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BulletSim: add parameters and parameter definitions for VHACD 

addition coming.
sedebug
Robert Adams 2015-01-25 13:24:09 -08:00 committed by Justin Clark-Casey (justincc)
parent f23be9cd0a
commit b58ab0ca12
3 changed files with 61 additions and 1 deletions
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15
OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
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@ -211,6 +211,21 @@ public struct HACDParams
public float addNeighboursDistPoints; // false
public float addFacesPoints; // false
public float shouldAdjustCollisionMargin; // false
// VHACD
public float whichHACD; // zero if Bullet HACD, non-zero says VHACD
// http://kmamou.blogspot.ca/2014/12/v-hacd-20-parameters-description.html
public float vHACDresolution; // 100,000 max number of voxels generated during voxelization stage
public float vHACDdepth; // 20 max number of clipping stages
public float vHACDconcavity; // 0.0025 maximum concavity
public float vHACDplaneDownsampling; // 4 granularity of search for best clipping plane
public float vHACDconvexHullDownsampling; // 4 precision of hull gen process
public float vHACDalpha; // 0.05 bias toward clipping along symmetry planes
public float vHACDbeta; // 0.05 bias toward clipping along revolution axis
public float vHACDgamma; // 0.00125 max concavity when merging
public float vHACDpca; // 0 on/off normalizing mesh before decomp
public float vHACDmode; // 0 0:voxel based, 1: tetrahedron based
public float vHACDmaxNumVerticesPerCH; // 64 max triangles per convex hull
public float vHACDminVolumePerCH; // 0.0001 sampling of generated convex hulls
}
// The states a bullet collision object can have

44
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
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@ -183,6 +183,7 @@ public static class BSParam
public static bool VehicleEnableAngularBanking { get; private set; }
// Convex Hulls
// Parameters for convex hull routine that ships with Bullet
public static int CSHullMaxDepthSplit { get; private set; }
public static int CSHullMaxDepthSplitForSimpleShapes { get; private set; }
public static float CSHullConcavityThresholdPercent { get; private set; }
@ -198,6 +199,22 @@ public static class BSParam
public static bool BHullAddNeighboursDistPoints { get; private set; } // false
public static bool BHullAddFacesPoints { get; private set; } // false
public static bool BHullShouldAdjustCollisionMargin { get; private set; } // false
public static float WhichHACD { get; private set; } // zero if Bullet HACD, non-zero says VHACD
// Parameters for VHACD 2.0: http://code.google.com/p/v-hacd
// To enable, set both ShouldUseBulletHACD=true and WhichHACD=1
// http://kmamou.blogspot.ca/2014/12/v-hacd-20-parameters-description.html
public static float VHACDresolution { get; private set; } // 100,000 max number of voxels generated during voxelization stage
public static float VHACDdepth { get; private set; } // 20 max number of clipping stages
public static float VHACDconcavity { get; private set; } // 0.0025 maximum concavity
public static float VHACDplaneDownsampling { get; private set; } // 4 granularity of search for best clipping plane
public static float VHACDconvexHullDownsampling { get; private set; } // 4 precision of hull gen process
public static float VHACDalpha { get; private set; } // 0.05 bias toward clipping along symmetry planes
public static float VHACDbeta { get; private set; } // 0.05 bias toward clipping along revolution axis
public static float VHACDgamma { get; private set; } // 0.00125 max concavity when merging
public static float VHACDpca { get; private set; } // 0 on/off normalizing mesh before decomp
public static float VHACDmode { get; private set; } // 0 0:voxel based, 1: tetrahedron based
public static float VHACDmaxNumVerticesPerCH { get; private set; } // 64 max triangles per convex hull
public static float VHACDminVolumePerCH { get; private set; } // 0.0001 sampling of generated convex hulls
// Linkset implementation parameters
public static float LinksetImplementation { get; private set; }
@ -749,6 +766,33 @@ public static class BSParam
new ParameterDefn<bool>("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin",
false ),
new ParameterDefn<float>("WhichHACD", "zero if Bullet HACD, non-zero says VHACD",
0f ),
new ParameterDefn<float>("VHACDresolution", "max number of voxels generated during voxelization stage",
100000f ),
new ParameterDefn<float>("VHACDdepth", "max number of clipping stages",
20f ),
new ParameterDefn<float>("VHACDconcavity", "maximum concavity",
0.0025f ),
new ParameterDefn<float>("VHACDplaneDownsampling", "granularity of search for best clipping plane",
4f ),
new ParameterDefn<float>("VHACDconvexHullDownsampling", "precision of hull gen process",
4f ),
new ParameterDefn<float>("VHACDalpha", "bias toward clipping along symmetry planes",
0.05f ),
new ParameterDefn<float>("VHACDbeta", "bias toward clipping along revolution axis",
0.05f ),
new ParameterDefn<float>("VHACDgamma", "max concavity when merging",
0.00125f ),
new ParameterDefn<float>("VHACDpca", "on/off normalizing mesh before decomp",
0f ),
new ParameterDefn<float>("VHACDmode", "0:voxel based, 1: tetrahedron based",
0f ),
new ParameterDefn<float>("VHACDmaxNumVerticesPerCH", "max triangles per convex hull",
64f ),
new ParameterDefn<float>("VHACDminVolumePerCH", "sampling of generated convex hulls",
0.0001f ),
new ParameterDefn<float>("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
(float)BSLinkset.LinksetImplementation.Compound ),
new ParameterDefn<bool>("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same",

3
OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
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@ -782,7 +782,7 @@ public class BSShapeHull : BSShape
if (meshShape.physShapeInfo.HasPhysicalShape)
{
HACDParams parms;
HACDParams parms = new HACDParams();
parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull;
parms.minClusters = BSParam.BHullMinClusters;
parms.compacityWeight = BSParam.BHullCompacityWeight;
@ -792,6 +792,7 @@ public class BSShapeHull : BSShape
parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints);
parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints);
parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin);
parms.whichHACD = 0; // Use the HACD routine that comes with Bullet
physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape);
newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms);