BulletSim: Redo parameter specification so only one place has
to change to have a parameter show up in the ini file and command line. Will make it much easier for the next person.0.7.4.1
Robert Adams
parent
2d05e16f7e
commit
bf6529db32
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@ -103,6 +103,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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get { return m_sculptLOD; }
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}
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private BulletSim m_worldSim;
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public BulletSim World
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{
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get { return m_worldSim; }
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}
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private BSConstraintCollection m_constraintCollection;
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public BSConstraintCollection Constraints
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{
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get { return m_constraintCollection; }
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}
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private int m_maxSubSteps;
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private float m_fixedTimeStep;
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private long m_simulationStep = 0;
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@ -229,6 +240,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
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m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject());
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// Initialization to support the transition to a new API which puts most of the logic
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// into the C# code so it is easier to modify and add to.
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m_worldSim = new BulletSim(m_worldID, BulletSimAPI.GetSimHandle2(m_worldID));
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m_constraintCollection = new BSConstraintCollection(World);
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m_initialized = true;
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}
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@ -237,116 +253,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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private void GetInitialParameterValues(IConfigSource config)
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{
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ConfigurationParameters parms = new ConfigurationParameters();
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m_params[0] = parms;
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_meshSculptedPrim = true; // mesh sculpted prims
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_forceSimplePrimMeshing = false; // use complex meshing if called for
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m_meshLOD = 8f;
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m_sculptLOD = 32f;
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shouldDebugLog = false;
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m_detailedStatsStep = 0; // disabled
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m_maxSubSteps = 10;
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m_fixedTimeStep = 1f / 60f;
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m_maxCollisionsPerFrame = 2048;
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m_maxUpdatesPerFrame = 2048;
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m_maximumObjectMass = 10000.01f;
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PID_D = 2200f;
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PID_P = 900f;
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parms.defaultFriction = 0.5f;
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parms.defaultDensity = 10.000006836f; // Aluminum g/cm3
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parms.defaultRestitution = 0f;
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parms.collisionMargin = 0.0f;
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parms.gravity = -9.80665f;
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parms.linearDamping = 0.0f;
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parms.angularDamping = 0.0f;
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parms.deactivationTime = 0.2f;
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parms.linearSleepingThreshold = 0.8f;
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parms.angularSleepingThreshold = 1.0f;
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parms.ccdMotionThreshold = 0.0f; // set to zero to disable
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parms.ccdSweptSphereRadius = 0.0f;
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parms.contactProcessingThreshold = 0.1f;
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parms.terrainFriction = 0.5f;
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parms.terrainHitFraction = 0.8f;
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parms.terrainRestitution = 0f;
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parms.avatarFriction = 0.5f;
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parms.avatarRestitution = 0.0f;
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parms.avatarDensity = 60f;
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parms.avatarCapsuleRadius = 0.37f;
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parms.avatarCapsuleHeight = 1.5f; // 2.140599f
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parms.avatarContactProcessingThreshold = 0.1f;
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parms.maxPersistantManifoldPoolSize = 0f;
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parms.shouldDisableContactPoolDynamicAllocation = ConfigurationParameters.numericTrue;
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parms.shouldForceUpdateAllAabbs = ConfigurationParameters.numericFalse;
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parms.shouldRandomizeSolverOrder = ConfigurationParameters.numericFalse;
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parms.shouldSplitSimulationIslands = ConfigurationParameters.numericFalse;
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parms.shouldEnableFrictionCaching = ConfigurationParameters.numericFalse;
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parms.numberOfSolverIterations = 0f; // means use default
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SetParameterDefaultValues();
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if (config != null)
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{
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// If there are specifications in the ini file, use those values
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// WHEN ADDING OR UPDATING THIS SECTION, BE SURE TO UPDATE OpenSimDefaults.ini
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// ALSO REMEMBER TO UPDATE THE RUNTIME SETTING OF THE PARAMETERS.
