BulletSim: update OpenSimDefaults.ini with current default values for friction and collision margin. Remove some of the BulletSim parameters that are very esoteric and dangerous. Most of the remaining parameters are features one can 'see'.

bin/OpenSimDefaults.ini

@@ -221,10 +221,10 @@
     ; to false if you have compatibility problems.
     ;CacheSculptMaps = true
     
-    ; Choose one of the physics engines below
-    ; OpenDynamicsEngine is by some distance the most developed physics engine
-    ; basicphysics effectively does not model physics at all, making all objects phantom
-
+    ; Choose one of the physics engines below.
+    ; OpenDynamicsEngine is by some distance the most developed physics engine.
+    ; BulletSim is a high performance, up-and-coming physics engine.
+    ; basicphysics effectively does not model physics at all, making all objects phantom.
     physics = OpenDynamicsEngine
     ;physics = basicphysics
     ;physics = POS
@@ -908,15 +908,18 @@
 
 [BulletSim]
     ; World parameters
-    DefaultFriction = 0.50
+    DefaultFriction = 0.20
     DefaultDensity = 10.000006836
     DefaultRestitution = 0.0
     Gravity = -9.80665
 
-    TerrainFriction = 0.50
-    TerrainHitFriction = 0.8
+    TerrainFriction = 0.30
+    TerrainHitFraction = 0.8
     TerrainRestitution = 0
+    TerrainCollisionMargin = 0.04
+
     AvatarFriction = 0.2
+    AvatarStandingFriction = 0.99
     AvatarRestitution = 0.0
     AvatarDensity = 60.0
     AvatarCapsuleWidth = 0.6
@@ -930,27 +933,15 @@
     LinearDamping = 0.0
     AngularDamping = 0.0
     DeactivationTime = 0.2
-    LinearSleepingThreshold = 0.8
-    AngularSleepingThreshold = 1.0
-    CcdMotionThreshold = 0.0
-    CcdSweptSphereRadius = 0.0
-    ContactProcessingThreshold = 0.1
-    ; If setting a pool size, also disable dynamic allocation (default pool size is 4096 with dynamic alloc)
-    MaxPersistantManifoldPoolSize = 0
-    ShouldDisableContactPoolDynamicAllocation = False
-    ShouldForceUpdateAllAabbs = False
-    ShouldRandomizeSolverOrder = True
-    ShouldSplitSimulationIslands = True
-    ShouldEnableFrictionCaching = False
-    NumberOfSolverIterations = 0   
+    CollisionMargin = 0.04
 
     ; Linkset constraint parameters
+    LinkImplementation = 1      ; 0=constraint, 1=compound
     LinkConstraintUseFrameOffset = False
     LinkConstraintEnableTransMotor = True
     LinkConstraintTransMotorMaxVel = 5.0
     LinkConstraintTransMotorMaxForce = 0.1
 
-
     ; Whether to mesh sculpties
     MeshSculptedPrim = true