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authorRobert Adams2012-12-06 06:45:51 -0800
committerRobert Adams2012-12-06 09:30:42 -0800
commit2ecd8e6720ebc9668aa30a8276c8b15a8650b8fe (patch)
treea9e777192a01a9a73dd1456cf57c7f26e3ba3837
parentBulletSim: Don't add gravity to down force -- let Bullet do that. Add Vehicle... (diff)
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BulletSim: add values for material friction and restitution. Fix line endings in material definition file.
Diffstat (limited to '')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs376
1 files changed, 185 insertions, 191 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
index 663b6f4..390c2f9 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs
@@ -1,191 +1,185 @@
1/* 1/*
2 * Copyright (c) Contributors, http://opensimulator.org/ 2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders. 3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 * 4 *
5 * Redistribution and use in source and binary forms, with or without 5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met: 6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright 7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer. 8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD 9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the 10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution. 11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the 12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products 13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission. 14 * derived from this software without specific prior written permission.
15 * 15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY 16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY 19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Text; 29using System.Text;
30using System.Reflection; 30using System.Reflection;
31using Nini.Config; 31using Nini.Config;
32 32
33namespace OpenSim.Region.Physics.BulletSPlugin 33namespace OpenSim.Region.Physics.BulletSPlugin
34{ 34{
35 35
36public struct MaterialAttributes 36public struct MaterialAttributes
37{ 37{
38 // Material type values that correspond with definitions for LSL 38 // Material type values that correspond with definitions for LSL
39 public enum Material : int 39 public enum Material : int
40 { 40 {
41 Stone = 0, 41 Stone = 0,
42 Metal, 42 Metal,
43 Glass, 43 Glass,
44 Wood, 44 Wood,
45 Flesh, 45 Flesh,
46 Plastic, 46 Plastic,
47 Rubber, 47 Rubber,
48 Light, 48 Light,
49 // Hereafter are BulletSim additions 49 // Hereafter are BulletSim additions
50 Avatar, 50 Avatar,
51 NumberOfTypes // the count of types in the enum. 51 NumberOfTypes // the count of types in the enum.
52 } 52 }
53 // Names must be in the order of the above enum. 53 // Names must be in the order of the above enum.
54 public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", 54 public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood",
55 "Flesh", "Plastic", "Rubber", "Light", "Avatar" }; 55 "Flesh", "Plastic", "Rubber", "Light", "Avatar" };
56 public static string[] MaterialAttribs = { "Density", "Friction", "Restitution", 56 public static string[] MaterialAttribs = { "Density", "Friction", "Restitution"};
57 "ccdMotionThreshold", "ccdSweptSphereRadius" }; 57
58 58 public MaterialAttributes(string t, float d, float f, float r)
59 public MaterialAttributes(string t, float d, float f, float r, float ccdM, float ccdS) 59 {
60 { 60 type = t;
61 type = t; 61 density = d;
62 density = d; 62 friction = f;
63 friction = f; 63 restitution = r;
64 restitution = r; 64 }
65 ccdMotionThreshold = ccdM; 65 public string type;
66 ccdSweptSphereRadius = ccdS; 66 public float density;
67 } 67 public float friction;
68 public string type; 68 public float restitution;
69 public float density; 69}
70 public float friction; 70
71 public float restitution; 71public static class BSMaterials
72 public float ccdMotionThreshold; 72{
73 public float ccdSweptSphereRadius; 73 public static MaterialAttributes[] Attributes;
74} 74
75 75 static BSMaterials()
76public static class BSMaterials 76 {
77{ 77 // Attribute sets for both the non-physical and physical instances of materials.
78 public static MaterialAttributes[] Attributes; 78 Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2];
79 79 }
80 static BSMaterials() 80
81 { 81 // This is where all the default material attributes are defined.
