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BulletSim: add ini file and command line parameters to control

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dumping of physical vehicle parameters (out of Bullet) on each
simulation step and to optionally scale vehicle angular velocity
by the time step. The latter looks to be part of a difference
between angular parameters for ODE and BulletSim. SL docs say
angular velocity is measured in radians/timeScale. Not sure if this
is different than what ODE does.
This commit is contained in:
Robert Adams
2012-12-11 00:13:13 -08:00
parent ebf30e7ba6
commit 8b861e880a
4 changed files with 22 additions and 8 deletions
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12
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@@ -188,6 +188,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
private bool m_physicsLoggingDoFlush;
// 'true' of the vehicle code is to log lots of details
public bool VehicleLoggingEnabled { get; private set; }
public bool VehiclePhysicalLoggingEnabled { get; private set; }
public bool VehicleScaleAngularVelocityByTimestep { get; private set; }
#region Construction and Initialization
public BSScene(string identifier)
@@ -297,6 +299,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
// Very detailed logging for vehicle debugging
VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
// Do any replacements in the parameters
m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
@@ -501,7 +504,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
try
{
// if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG
if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@@ -510,7 +513,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
// if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG
}
catch (Exception e)
{
@@ -1226,6 +1229,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
(s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].vehicleAngularDamping; },
(s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ),
new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); },
(s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); },
(s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ),
new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
0f,