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IConfig pConfig = config.Configs["BulletSim"];
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if (pConfig != null)
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{
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_meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim);
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_forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing);
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shouldDebugLog = pConfig.GetBoolean("ShouldDebugLog", shouldDebugLog);
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m_detailedStatsStep = pConfig.GetInt("DetailedStatsStep", m_detailedStatsStep);
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m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD);
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m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD);
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m_maxSubSteps = pConfig.GetInt("MaxSubSteps", m_maxSubSteps);
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m_fixedTimeStep = pConfig.GetFloat("FixedTimeStep", m_fixedTimeStep);
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m_maxCollisionsPerFrame = pConfig.GetInt("MaxCollisionsPerFrame", m_maxCollisionsPerFrame);
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m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame);
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m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass);
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PID_D = pConfig.GetFloat("PIDDerivative", PID_D);
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PID_P = pConfig.GetFloat("PIDProportional", PID_P);
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parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction);
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parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity);
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parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution);
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parms.collisionMargin = pConfig.GetFloat("CollisionMargin", parms.collisionMargin);
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parms.gravity = pConfig.GetFloat("Gravity", parms.gravity);
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parms.linearDamping = pConfig.GetFloat("LinearDamping", parms.linearDamping);
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parms.angularDamping = pConfig.GetFloat("AngularDamping", parms.angularDamping);
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parms.deactivationTime = pConfig.GetFloat("DeactivationTime", parms.deactivationTime);
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parms.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold", parms.linearSleepingThreshold);
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parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", parms.angularSleepingThreshold);
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parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold);
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parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius);
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parms.contactProcessingThreshold = pConfig.GetFloat("ContactProcessingThreshold", parms.contactProcessingThreshold);
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parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction);
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parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction);
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parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution);
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parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction);
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parms.avatarRestitution = pConfig.GetFloat("AvatarRestitution", parms.avatarRestitution);
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parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity);
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parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius);
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parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight);
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parms.avatarContactProcessingThreshold = pConfig.GetFloat("AvatarContactProcessingThreshold", parms.avatarContactProcessingThreshold);
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parms.maxPersistantManifoldPoolSize = pConfig.GetFloat("MaxPersistantManifoldPoolSize", parms.maxPersistantManifoldPoolSize);
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parms.shouldDisableContactPoolDynamicAllocation = ParamBoolean(pConfig, "ShouldDisableContactPoolDynamicAllocation", parms.shouldDisableContactPoolDynamicAllocation);
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parms.shouldForceUpdateAllAabbs = ParamBoolean(pConfig, "ShouldForceUpdateAllAabbs", parms.shouldForceUpdateAllAabbs);
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parms.shouldRandomizeSolverOrder = ParamBoolean(pConfig, "ShouldRandomizeSolverOrder", parms.shouldRandomizeSolverOrder);
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parms.shouldSplitSimulationIslands = ParamBoolean(pConfig, "ShouldSplitSimulationIslands", parms.shouldSplitSimulationIslands);
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parms.shouldEnableFrictionCaching = ParamBoolean(pConfig, "ShouldEnableFrictionCaching", parms.shouldEnableFrictionCaching);
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parms.numberOfSolverIterations = pConfig.GetFloat("NumberOfSolverIterations", parms.numberOfSolverIterations);
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SetParameterConfigurationValues(pConfig);
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// Very detailed logging for physics debugging
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m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
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@ -357,7 +274,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
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}
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}
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m_params[0] = parms;
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}
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// A helper function that handles a true/false parameter and returns the proper float number encoding
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@ -634,6 +550,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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// make sure no stepping happens while we're deleting stuff
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m_initialized = false;
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if (m_constraintCollection != null)
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{
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m_constraintCollection.Dispose();
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m_constraintCollection = null;
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}
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foreach (KeyValuePair<uint, BSCharacter> kvp in m_avatars)
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{
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kvp.Value.Destroy();
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@ -776,10 +698,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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}
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// The calls to the PhysicsActors can't directly call into the physics engine
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// because it might be busy. We we delay changes to a known time.
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// because it might be busy. We delay changes to a known time.
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// We rely on C#'s closure to save and restore the context for the delegate.
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public void TaintedObject(TaintCallback callback)
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{
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if (!m_initialized) return;
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lock (_taintLock)
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_taintedObjects.Add(callback);
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return;
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@ -853,61 +777,350 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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}
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#endregion Vehicles
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#region Runtime settable parameters
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public static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[]
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#region Parameters
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delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
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delegate float ParamGet(BSScene scene);
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delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
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private struct ParameterDefn
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{
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new PhysParameterEntry("MeshLOD", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)"),
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new PhysParameterEntry("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)"),
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new PhysParameterEntry("MaxSubStep", "In simulation step, maximum number of substeps"),
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new PhysParameterEntry("FixedTimeStep", "In simulation step, seconds of one substep (1/60)"),
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new PhysParameterEntry("MaxObjectMass", "Maximum object mass (10000.01)"),
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new PhysParameterEntry("DetailedStats", "Frames between outputting detailed phys stats. Zero is off"),
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public string name;
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public string desc;
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public float defaultValue;
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public ParamUser userParam;
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public ParamGet getter;
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public ParamSet setter;
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public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
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{
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name = n;
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desc = d;
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defaultValue = v;
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userParam = u;
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getter = g;
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setter = s;
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}
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}
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new PhysParameterEntry("DefaultFriction", "Friction factor used on new objects"),
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new PhysParameterEntry("DefaultDensity", "Density for new objects" ),
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new PhysParameterEntry("DefaultRestitution", "Bouncyness of an object" ),
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// new PhysParameterEntry("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!!)" ),
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new PhysParameterEntry("Gravity", "Vertical force of gravity (negative means down)" ),
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// List of all of the externally visible parameters.
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// For each parameter, this table maps a text name to getter and setters.
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// A ParameterDefn() takes the following parameters:
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// -- the text name of the parameter. This is used for console input and ini file.
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// -- a short text description of the parameter. This shows up in the console listing.
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// -- a delegate for fetching the parameter from the ini file.
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// Should handle fetching the right type from the ini file and converting it.
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// -- a delegate for getting the value as a float
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// -- a delegate for setting the value from a float
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//
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// To add a new variable, it is best to find an existing definition and copy it.
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private ParameterDefn[] ParameterDefinitions =
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{
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new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
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ConfigurationParameters.numericTrue,
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(s,cf,p,v) => { s._meshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); },
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(s) => { return s.NumericBool(s._meshSculptedPrim); },
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(s,p,l,v) => { s._meshSculptedPrim = s.BoolNumeric(v); } ),
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new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
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ConfigurationParameters.numericFalse,
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(s,cf,p,v) => { s._forceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
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(s) => { return s.NumericBool(s._forceSimplePrimMeshing); },
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(s,p,l,v) => { s._forceSimplePrimMeshing = s.BoolNumeric(v); } ),
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new PhysParameterEntry("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)" ),
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new PhysParameterEntry("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)" ),
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new PhysParameterEntry("DeactivationTime", "Seconds before considering an object potentially static" ),
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new PhysParameterEntry("LinearSleepingThreshold", "Seconds to measure linear movement before considering static" ),
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new PhysParameterEntry("AngularSleepingThreshold", "Seconds to measure angular movement before considering static" ),
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new PhysParameterEntry("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ),
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new PhysParameterEntry("CcdSweptSphereRadius", "Continuious collision detection test radius" ),
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new PhysParameterEntry("ContactProcessingThreshold", "Distance between contacts before doing collision check" ),
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// Can only change the following at initialization time. Change the INI file and reboot.
