertices];
convHulls[0] = (float)hullCount;
int jj = 1;
foreach (ConvexResult cr in m_hulls)
{
// copy vertices for index access
float3[] verts = new float3[cr.HullVertices.Count];
int kk = 0;
foreach (float3 ff in cr.HullVertices)
{
verts[kk++] = ff;
}
// add to the array one hull's worth of data
convHulls[jj++] = cr.HullIndices.Count;
convHulls[jj++] = 0f; // centroid x,y,z
convHulls[jj++] = 0f;
convHulls[jj++] = 0f;
foreach (int ind in cr.HullIndices)
{
convHulls[jj++] = verts[ind].x;
convHulls[jj++] = verts[ind].y;
convHulls[jj++] = verts[ind].z;
}
}
// create the hull data structure in Bullet
newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls);
}
}
newShape.shapeKey = newHullKey;
}
return newShape;
}

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bin/lib32/BulletSim.dll
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bin/lib32/libBulletSim.so
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bin/lib64/BulletSim.dll
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