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BulletSim: add some new runtime setable parameters to match the dll.

0.7.4.1
Robert Adams 2012-03-16 16:37:21 -07:00 committed by Robert Adams
parent 6c50442625
commit b22d040169
3 changed files with 17 additions and 8 deletions
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13
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -177,6 +177,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
if (m_log.IsDebugEnabled)
{
m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
// the handle is saved to it doesn't get freed after this call
m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
}
@ -185,7 +186,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
mesher = meshmerizer;
// The bounding box for the simulated world
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f);
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f);
// m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
@ -233,7 +234,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
parms.terrainFriction = 0.5f;
parms.terrainHitFraction = 0.8f;
parms.terrainRestitution = 0f;
parms.avatarFriction = 0.0f;
parms.avatarFriction = 0.5f;
parms.avatarDensity = 60f;
parms.avatarCapsuleRadius = 0.37f;
parms.avatarCapsuleHeight = 1.5f; // 2.140599f
@ -716,6 +717,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// new PhysParameterEntry("CcdSweptSphereRadius", "" ),
new PhysParameterEntry("ContactProcessingThreshold", "Distance between contacts before doing collision check" ),
new PhysParameterEntry("Friction", "Set friction parameter for a specific object" ),
new PhysParameterEntry("Restitution", "Set restitution parameter for a specific object" ),
new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ),
new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ),
new PhysParameterEntry("TerrainRestitution", "Bouncyness" ),
@ -756,7 +760,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
case "defaultdensity": m_params[0].defaultDensity = val; break;
case "defaultrestitution": m_params[0].defaultRestitution = val; break;
case "collisionmargin": m_params[0].collisionMargin = val; break;
case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, PhysParameterEntry.APPLY_TO_NONE, val); break;
case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, localID, val); break;
case "lineardamping": UpdateParameterPrims(ref m_params[0].linearDamping, lparm, localID, val); break;
case "angulardamping": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break;
@ -767,6 +771,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break;
case "contactprocessingthreshold": UpdateParameterPrims(ref m_params[0].contactProcessingThreshold, lparm, localID, val); break;
case "friction": TaintedUpdateParameter(lparm, localID, val); break;
case "restitution": TaintedUpdateParameter(lparm, localID, val); break;
// set a terrain physical feature and cause terrain to be recalculated
case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break;
case "terrainhitfraction": m_params[0].terrainHitFraction = val; TaintedUpdateParameter("terrain", 0, val); break;

10
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@ -148,17 +148,17 @@ public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
int maxCollisions, IntPtr collisionArray,
int maxUpdates, IntPtr updateArray);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool UpdateParameter(uint worldID, uint localID,
[MarshalAs(UnmanagedType.LPStr)]string paramCode, float value);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void Shutdown(uint worldID);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool UpdateParameter(uint worldID, uint localID,
[MarshalAs(UnmanagedType.LPStr)]string paramCode, float value);
// ===============================================================================
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
out int updatedEntityCount,
@ -240,6 +240,7 @@ public static extern bool HasObject(uint worldID, uint id);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool DestroyObject(uint worldID, uint id);
// ===============================================================================
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin);
@ -249,6 +250,7 @@ public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vec
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
// ===============================================================================
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpBulletStatistics();

2
bin/OpenSimDefaults.ini
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@ -846,7 +846,7 @@
TerrainFriction = 0.50
TerrainHitFriction = 0.8
TerrainRestitution = 0
AvatarFriction = 0
AvatarFriction = 0.5
AvatarDensity = 60.0
AvatarCapsuleRadius = 0.37
AvatarCapsuleHeight = 1.5