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new PhysParameterEntry("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default)"),
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new PhysParameterEntry("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count"),
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new PhysParameterEntry("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step"),
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new PhysParameterEntry("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction"),
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new PhysParameterEntry("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands"),
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new PhysParameterEntry("ShouldEnableFrictionCaching", "Enable friction computation caching"),
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new PhysParameterEntry("NumberOfSolverIterations", "Number of internal iterations (0 means default)"),
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new ParameterDefn("MeshLOD", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
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8f,
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(s,cf,p,v) => { s.m_meshLOD = cf.GetInt(p, (int)v); },
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(s) => { return (float)s.m_meshLOD; },
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(s,p,l,v) => { s.m_meshLOD = (int)v; } ),
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new ParameterDefn("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
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32,
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(s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); },
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(s) => { return (float)s.m_sculptLOD; },
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(s,p,l,v) => { s.m_sculptLOD = (int)v; } ),
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new PhysParameterEntry("Friction", "Set friction parameter for a specific object" ),
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new PhysParameterEntry("Restitution", "Set restitution parameter for a specific object" ),
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new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
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10f,
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(s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); },
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(s) => { return (float)s.m_maxSubSteps; },
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(s,p,l,v) => { s.m_maxSubSteps = (int)v; } ),
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new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
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1f / 60f,
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(s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
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(s) => { return (float)s.m_fixedTimeStep; },
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(s,p,l,v) => { s.m_fixedTimeStep = v; } ),
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new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
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2048f,
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(s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
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(s) => { return (float)s.m_maxCollisionsPerFrame; },
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(s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
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new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
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8000f,
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(s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
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(s) => { return (float)s.m_maxUpdatesPerFrame; },
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(s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
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new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
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10000.01f,
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(s,cf,p,v) => { s.m_maximumObjectMass = cf.GetFloat(p, v); },
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(s) => { return (float)s.m_maximumObjectMass; },
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(s,p,l,v) => { s.m_maximumObjectMass = v; } ),
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new PhysParameterEntry("Friction", "Set friction parameter for a specific object" ),
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new PhysParameterEntry("Restitution", "Set restitution parameter for a specific object" ),
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new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
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2200f,
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(s,cf,p,v) => { s.PID_D = cf.GetFloat(p, v); },
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(s) => { return (float)s.PID_D; },
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(s,p,l,v) => { s.PID_D = v; } ),
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new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
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900f,
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(s,cf,p,v) => { s.PID_P = cf.GetFloat(p, v); },
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(s) => { return (float)s.PID_P; },
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(s,p,l,v) => { s.PID_P = v; } ),
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new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ),
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new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ),
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new PhysParameterEntry("TerrainRestitution", "Bouncyness" ),
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new PhysParameterEntry("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation." ),
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new PhysParameterEntry("AvatarDensity", "Density of an avatar. Changed on avatar recreation." ),
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new PhysParameterEntry("AvatarRestitution", "Bouncyness. Changed on avatar recreation." ),
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new PhysParameterEntry("AvatarCapsuleRadius", "Radius of space around an avatar" ),
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new PhysParameterEntry("AvatarCapsuleHeight", "Default height of space around avatar" ),
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new PhysParameterEntry("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions")
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new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
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0.5f,
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(s,cf,p,v) => { s.m_params[0].defaultFriction = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].defaultFriction; },
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(s,p,l,v) => { s.m_params[0].defaultFriction = v; } ),
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new ParameterDefn("DefaultDensity", "Density for new objects" ,
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10.000006836f, // Aluminum g/cm3
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(s,cf,p,v) => { s.m_params[0].defaultDensity = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].defaultDensity; },
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(s,p,l,v) => { s.m_params[0].defaultDensity = v; } ),
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new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
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0f,
|
||||
(s,cf,p,v) => { s.m_params[0].defaultRestitution = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].defaultRestitution; },