82 // Attribute sets for both the non-physical and physical instances of materials. 82 public static void InitializeFromDefaults(ConfigurationParameters parms)
83 Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2]; 83 {
84 } 84 // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
85 85 // public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood",
86 // This is where all the default material attributes are defined. 86 // "Flesh", "Plastic", "Rubber", "Light", "Avatar" };
87 public static void InitializeFromDefaults(ConfigurationParameters parms) 87 float dFriction = parms.defaultFriction;
88 { 88 float dRestitution = parms.defaultRestitution;
89 // public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", 89 float dDensity = parms.defaultDensity;
90 // "Flesh", "Plastic", "Rubber", "Light", "Avatar" }; 90 Attributes[(int)MaterialAttributes.Material.Stone] =
91 float dFriction = parms.defaultFriction; 91 new MaterialAttributes("stone",dDensity, 0.8f, 0.4f);
92 float dRestitution = parms.defaultRestitution; 92 Attributes[(int)MaterialAttributes.Material.Metal] =
93 float dDensity = parms.defaultDensity; 93 new MaterialAttributes("metal",dDensity, 0.3f, 0.4f);
94 float dCcdM = parms.ccdMotionThreshold; 94 Attributes[(int)MaterialAttributes.Material.Glass] =
95 float dCcdS = parms.ccdSweptSphereRadius; 95 new MaterialAttributes("glass",dDensity, 0.2f, 0.7f);
96 Attributes[(int)MaterialAttributes.Material.Stone] = 96 Attributes[(int)MaterialAttributes.Material.Wood] =
97 new MaterialAttributes("stone",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 97 new MaterialAttributes("wood",dDensity, 0.6f, 0.5f);
98 Attributes[(int)MaterialAttributes.Material.Metal] = 98 Attributes[(int)MaterialAttributes.Material.Flesh] =
99 new MaterialAttributes("metal",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 99 new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f);
100 Attributes[(int)MaterialAttributes.Material.Glass] = 100 Attributes[(int)MaterialAttributes.Material.Plastic] =
101 new MaterialAttributes("glass",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 101 new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f);
102 Attributes[(int)MaterialAttributes.Material.Wood] = 102 Attributes[(int)MaterialAttributes.Material.Rubber] =
103 new MaterialAttributes("wood",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 103 new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f);
104 Attributes[(int)MaterialAttributes.Material.Flesh] = 104 Attributes[(int)MaterialAttributes.Material.Light] =
105 new MaterialAttributes("flesh",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 105 new MaterialAttributes("light",dDensity, dFriction, dRestitution);
106 Attributes[(int)MaterialAttributes.Material.Plastic] = 106 Attributes[(int)MaterialAttributes.Material.Avatar] =
107 new MaterialAttributes("plastic",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 107 new MaterialAttributes("avatar",60f, 0.2f, 0f);
108 Attributes[(int)MaterialAttributes.Material.Rubber] = 108
109 new MaterialAttributes("rubber",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 109 Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
110 Attributes[(int)MaterialAttributes.Material.Light] = 110 new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f);
111 new MaterialAttributes("light",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 111 Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
112 Attributes[(int)MaterialAttributes.Material.Avatar] = 112 new MaterialAttributes("metalPhysical",dDensity, 0.8f, 0.4f);
113 new MaterialAttributes("avatar",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 113 Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
114 114 new MaterialAttributes("glassPhysical",dDensity, 0.8f, 0.7f);
115 Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] = 115 Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
116 new MaterialAttributes("stonePhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 116 new MaterialAttributes("woodPhysical",dDensity, 0.8f, 0.5f);
117 Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] = 117 Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
118 new MaterialAttributes("metalPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 118 new MaterialAttributes("fleshPhysical",dDensity, 0.8f, 0.3f);
119 Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] = 119 Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
120 new MaterialAttributes("glassPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 120 new MaterialAttributes("plasticPhysical",dDensity, 0.8f, 0.7f);
121 Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] = 121 Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
122 new MaterialAttributes("woodPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 122 new MaterialAttributes("rubberPhysical",dDensity, 0.8f, 0.9f);
