OpenSim
/
OpenSimMirror
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Update BulletSim.dll with some interface changes and tuning (see opensim-libs). Change BSScene to use new interface.

iar_mods
Robert Adams 2012-01-25 14:40:38 -08:00
parent 2e7c1bcfd9
commit e9de7e7107
7 changed files with 34 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -72,6 +72,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private bool m_initialized = false;
private int m_detailedStatsStep = 0;
public IMesher mesher;
private float m_meshLOD;
public float MeshLOD
@ -192,6 +194,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
m_meshLOD = 8f;
m_sculptLOD = 32f;
m_detailedStatsStep = 0; // disabled
m_maxSubSteps = 10;
m_fixedTimeStep = 1f / 60f;
m_maxCollisionsPerFrame = 2048;
@ -209,8 +213,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
parms.deactivationTime = 0.2f;
parms.linearSleepingThreshold = 0.8f;
parms.angularSleepingThreshold = 1.0f;
parms.ccdMotionThreshold = 0.5f; // set to zero to disable
parms.ccdSweptSphereRadius = 0.2f;
parms.ccdMotionThreshold = 0.0f; // set to zero to disable
parms.ccdSweptSphereRadius = 0.0f;
parms.contactProcessingThreshold = 0.1f;
parms.terrainFriction = 0.5f;
parms.terrainHitFraction = 0.8f;
@ -231,6 +236,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
_meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim);
_forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing);
m_detailedStatsStep = pConfig.GetInt("DetailedStatsStep", m_detailedStatsStep);
m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD);
m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD);
@ -253,6 +259,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", parms.angularSleepingThreshold);
parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold);
parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius);
parms.contactProcessingThreshold = pConfig.GetFloat("ContactProcessingThreshold", parms.contactProcessingThreshold);
parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction);
parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction);
@ -398,6 +405,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
}
}
if (m_detailedStatsStep > 0)
{
if ((m_simulationStep % m_detailedStatsStep) == 0)
{
BulletSimAPI.DumpBulletStatistics();
}
}
// TODO: FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation.
return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f;
}
@ -671,6 +686,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
new PhysParameterEntry("MaxSubStep", "In simulation step, maximum number of substeps"),
new PhysParameterEntry("FixedTimeStep", "In simulation step, seconds of one substep (1/60)"),
new PhysParameterEntry("MaxObjectMass", "Maximum object mass (10000.01)"),
new PhysParameterEntry("DetailedStats", "Frames between outputting detailed phys stats. Zero is off"),
new PhysParameterEntry("DefaultFriction", "Friction factor used on new objects"),
new PhysParameterEntry("DefaultDensity", "Density for new objects" ),
@ -685,6 +701,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
new PhysParameterEntry("AngularSleepingThreshold", "Seconds to measure angular movement before considering static" ),
// new PhysParameterEntry("CcdMotionThreshold", "" ),
// new PhysParameterEntry("CcdSweptSphereRadius", "" ),
new PhysParameterEntry("ContactProcessingThreshold", "Distance between contacts before doing collision check" ),
new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ),
new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ),
@ -715,6 +732,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
string lparm = parm.ToLower();
switch (lparm)
{
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;
@ -725,7 +743,7 @@ 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, PhysParameterEntry.APPLY_TO_NONE, 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;
@ -734,6 +752,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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;
// set a terrain physical feature and cause terrain to be recalculated
case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break;
@ -741,10 +760,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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 "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 "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val); break;
case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break;
default: ret = false; break;
}
@ -816,6 +835,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
bool ret = true;
switch (parm.ToLower())
{
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;
@ -835,6 +855,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
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 "terrainfriction": val = m_params[0].terrainFriction; break;
case "terrainhitfraction": val = m_params[0].terrainHitFraction; break;

4
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -122,6 +122,7 @@ public struct ConfigurationParameters
public float angularSleepingThreshold;
public float ccdMotionThreshold;
public float ccdSweptSphereRadius;
public float contactProcessingThreshold;
public float terrainFriction;
public float terrainHitFraction;
@ -248,6 +249,9 @@ 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();
// Log a debug message
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);

BIN
bin/BulletSim-x86_64.dll
View File

Binary file not shown.

BIN
bin/BulletSim.dll
View File

Binary file not shown.

5
bin/OpenSimDefaults.ini
View File

@ -842,8 +842,9 @@
DeactivationTime = 0.2
LinearSleepingThreshold = 0.8
AngularSleepingThreshold = 1.0
CcdMotionThreshold = 0.5
CcdSweptSphereRadius = 0.2
CcdMotionThreshold = 0.0
CcdSweptSphereRadius = 0.0
ContactProcessingThreshold = 0.1
; Whether to mesh sculpties
MeshSculptedPrim = true

BIN
bin/libBulletSim-x86_64.so
View File

Binary file not shown.

BIN
bin/libBulletSim.so
View File

Binary file not shown.