|
||||
(s,p,l,v) => { s.m_params[0].defaultRestitution = v; } ),
|
||||
new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
|
||||
0f,
|
||||
(s,cf,p,v) => { s.m_params[0].collisionMargin = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].collisionMargin; },
|
||||
(s,p,l,v) => { s.m_params[0].collisionMargin = v; } ),
|
||||
new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
|
||||
-9.80665f,
|
||||
(s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].gravity; },
|
||||
(s,p,l,v) => { s.m_params[0].gravity = v; s.TaintedUpdateParameter(p,l,v); } ),
|
||||
|
||||
|
||||
new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
|
||||
0f,
|
||||
(s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].linearDamping; },
|
||||
(s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].linearDamping, p, l, v); } ),
|
||||
new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
|
||||
0f,
|
||||
(s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].angularDamping; },
|
||||
(s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].angularDamping, p, l, v); } ),
|
||||
new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
|
||||
0.2f,
|
||||
(s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].deactivationTime; },
|
||||
(s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].deactivationTime, p, l, v); } ),
|
||||
new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
|
||||
0.8f,
|
||||
(s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].linearSleepingThreshold; },
|
||||
(s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ),
|
||||
new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
|
||||
1.0f,
|
||||
(s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].angularSleepingThreshold; },
|
||||
(s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ),
|
||||
new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
|
||||
0f, // set to zero to disable
|
||||
(s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].ccdMotionThreshold; },
|
||||
(s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ),
|
||||
new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
|
||||
0f,
|
||||
(s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].ccdSweptSphereRadius; },
|
||||
(s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ),
|
||||
new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
|
||||
0.1f,
|
||||
(s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].contactProcessingThreshold; },
|
||||
(s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ),
|
||||
|
||||
new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
|
||||
0.5f,
|
||||
(s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].terrainFriction; },
|
||||
(s,p,l,v) => { s.m_params[0].terrainFriction = v; s.TaintedUpdateParameter(p,l,v); } ),
|
||||
new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
|
||||
0.8f,
|
||||
(s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].terrainHitFraction; },
|
||||
(s,p,l,v) => { s.m_params[0].terrainHitFraction = v; s.TaintedUpdateParameter(p,l,v); } ),
|
||||
new ParameterDefn("TerrainRestitution", "Bouncyness" ,
|
||||
0f,
|
||||
(s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].terrainRestitution; },
|
||||
(s,p,l,v) => { s.m_params[0].terrainRestitution = v; s.TaintedUpdateParameter(p,l,v); } ),
|
||||
new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
|
||||
0.5f,
|
||||
(s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].avatarFriction; },
|
||||
(s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarFriction, p, l, v); } ),
|
||||
new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
|
||||
60f,
|
||||
(s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].avatarDensity; },
|
||||
(s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarDensity, p, l, v); } ),
|
||||
new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
|
||||
0f,
|
||||
(s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].avatarRestitution; },
|
||||
(s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarRestitution, p, l, v); } ),
|
||||
new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar",
|
||||
0.37f,
|
||||
(s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].avatarCapsuleRadius; },
|
||||
(s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ),
|
||||
new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
|
||||
1.5f,
|
||||
(s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].avatarCapsuleHeight; },
|
||||
(s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ),
|
||||
new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
|
||||
0.1f,
|
||||
(s,cf,p,v) => { s.m_params[0].avatarContactProcessingThreshold = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].avatarContactProcessingThreshold; },
|
||||
(s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ),
|
||||
|
||||
|
||||
new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default)",
|
||||
0f, // zero to disable
|
||||
(s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].maxPersistantManifoldPoolSize; },
|
||||
(s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ),
|
||||
new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
|
||||
ConfigurationParameters.numericTrue,
|
||||
(s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
|
||||
(s) => { return s.m_params[0].shouldDisableContactPoolDynamicAllocation; },
|
||||
(s,p,l,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = v; } ),
|
||||
new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
|
||||
ConfigurationParameters.numericFalse,
|
||||
(s,cf,p,v) => { s.m_params[0].shouldForceUpdateAllAabbs = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
|
||||
(s) => { return s.m_params[0].shouldForceUpdateAllAabbs; },
|
||||
(s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ),
|
||||
new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
|
||||
ConfigurationParameters.numericFalse,
|
||||
(s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
|
||||
(s) => { return s.m_params[0].shouldRandomizeSolverOrder; },
|
||||
(s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ),
|
||||
new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
|
||||
ConfigurationParameters.numericFalse,
|
||||
(s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
|
||||
(s) => { return s.m_params[0].shouldSplitSimulationIslands; },
|
||||
(s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ),
|
||||
new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
|
||||
ConfigurationParameters.numericFalse,
|
||||
(s,cf,p,v) => { s.m_params[0].shouldEnableFrictionCaching = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
|
||||
(s) => { return s.m_params[0].shouldEnableFrictionCaching; },
|
||||
(s,p,l,v) => { s.m_params[0].shouldEnableFrictionCaching = v; } ),
|
||||
new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
|
||||
0f, // zero says use Bullet default
|
||||
(s,cf,p,v) => { s.m_params[0].numberOfSolverIterations = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].numberOfSolverIterations; },
|
||||
(s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ),
|
||||
|
||||
new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)",
|
||||
0f,
|
||||
(s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); },
|
||||
(s) => { return (float)s.m_detailedStatsStep; },
|
||||
(s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ),
|
||||
new ParameterDefn("ShouldDebugLog", "Enables detailed DEBUG log statements",
|
||||
ConfigurationParameters.numericFalse,
|
||||
(s,cf,p,v) => { s.shouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); },
|
||||
(s) => { return s.NumericBool(s.shouldDebugLog); },
|
||||
(s,p,l,v) => { s.shouldDebugLog = s.BoolNumeric(v); } ),
|
||||
|
||||
};
|
||||
|
||||
// Convert a boolean to our numeric true and false values
|
||||
protected float NumericBool(bool b)
|
||||
{
|
||||
return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
|
||||
}
|
||||
|
||||
// Convert numeric true and false values to a boolean
|
||||
protected bool BoolNumeric(float b)
|
||||
{
|
||||
return (b == ConfigurationParameters.numericTrue ? true : false);
|
||||
}
|
||||
|
||||
// Search through the parameter definitions and return the matching
|
||||
// ParameterDefn structure.