123 Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] = 123 Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
124 new MaterialAttributes("fleshPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 124 new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution);
125 Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] = 125 Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
126 new MaterialAttributes("plasticPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 126 new MaterialAttributes("avatarPhysical",60f, 0.2f, 0f);
127 Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] = 127 }
128 new MaterialAttributes("rubberPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 128
129 Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] = 129 // Under the [BulletSim] section, one can change the individual material
130 new MaterialAttributes("lightPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 130 // attribute values. The format of the configuration parameter is:
131 Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] = 131 // <materialName><Attribute>["Physical"] = floatValue
132 new MaterialAttributes("avatarPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); 132 // For instance:
133 } 133 // [BulletSim]
134 134 // StoneFriction = 0.2
135 // Under the [BulletSim] section, one can change the individual material 135 // FleshRestitutionPhysical = 0.8
136 // attribute values. The format of the configuration parameter is: 136 // Materials can have different parameters for their static and
137 // <materialName><Attribute>["Physical"] = floatValue 137 // physical instantiations. When setting the non-physical value,
138 // For instance: 138 // both values are changed. Setting the physical value only changes
139 // [BulletSim] 139 // the physical value.
140 // StoneFriction = 0.2 140 public static void InitializefromParameters(IConfig pConfig)
141 // FleshRestitutionPhysical = 0.8 141 {
142 // Materials can have different parameters for their static and 142 int matType = 0;
143 // physical instantiations. When setting the non-physical value, 143 foreach (string matName in MaterialAttributes.MaterialNames)
144 // both values are changed. Setting the physical value only changes 144 {
145 // the physical value. 145 foreach (string attribName in MaterialAttributes.MaterialAttribs)
146 public static void InitializefromParameters(IConfig pConfig) 146 {
147 { 147 string paramName = matName + attribName;
148 int matType = 0; 148 if (pConfig.Contains(paramName))
149 foreach (string matName in MaterialAttributes.MaterialNames) 149 {
150 { 150 float paramValue = pConfig.GetFloat(paramName);
151 foreach (string attribName in MaterialAttributes.MaterialAttribs) 151 SetAttributeValue(matType, attribName, paramValue);
152 { 152 // set the physical value also
153 string paramName = matName + attribName; 153 SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
154 if (pConfig.Contains(paramName)) 154 }
155 { 155 paramName += "Physical";
156 float paramValue = pConfig.GetFloat(paramName); 156 if (pConfig.Contains(paramName))
157 SetAttributeValue(matType, attribName, paramValue); 157 {
158 // set the physical value also 158 float paramValue = pConfig.GetFloat(paramName);
159 SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); 159 SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
160 } 160 }
161 paramName += "Physical"; 161 }
162 if (pConfig.Contains(paramName)) 162 matType++;
163 { 163 }
164 float paramValue = pConfig.GetFloat(paramName); 164 }
165 SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); 165
166 } 166 private static void SetAttributeValue(int matType, string attribName, float val)
167 } 167 {
168 matType++; 168 MaterialAttributes thisAttrib = Attributes[matType];
169 } 169 FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName);
170 } 170 if (fieldInfo != null)
171 171 {
172 private static void SetAttributeValue(int matType, string attribName, float val) 172 fieldInfo.SetValue(thisAttrib, val);
173 { 173 Attributes[matType] = thisAttrib;
174 MaterialAttributes thisAttrib = Attributes[matType]; 174 }
175 FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName); 175 }
176 if (fieldInfo != null) 176
177 { 177 public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical)
178 fieldInfo.SetValue(thisAttrib, val); 178 {
179 Attributes[matType] = thisAttrib; 179 int ind = (int)type;
180 } 180 if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes;
181 } 181 return Attributes[ind];
182 182 }
183 public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical) 183
184 { 184}
185 int ind = (int)type; 185}
186 if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes;
187 return Attributes[ind];
188 }
189
190}
191}
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