BulletSim: add parameters and parameter definitions for VHACD

	addition coming.

1 files changed, 44 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index ef75e3f..6d46fe6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -183,6 +183,7 @@ public static class BSParam
     public static bool VehicleEnableAngularBanking { get; private set; }
 
     // Convex Hulls
+    // Parameters for convex hull routine that ships with Bullet
     public static int CSHullMaxDepthSplit { get; private set; }
     public static int CSHullMaxDepthSplitForSimpleShapes { get; private set; }
     public static float CSHullConcavityThresholdPercent { get; private set; }
@@ -198,6 +199,22 @@ public static class BSParam
         public static bool BHullAddNeighboursDistPoints { get; private set; }   // false
         public static bool BHullAddFacesPoints { get; private set; }                    // false
         public static bool BHullShouldAdjustCollisionMargin { get; private set; }       // false
+        public static float WhichHACD { get; private set; }                                 // zero if Bullet HACD, non-zero says VHACD
+    // Parameters for VHACD 2.0: http://code.google.com/p/v-hacd
+    // To enable, set both ShouldUseBulletHACD=true and WhichHACD=1
+        // http://kmamou.blogspot.ca/2014/12/v-hacd-20-parameters-description.html
+        public static float VHACDresolution { get; private set; }                       // 100,000 max number of voxels generated during voxelization stage
+        public static float VHACDdepth { get; private set; }                            // 20 max number of clipping stages
+        public static float VHACDconcavity { get; private set; }                        // 0.0025 maximum concavity
+        public static float VHACDplaneDownsampling { get; private set; }        // 4 granularity of search for best clipping plane
+        public static float VHACDconvexHullDownsampling { get; private set; }   // 4 precision of hull gen process
+        public static float VHACDalpha { get; private set; }                            // 0.05 bias toward clipping along symmetry planes
+        public static float VHACDbeta { get; private set; }                                 // 0.05 bias toward clipping along revolution axis
+        public static float VHACDgamma { get; private set; }                            // 0.00125 max concavity when merging
+        public static float VHACDpca { get; private set; }                                      // 0 on/off normalizing mesh before decomp
+        public static float VHACDmode { get; private set; }                                 // 0 0:voxel based, 1: tetrahedron based
+        public static float VHACDmaxNumVerticesPerCH { get; private set; }      // 64 max triangles per convex hull
+        public static float VHACDminVolumePerCH { get; private set; }           // 0.0001 sampling of generated convex hulls
 
     // Linkset implementation parameters
     public static float LinksetImplementation { get; private set; }
@@ -749,6 +766,33 @@ public static class BSParam
             new ParameterDefn<bool>("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin",
             false ),
 
+            new ParameterDefn<float>("WhichHACD", "zero if Bullet HACD, non-zero says VHACD",
+            0f ),
+            new ParameterDefn<float>("VHACDresolution", "max number of voxels generated during voxelization stage",
+            100000f ),
+            new ParameterDefn<float>("VHACDdepth", "max number of clipping stages",
+            20f ),
+            new ParameterDefn<float>("VHACDconcavity", "maximum concavity",
+            0.0025f ),
+            new ParameterDefn<float>("VHACDplaneDownsampling", "granularity of search for best clipping plane",
+            4f ),
+            new ParameterDefn<float>("VHACDconvexHullDownsampling", "precision of hull gen process",
+            4f ),
+            new ParameterDefn<float>("VHACDalpha", "bias toward clipping along symmetry planes",
+            0.05f ),
+            new ParameterDefn<float>("VHACDbeta", "bias toward clipping along revolution axis",
+            0.05f ),
+            new ParameterDefn<float>("VHACDgamma", "max concavity when merging",
+            0.00125f ),
+            new ParameterDefn<float>("VHACDpca", "on/off normalizing mesh before decomp",
+            0f ),
+            new ParameterDefn<float>("VHACDmode", "0:voxel based, 1: tetrahedron based",
+            0f ),
+            new ParameterDefn<float>("VHACDmaxNumVerticesPerCH", "max triangles per convex hull",
+            64f ),
+            new ParameterDefn<float>("VHACDminVolumePerCH",     "sampling of generated convex hulls",
+            0.0001f ),
+
             new ParameterDefn<float>("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
             (float)BSLinkset.LinksetImplementation.Compound ),
             new ParameterDefn<bool>("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same",