|
||||
// Case does not matter as names are compared after converting to lower case.
|
||||
// Returns 'false' if the parameter is not found.
|
||||
private bool TryGetParameter(string paramName, out ParameterDefn defn)
|
||||
{
|
||||
bool ret = false;
|
||||
ParameterDefn foundDefn = new ParameterDefn();
|
||||
string pName = paramName.ToLower();
|
||||
|
||||
foreach (ParameterDefn parm in ParameterDefinitions)
|
||||
{
|
||||
if (pName == parm.name.ToLower())
|
||||
{
|
||||
foundDefn = parm;
|
||||
ret = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
defn = foundDefn;
|
||||
return ret;
|
||||
}
|
||||
|
||||
// Pass through the settable parameters and set the default values
|
||||
private void SetParameterDefaultValues()
|
||||
{
|
||||
foreach (ParameterDefn parm in ParameterDefinitions)
|
||||
{
|
||||
parm.setter(this, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue);
|
||||
}
|
||||
}
|
||||
|
||||
// Get user set values out of the ini file.
|
||||
private void SetParameterConfigurationValues(IConfig cfg)
|
||||
{
|
||||
foreach (ParameterDefn parm in ParameterDefinitions)
|
||||
{
|
||||
parm.userParam(this, cfg, parm.name, parm.defaultValue);
|
||||
}
|
||||
}
|
||||
|
||||
private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
|
||||
|
||||
private void BuildParameterTable()
|
||||
{
|
||||
if (SettableParameters.Length < ParameterDefinitions.Length)
|
||||
{
|
||||
|
||||
List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
|
||||
for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
|
||||
{
|
||||
ParameterDefn pd = ParameterDefinitions[ii];
|
||||
entries.Add(new PhysParameterEntry(pd.name, pd.desc));
|
||||
}
|
||||
|
||||
// make the list in alphabetical order for estetic reasons
|
||||
entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
|
||||
{
|
||||
return ppe1.name.CompareTo(ppe2.name);
|
||||
});
|
||||
|
||||
SettableParameters = entries.ToArray();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
#region IPhysicsParameters
|
||||
// Get the list of parameters this physics engine supports
|
||||
public PhysParameterEntry[] GetParameterList()
|
||||
{
|
||||
BuildParameterTable();
|
||||
return SettableParameters;
|
||||
}
|
||||
|
||||
|
|
@ -919,63 +1132,18 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
// value activated ('terrainFriction' for instance).
