From f783b9169fbc0544ec6c634900cb34bf48c6b2a9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 22 Mar 2013 16:50:56 -0700 Subject: [PATCH] BulletSim: parameterize C# HACD hull creation. Add feature of reducing max hull count for simple (non-cut prims) meshes. --- .../Region/Physics/BulletSPlugin/BSParam.cs | 33 +++++++++++ .../BulletSPlugin/BSShapeCollection.cs | 55 ++++++++++++++----- 2 files changed, 74 insertions(+), 14 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 4d89a88778..26d2d60e9f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -142,6 +142,14 @@ public static class BSParam public static float VehicleAngularBankingTimescaleFudge { get; private set; } public static bool VehicleDebuggingEnabled { get; private set; } + // Convex Hulls + public static int CSHullMaxDepthSplit { get; private set; } + public static int CSHullMaxDepthSplitForSimpleShapes { get; private set; } + public static float CSHullConcavityThresholdPercent { get; private set; } + public static float CSHullVolumeConservationThresholdPercent { get; private set; } + public static int CSHullMaxVertices { get; private set; } + public static float CSHullMaxSkinWidth { get; private set; } + // Linkset implementation parameters public static float LinksetImplementation { get; private set; } public static bool LinkConstraintUseFrameOffset { get; private set; } @@ -623,6 +631,31 @@ public static class BSParam (s) => { return GlobalContactBreakingThreshold; }, (s,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ), + new ParameterDefn("CSHullMaxDepthSplit", "CS impl: max depth to split for hull. 1-10 but > 7 is iffy", + 7, + (s) => { return CSHullMaxDepthSplit; }, + (s,v) => { CSHullMaxDepthSplit = v; } ), + new ParameterDefn("CSHullMaxDepthSplitForSimpleShapes", "CS impl: max depth setting for simple prim shapes", + 2, + (s) => { return CSHullMaxDepthSplitForSimpleShapes; }, + (s,v) => { CSHullMaxDepthSplitForSimpleShapes = v; } ), + new ParameterDefn("CSHullConcavityThresholdPercent", "CS impl: concavity threshold percent (0-20)", + 5f, + (s) => { return CSHullConcavityThresholdPercent; }, + (s,v) => { CSHullConcavityThresholdPercent = v; } ), + new ParameterDefn("CSHullVolumeConservationThresholdPercent", "percent volume conservation to collapse hulls (0-30)", + 5f, + (s) => { return CSHullVolumeConservationThresholdPercent; }, + (s,v) => { CSHullVolumeConservationThresholdPercent = v; } ), + new ParameterDefn("CSHullMaxVertices", "CS impl: maximum number of vertices in output hulls. Keep < 50.", + 32, + (s) => { return CSHullMaxVertices; }, + (s,v) => { CSHullMaxVertices = v; } ), + new ParameterDefn("CSHullMaxSkinWidth", "CS impl: skin width to apply to output hulls.", + 0, + (s) => { return CSHullMaxSkinWidth; }, + (s,v) => { CSHullMaxSkinWidth = v; } ), + new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", (float)BSLinkset.LinksetImplementation.Compound, (s) => { return LinksetImplementation; }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index b16bc10b9c..457f204a8e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -447,17 +447,10 @@ public sealed class BSShapeCollection : IDisposable // If the prim attributes are simple, this could be a simple Bullet native shape if (!haveShape + && nativeShapePossible && pbs != null && !pbs.SculptEntry - && nativeShapePossible - && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) - || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 - && pbs.ProfileHollow == 0 - && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 - && pbs.PathBegin == 0 && pbs.PathEnd == 0 - && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 - && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 - && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) ) + && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) || PrimHasNoCuts(pbs)) ) { // Get the scale of any existing shape so we can see if the new shape is same native type and same size. OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero; @@ -508,6 +501,18 @@ public sealed class BSShapeCollection : IDisposable return ret; } + // return 'true' if this shape description does not include any cutting or twisting. + private bool PrimHasNoCuts(PrimitiveBaseShape pbs) + { + return pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 + && pbs.ProfileHollow == 0 + && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 + && pbs.PathBegin == 0 && pbs.PathEnd == 0 + && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 + && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 + && pbs.PathShearX == 0 && pbs.PathShearY == 0; + } + // return 'true' if the prim's shape was changed. public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { @@ -518,7 +523,7 @@ public sealed class BSShapeCollection : IDisposable if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects) { // Update prim.BSShape to reference a hull of this shape. - ret = GetReferenceToHull(prim,shapeCallback); + ret = GetReferenceToHull(prim, shapeCallback); if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); } @@ -697,6 +702,7 @@ public sealed class BSShapeCollection : IDisposable // See that hull shape exists in the physical world and update prim.BSShape. // We could be creating the hull because scale changed or whatever. + // Return 'true' if a new hull was built. Otherwise, returning a shared hull instance. private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { BulletShape newShape; @@ -715,6 +721,7 @@ public sealed class BSShapeCollection : IDisposable DereferenceShape(prim.PhysShape, shapeCallback); newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod); + // It might not have been created if we're waiting for an asset. newShape = VerifyMeshCreated(newShape, prim); ReferenceShape(newShape); @@ -733,14 +740,14 @@ public sealed class BSShapeCollection : IDisposable HullDesc hullDesc; if (Hulls.TryGetValue(newHullKey, out hullDesc)) { - // If the hull shape already is created, just use it. + // If the hull shape already has been created, just use the one shared instance. newShape = hullDesc.shape.Clone(); } else { - // Build a new hull in the physical world - // Pass true for physicalness as this creates some sort of bounding box which we don't need - IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); + // Build a new hull in the physical world. + // Pass true for physicalness as this prevents the creation of bounding box which is not needed + IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); if (meshData != null) { @@ -759,15 +766,35 @@ public sealed class BSShapeCollection : IDisposable convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); } + uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit; + if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes) + { + // Simple primitive shapes we know are convex so they are better implemented with + // fewer hulls. + // Check for simple shape (prim without cuts) and reduce split parameter if so. + if (PrimHasNoCuts(pbs)) + { + maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes; + } + } + // setup and do convex hull conversion m_hulls = new List(); DecompDesc dcomp = new DecompDesc(); dcomp.mIndices = convIndices; dcomp.mVertices = convVertices; + dcomp.mDepth = maxDepthSplit; + dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent; + dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent; + dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices; + dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth; ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); // create the hull into the _hulls variable convexBuilder.process(dcomp); + DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}", + BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count); + // Convert the vertices and indices for passing to unmanaged. // The hull information is passed as a large floating point array. // The format is: