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BulletSim: Move all the parameter variables, tables and get and fetch logic to a separate, static class for easier addition and to remove all that bulk from the BSScene class.
This commit is contained in:
Robert Adams
@@ -77,12 +77,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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public ILog Logger { get { return m_log; } }
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public IMesher mesher;
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// Level of Detail values kept as float because that's what the Meshmerizer wants
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public float MeshLOD { get; private set; }
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public float MeshMegaPrimLOD { get; private set; }
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public float MeshMegaPrimThreshold { get; private set; }
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public float SculptLOD { get; private set; }
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public uint WorldID { get; private set; }
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public BulletSim World { get; private set; }
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@@ -90,21 +84,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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public BSConstraintCollection Constraints { get; private set; }
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// Simulation parameters
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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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internal int m_maxSubSteps;
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internal float m_fixedTimeStep;
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internal long m_simulationStep = 0;
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public long SimulationStep { get { return m_simulationStep; } }
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private int m_taintsToProcessPerStep;
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// Avatar parameters
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public float ParamAvatarFriction { get; private set; }
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public float ParamAvatarStandingFriction { get; private set; }
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public float ParamAvatarDensity { get; private set; }
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public float ParamAvatarRestitution { get; private set; }
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public float ParamAvatarCapsuleWidth { get; private set; }
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public float ParamAvatarCapsuleDepth { get; private set; }
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public float ParamAvatarCapsuleHeight { get; private set; }
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public float ParamAvatarContactProcessingThreshold { get; private set; }
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internal int m_taintsToProcessPerStep;
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public delegate void PreStepAction(float timeStep);
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public event PreStepAction BeforeStep;
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@@ -121,20 +105,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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public bool InTaintTime { get; private set; }
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// Pinned memory used to pass step information between managed and unmanaged
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private int m_maxCollisionsPerFrame;
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private CollisionDesc[] m_collisionArray;
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private GCHandle m_collisionArrayPinnedHandle;
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internal int m_maxCollisionsPerFrame;
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internal CollisionDesc[] m_collisionArray;
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internal GCHandle m_collisionArrayPinnedHandle;
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private int m_maxUpdatesPerFrame;
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private EntityProperties[] m_updateArray;
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private GCHandle m_updateArrayPinnedHandle;
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public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed
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public bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
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public bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects
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public float PID_D { get; private set; } // derivative
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public float PID_P { get; private set; } // proportional
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internal int m_maxUpdatesPerFrame;
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internal EntityProperties[] m_updateArray;
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internal GCHandle m_updateArrayPinnedHandle;
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public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
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public const uint GROUNDPLANE_ID = 1;
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@@ -145,7 +122,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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public ConfigurationParameters Params
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{
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get { return m_params[0]; }
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get { return UnmanagedParams[0]; }
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}
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public Vector3 DefaultGravity
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{
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@@ -157,8 +134,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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get { return Params.gravity; }
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}
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public float MaximumObjectMass { get; private set; }
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// When functions in the unmanaged code must be called, it is only
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// done at a known time just before the simulation step. The taint
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// system saves all these function calls and executes them in
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@@ -181,7 +156,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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// A pointer to an instance if this structure is passed to the C++ code
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// Used to pass basic configuration values to the unmanaged code.
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ConfigurationParameters[] m_params;
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internal ConfigurationParameters[] UnmanagedParams;
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GCHandle m_paramsHandle;
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// Handle to the callback used by the unmanaged code to call into the managed code.
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@@ -218,8 +193,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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Shapes = new BSShapeCollection(this);
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// Allocate pinned memory to pass parameters.
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m_params = new ConfigurationParameters[1];
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m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned);
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UnmanagedParams = new ConfigurationParameters[1];
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m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned);
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// Set default values for physics parameters plus any overrides from the ini file
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GetInitialParameterValues(config);
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@@ -277,7 +252,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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TerrainManager = new BSTerrainManager(this);
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TerrainManager.CreateInitialGroundPlaneAndTerrain();
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m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)Params.linksetImplementation);
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m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
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InTaintTime = false;
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m_initialized = true;
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@@ -288,9 +263,9 @@ public sealed 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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UnmanagedParams[0] = parms;
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SetParameterDefaultValues();
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BSParam.SetParameterDefaultValues(this);
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if (config != null)
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{
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@@ -298,7 +273,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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IConfig pConfig = config.Configs["BulletSim"];
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if (pConfig != null)
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{
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SetParameterConfigurationValues(pConfig);
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BSParam.SetParameterConfigurationValues(this, 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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@@ -889,7 +864,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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{
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DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
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m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
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Util.PrintCallStack(); // Prints the stack into the DEBUG log file.
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Util.PrintCallStack(DetailLog); // Prints the stack into the DEBUG log file.
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}
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return InTaintTime;
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}
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@@ -936,12 +911,15 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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private void DoPreStepActions(float timeStep)
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{
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InTaintTime = true; // Only used for debugging so locking is not necessary.
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ProcessVehicles(timeStep);
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PreStepAction actions = BeforeStep;
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if (actions != null)
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actions(timeStep);
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InTaintTime = false;
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}
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// Some prims have extra vehicle actions
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@@ -957,472 +935,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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#region INI and command line parameter processing
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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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delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
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private struct ParameterDefn
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{
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public string name; // string name of the parameter
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public string desc; // a short description of what the parameter means
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public float defaultValue; // default value if not specified anywhere else
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public ParamUser userParam; // get the value from the configuration file
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public ParamGet getter; // return the current value stored for this parameter
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public ParamSet setter; // set the current value for this parameter
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public SetOnObject onObject; // set the value on an object in the physical domain
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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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onObject = null;
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}
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public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
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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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onObject = o;
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}
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}
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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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// To add a new externally referencable/settable parameter, add the paramter storage
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// location somewhere in the program and make an entry in this table with the
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// getters and setters.
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// It is easiest to find an existing definition and copy it.
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// Parameter values are floats. Booleans are converted to a floating value.
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//
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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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// -- an optional delegate to update the value in the world. Most often used to
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// push the new value to an in-world object.
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//
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// The single letter parameters for the delegates are:
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// s = BSScene
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// o = BSPhysObject
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// p = string parameter name
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// l = localID of referenced object
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// v = float value
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// cf = parameter configuration class (for fetching values from ini file)
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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.ShouldMeshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); },
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(s) => { return s.NumericBool(s.ShouldMeshSculptedPrim); },
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(s,p,l,v) => { s.ShouldMeshSculptedPrim = 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.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
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(s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
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(s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
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new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
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ConfigurationParameters.numericTrue,
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(s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); },
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(s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); },
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(s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ),
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new ParameterDefn("MeshLevelOfDetail", "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.MeshLOD = (float)cf.GetInt(p, (int)v); },
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(s) => { return s.MeshLOD; },
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(s,p,l,v) => { s.MeshLOD = v; } ),
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new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
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16f,
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(s,cf,p,v) => { s.MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
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(s) => { return s.MeshMegaPrimLOD; },
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(s,p,l,v) => { s.MeshMegaPrimLOD = v; } ),
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new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
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10f,
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(s,cf,p,v) => { s.MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
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(s) => { return s.MeshMegaPrimThreshold; },
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(s,p,l,v) => { s.MeshMegaPrimThreshold = v; } ),
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new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
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32f,
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(s,cf,p,v) => { s.SculptLOD = (float)cf.GetInt(p, (int)v); },
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(s) => { return s.SculptLOD; },
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(s,p,l,v) => { s.SculptLOD = v; } ),
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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("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
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500f,
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(s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
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(s) => { return (float)s.m_taintsToProcessPerStep; },
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(s,p,l,v) => { s.m_taintsToProcessPerStep = (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.MaximumObjectMass = cf.GetFloat(p, v); },
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(s) => { return (float)s.MaximumObjectMass; },
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(s,p,l,v) => { s.MaximumObjectMass = v; } ),
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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 ParameterDefn("DefaultFriction", "Friction factor used on new objects",
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0.2f,
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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,
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(s,cf,p,v) => { s.m_params[0].defaultRestitution = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].defaultRestitution; },
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(s,p,l,v) => { s.m_params[0].defaultRestitution = v; } ),
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new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
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0.04f,
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(s,cf,p,v) => { s.m_params[0].collisionMargin = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].collisionMargin; },
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(s,p,l,v) => { s.m_params[0].collisionMargin = v; } ),
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new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
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-9.80665f,
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(s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].gravity; },
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(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].gravity, p, PhysParameterEntry.APPLY_TO_NONE, v); },
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(s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
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new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
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0f,
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(s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].linearDamping; },
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(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); },
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(s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, s.m_params[0].angularDamping); } ),
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new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
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0f,
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(s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].angularDamping; },
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(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); },
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(s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, s.m_params[0].linearDamping, v); } ),
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new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
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0.2f,
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(s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].deactivationTime; },
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(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); },
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(s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
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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.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); },
|
||||
(s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, 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.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); },
|
||||
(s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, 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.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); },
|
||||
(s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, 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.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
|
||||
(s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, 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.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
|
||||
(s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
|
||||
|
||||
new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
|
||||
(float)BSTerrainPhys.TerrainImplementation.Mesh,
|
||||
(s,cf,p,v) => { s.m_params[0].terrainImplementation = cf.GetFloat(p,v); },
|
||||
(s) => { return s.m_params[0].terrainImplementation; },
|
||||
(s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ),
|
||||
new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
|
||||
0.3f,
|
||||
(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; /* TODO: set on real terrain */} ),
|
||||
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; /* TODO: set on real terrain */ } ),
|
||||
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; /* TODO: set on real terrain */ } ),
|
||||
new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
|
||||
0.04f,
|
||||
(s,cf,p,v) => { s.m_params[0].terrainCollisionMargin = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].terrainCollisionMargin; },
|
||||
(s,p,l,v) => { s.m_params[0].terrainCollisionMargin = v; /* TODO: set on real terrain */ } ),
|
||||
|
||||
new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
|
||||
0.2f,
|
||||
(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.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
|
||||
new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
|
||||
10.0f,
|
||||
(s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].avatarStandingFriction; },
|
||||
(s,p,l,v) => { s.m_params[0].avatarStandingFriction = 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.UpdateParameterObject(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.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ),
|
||||
new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
|
||||
0.6f,
|
||||
(s,cf,p,v) => { s.m_params[0].avatarCapsuleWidth = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].avatarCapsuleWidth; },
|
||||
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleWidth, p, l, v); } ),
|
||||
new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
|
||||
0.45f,
|
||||
(s,cf,p,v) => { s.m_params[0].avatarCapsuleDepth = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].avatarCapsuleDepth; },
|
||||
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleDepth, 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.UpdateParameterObject(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.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ),
|
||||
|
||||
new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
|
||||
0.95f,
|
||||
(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("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
|
||||
0f,
|
||||
(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("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
|
||||
0f,
|
||||
(s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; },
|
||||
(s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ),
|
||||
new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
|
||||
ConfigurationParameters.numericFalse,
|
||||
(s,cf,p,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = 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.numericTrue,
|
||||
(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.numericTrue,
|
||||
(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("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
|
||||
(float)BSLinkset.LinksetImplementation.Compound,
|
||||
(s,cf,p,v) => { s.m_params[0].linksetImplementation = cf.GetFloat(p,v); },
|
||||
(s) => { return s.m_params[0].linksetImplementation; },
|
||||
(s,p,l,v) => { s.m_params[0].linksetImplementation = v; } ),
|
||||
new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
|
||||
ConfigurationParameters.numericFalse,
|
||||
(s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
|
||||
(s) => { return s.m_params[0].linkConstraintUseFrameOffset; },
|
||||
(s,p,l,v) => { s.m_params[0].linkConstraintUseFrameOffset = v; } ),
|
||||
new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
|
||||
ConfigurationParameters.numericTrue,
|
||||
(s,cf,p,v) => { s.m_params[0].linkConstraintEnableTransMotor = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
|
||||
(s) => { return s.m_params[0].linkConstraintEnableTransMotor; },
|
||||
(s,p,l,v) => { s.m_params[0].linkConstraintEnableTransMotor = v; } ),
|
||||
new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
|
||||
5.0f,
|
||||
(s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].linkConstraintTransMotorMaxVel; },
|
||||
(s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = v; } ),
|
||||
new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
|
||||
0.1f,
|
||||
(s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
|
||||
(s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
|
||||
new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
|
||||
0.1f,
|
||||
(s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].linkConstraintCFM; },
|
||||
(s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
|
||||
new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
|
||||
0.1f,
|
||||
(s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].linkConstraintERP; },
|
||||
(s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),
|
||||
new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
|
||||
40,
|
||||
(s,cf,p,v) => { s.m_params[0].linkConstraintSolverIterations = cf.GetFloat(p, v); },
|
||||
(s) => { return s.m_params[0].linkConstraintSolverIterations; },
|
||||
(s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ),
|
||||
|
||||
new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
|
||||
0f,
|
||||
(s,cf,p,v) => { s.m_params[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
|
||||
(s) => { return (float)s.m_params[0].physicsLoggingFrames; },
|
||||
(s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (int)v; } ),
|
||||
};
|
||||
|
||||
// Convert a boolean to our numeric true and false values
|
||||
public float NumericBool(bool b)
|
||||
{
|
||||
return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
|
||||
}
|
||||
|
||||
// Convert numeric true and false values to a boolean
|
||||
public 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];
|
||||
|
||||
// This creates an array in the correct format for returning the list of
|
||||
// parameters. This is used by the 'list' option of the 'physics' command.
|
||||
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;
|
||||
BSParam.BuildParameterTable();
|
||||
return BSParam.SettableParameters;
|
||||
}
|
||||
|
||||
// Set parameter on a specific or all instances.
|
||||
@@ -1434,8 +952,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
|
||||
public bool SetPhysicsParameter(string parm, float val, uint localID)
|
||||
{
|
||||
bool ret = false;
|
||||
ParameterDefn theParam;
|
||||
if (TryGetParameter(parm, out theParam))
|
||||
BSParam.ParameterDefn theParam;
|
||||
if (BSParam.TryGetParameter(parm, out theParam))
|
||||
{
|
||||
theParam.setter(this, parm, localID, val);
|
||||
ret = true;
|
||||
@@ -1447,19 +965,20 @@ public sealed 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 UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
|
||||
internal delegate void AssignVal(float x);
|
||||
internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val)
|
||||
{
|
||||
List<uint> objectIDs = new List<uint>();
|
||||
switch (localID)
|
||||
{
|
||||
case PhysParameterEntry.APPLY_TO_NONE:
|
||||
defaultLoc = val; // setting only the default value
|
||||
setDefault(val); // setting only the default value
|
||||
// This will cause a call into the physical world if some operation is specified (SetOnObject).
|
||||
objectIDs.Add(TERRAIN_ID);
|
||||
TaintedUpdateParameter(parm, objectIDs, val);
|
||||
break;
|
||||
case PhysParameterEntry.APPLY_TO_ALL:
|
||||
defaultLoc = val; // setting ALL also sets the default value
|
||||
setDefault(val); // setting ALL also sets the default value
|
||||
lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
|
||||
TaintedUpdateParameter(parm, objectIDs, val);
|
||||
break;
|
||||
@@ -1478,8 +997,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
|
||||
List<uint> xlIDs = lIDs;
|
||||
string xparm = parm;
|
||||
TaintedObject("BSScene.UpdateParameterSet", delegate() {
|
||||
ParameterDefn thisParam;
|
||||
if (TryGetParameter(xparm, out thisParam))
|
||||
BSParam.ParameterDefn thisParam;
|
||||
if (BSParam.TryGetParameter(xparm, out thisParam))
|
||||
{
|
||||
if (thisParam.onObject != null)
|
||||
{
|
||||
@@ -1500,8 +1019,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
|
||||
{
|
||||
float val = 0f;
|
||||
bool ret = false;
|
||||
ParameterDefn theParam;
|
||||
if (TryGetParameter(parm, out theParam))
|
||||
BSParam.ParameterDefn theParam;
|
||||
if (BSParam.TryGetParameter(parm, out theParam))
|
||||
{
|
||||
val = theParam.getter(this);
|
||||
ret = true;
|
||||
|
||||
Reference in New Issue
Block a user