|
||||
public bool SetPhysicsParameter(string parm, float val, uint localID)
|
||||
{
|
||||
bool ret = true;
|
||||
string lparm = parm.ToLower();
|
||||
switch (lparm)
|
||||
bool ret = false;
|
||||
ParameterDefn theParam;
|
||||
if (TryGetParameter(parm, out theParam))
|
||||
{
|
||||
case "detailedstats": m_detailedStatsStep = (int)val; break;
|
||||
|
||||
case "meshlod": m_meshLOD = (int)val; break;
|
||||
case "sculptlod": m_sculptLOD = (int)val; break;
|
||||
case "maxsubstep": m_maxSubSteps = (int)val; break;
|
||||
case "fixedtimestep": m_fixedTimeStep = val; break;
|
||||
case "maxobjectmass": m_maximumObjectMass = val; break;
|
||||
|
||||
case "defaultfriction": m_params[0].defaultFriction = val; break;
|
||||
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, 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;
|
||||
case "deactivationtime": UpdateParameterPrims(ref m_params[0].deactivationTime, lparm, localID, val); break;
|
||||
case "linearsleepingthreshold": UpdateParameterPrims(ref m_params[0].linearSleepingThreshold, lparm, localID, val); break;
|
||||
case "angularsleepingthreshold": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break;
|
||||
case "ccdmotionthreshold": UpdateParameterPrims(ref m_params[0].ccdMotionThreshold, lparm, localID, val); break;
|
||||
case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break;
|
||||
case "contactprocessingthreshold": UpdateParameterPrims(ref m_params[0].contactProcessingThreshold, lparm, localID, val); break;
|
||||
// the following are used only at initialization time so setting them makes no sense
|
||||
// case "maxPersistantmanifoldpoolSize": m_params[0].maxPersistantManifoldPoolSize = val; break;
|
||||
// case "shoulddisablecontactpooldynamicallocation": m_params[0].shouldDisableContactPoolDynamicAllocation = val; break;
|
||||
// case "shouldforceupdateallaabbs": m_params[0].shouldForceUpdateAllAabbs = val; break;
|
||||
// case "shouldrandomizesolverorder": m_params[0].shouldRandomizeSolverOrder = val; break;
|
||||
// case "shouldsplitsimulationislands": m_params[0].shouldSplitSimulationIslands = val; break;
|
||||
// case "shouldenablefrictioncaching": m_params[0].shouldEnableFrictionCaching = val; break;
|
||||
// case "numberofsolveriterations": m_params[0].numberOfSolverIterations = 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;
|
||||
case "terrainrestitution": m_params[0].terrainRestitution = val; TaintedUpdateParameter("terrain", 0, val); break;
|
||||
// set an avatar physical feature and cause avatar(s) to be recalculated
|
||||
case "avatarfriction": UpdateParameterAvatars(ref m_params[0].avatarFriction, "avatar", localID, val); break;
|
||||
case "avatardensity": UpdateParameterAvatars(ref m_params[0].avatarDensity, "avatar", localID, val); break;
|
||||
case "avatarrestitution": UpdateParameterAvatars(ref m_params[0].avatarRestitution, "avatar", localID, val); break;
|
||||
case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val); break;
|
||||
case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break;
|
||||
case "avatarcontactprocessingthreshold": UpdateParameterAvatars(ref m_params[0].avatarContactProcessingThreshold, "avatar", localID, val); break;
|
||||
|
||||
default: ret = false; break;
|
||||
theParam.setter(this, parm, localID, val);
|
||||
ret = true;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
// check to see if we are updating a parameter for a particular or all of the prims
|
||||
private void UpdateParameterPrims(ref float loc, string parm, uint localID, float val)
|
||||
protected void UpdateParameterPrims(ref float loc, string parm, uint localID, float val)
|
||||
{
|
||||
List<uint> operateOn;
|
||||
lock (m_prims) operateOn = new List<uint>(m_prims.Keys);
|
||||
|
|
@ -983,7 +1151,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
}
|
||||
|
||||
// check to see if we are updating a parameter for a particular or all of the avatars
|
||||
private void UpdateParameterAvatars(ref float loc, string parm, uint localID, float val)
|
||||
protected void UpdateParameterAvatars(ref float loc, string parm, uint localID, float val)
|
||||
{
|
||||
List<uint> operateOn;
|
||||
lock (m_avatars) operateOn = new List<uint>(m_avatars.Keys);
|
||||
|
|
@ -994,7 +1162,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
// If the local ID is APPLY_TO_NONE, just change the default value
|
||||
// If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
|
||||
// If the localID is a specific object, apply the parameter change to only that object
|
||||
private void UpdateParameterSet(List<uint> lIDs, ref float defaultLoc, string parm, uint localID, float val)
|
||||
protected void UpdateParameterSet(List<uint> lIDs, ref float defaultLoc, string parm, uint localID, float val)
|
||||
{
|
||||
switch (localID)
|
||||
{
|
||||
|
|
@ -1021,7 +1189,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
}
|
||||
|
||||
// schedule the actual updating of the paramter to when the phys engine is not busy
|
||||
private void TaintedUpdateParameter(string parm, uint localID, float val)
|
||||
protected void TaintedUpdateParameter(string parm, uint localID, float val)
|
||||
{
|
||||
uint xlocalID = localID;
|
||||
string xparm = parm.ToLower();
|
||||
|
|
@ -1036,50 +1204,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
public bool GetPhysicsParameter(string parm, out float value)
|
||||
{
|
||||
float val = 0f;
|
||||
bool ret = true;
|
||||
switch (parm.ToLower())
|
||||
bool ret = false;
|
||||
ParameterDefn theParam;
|
||||
if (TryGetParameter(parm, out theParam))
|
||||
{
|
||||
case "detailedstats": val = (int)m_detailedStatsStep; break;
|
||||
case "meshlod": val = (float)m_meshLOD; break;
|
||||
case "sculptlod": val = (float)m_sculptLOD; break;
|
||||
case "maxsubstep": val = (float)m_maxSubSteps; break;
|
||||
case "fixedtimestep": val = m_fixedTimeStep; break;
|
||||
case "maxobjectmass": val = m_maximumObjectMass; break;
|
||||
|
||||
case "defaultfriction": val = m_params[0].defaultFriction; break;
|
||||
case "defaultdensity": val = m_params[0].defaultDensity; break;
|
||||
case "defaultrestitution": val = m_params[0].defaultRestitution; break;
|
||||
case "collisionmargin": val = m_params[0].collisionMargin; break;
|
||||
case "gravity": val = m_params[0].gravity; break;
|
||||
|
||||
case "lineardamping": val = m_params[0].linearDamping; break;
|
||||
case "angulardamping": val = m_params[0].angularDamping; break;
|
||||
case "deactivationtime": val = m_params[0].deactivationTime; break;
|
||||
case "linearsleepingthreshold": val = m_params[0].linearSleepingThreshold; break;
|
||||
case "angularsleepingthreshold": val = m_params[0].angularDamping; break;
|
||||
case "ccdmotionthreshold": val = m_params[0].ccdMotionThreshold; break;
|
||||
case "ccdsweptsphereradius": val = m_params[0].ccdSweptSphereRadius; break;
|
||||
case "contactprocessingthreshold": val = m_params[0].contactProcessingThreshold; break;
|
||||
case "maxPersistantmanifoldpoolSize": val = m_params[0].maxPersistantManifoldPoolSize; break;
|
||||
case "shoulddisablecontactpooldynamicallocation": val = m_params[0].shouldDisableContactPoolDynamicAllocation; break;
|
||||
case "shouldforceupdateallaabbs": val = m_params[0].shouldForceUpdateAllAabbs; break;
|
||||
case "shouldrandomizesolverorder": val = m_params[0].shouldRandomizeSolverOrder; break;
|
||||
case "shouldsplitsimulationislands": val = m_params[0].shouldSplitSimulationIslands; break;
|
||||
case "shouldenablefrictioncaching": val = m_params[0].shouldEnableFrictionCaching; break;
|
||||
case "numberofsolveriterations": val = m_params[0].numberOfSolverIterations; break;
|
||||
|
||||
case "terrainfriction": val = m_params[0].terrainFriction; break;
|
||||
case "terrainhitfraction": val = m_params[0].terrainHitFraction; break;
|
||||
case "terrainrestitution": val = m_params[0].terrainRestitution; break;
|
||||
|
||||
case "avatarfriction": val = m_params[0].avatarFriction; break;
|
||||
case "avatardensity": val = m_params[0].avatarDensity; break;
|
||||
case "avatarrestitution": val = m_params[0].avatarRestitution; break;
|
||||
case "avatarcapsuleradius": val = m_params[0].avatarCapsuleRadius; break;
|
||||
case "avatarcapsuleheight": val = m_params[0].avatarCapsuleHeight; break;
|
||||
case "avatarcontactprocessingthreshold": val = m_params[0].avatarContactProcessingThreshold; break;
|
||||
default: ret = false; break;
|
||||
|
||||
val = theParam.getter(this);
|
||||
ret = true;
|
||||
}
|
||||
value = val;
|
||||
return ret;
|
||||
|
|
|
|||
Loading…
Reference in New Issue