1 files changed, 94 insertions, 10 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 834228e..6d46fe6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -54,6 +54,14 @@ public static class BSParam
     // ===================
     // From:
 
+    /// <summary>
+    /// Set whether physics is active or not.
+    /// </summary>
+    /// <remarks>
+    /// Can be enabled and disabled to start and stop physics.
+    /// </remarks>
+    public static bool Active { get; private set; }
+
     public static bool UseSeparatePhysicsThread { get; private set; }
     public static float PhysicsTimeStep { get; private set; }
 
@@ -97,6 +105,7 @@ public static class BSParam
 
     public static float TerrainImplementation { get; set; }
     public static int TerrainMeshMagnification { get; private set; }
+    public static float TerrainGroundPlane { get; private set; }
     public static float TerrainFriction { get; private set; }
     public static float TerrainHitFraction { get; private set; }
     public static float TerrainRestitution { get; private set; }
@@ -123,22 +132,29 @@ public static class BSParam
     public static float PhysicsUnmanLoggingFrames { get; private set; }
 
     // Avatar parameters
+    public static bool AvatarToAvatarCollisionsByDefault { get; private set; }
     public static float AvatarFriction { get; private set; }
     public static float AvatarStandingFriction { get; private set; }
     public static float AvatarAlwaysRunFactor { get; private set; }
     public static float AvatarDensity { get; private set; }
     public static float AvatarRestitution { get; private set; }
+    public static int AvatarShape { get; private set; }
     public static float AvatarCapsuleWidth { get; private set; }
     public static float AvatarCapsuleDepth { get; private set; }
     public static float AvatarCapsuleHeight { get; private set; }
     public static float AvatarHeightLowFudge { get; private set; }
     public static float AvatarHeightMidFudge { get; private set; }
     public static float AvatarHeightHighFudge { get; private set; }
+    public static float AvatarFlyingGroundMargin { get; private set; }
+    public static float AvatarFlyingGroundUpForce { get; private set; }
+    public static float AvatarTerminalVelocity { get; private set; }
         public static float AvatarContactProcessingThreshold { get; private set; }
     public static float AvatarStopZeroThreshold { get; private set; }
         public static int AvatarJumpFrames { get; private set; }
         public static float AvatarBelowGroundUpCorrectionMeters { get; private set; }
         public static float AvatarStepHeight { get; private set; }
+        public static float AvatarStepAngle { get; private set; }
+        public static float AvatarStepGroundFudge { get; private set; }
         public static float AvatarStepApproachFactor { get; private set; }
         public static float AvatarStepForceFactor { get; private set; }
         public static float AvatarStepUpCorrectionFactor { get; private set; }
@@ -147,6 +163,8 @@ public static class BSParam
     // Vehicle parameters
     public static float VehicleMaxLinearVelocity { get; private set; }
     public static float VehicleMaxLinearVelocitySquared { get; private set; }
+    public static float VehicleMinLinearVelocity { get; private set; }
+    public static float VehicleMinLinearVelocitySquared { get; private set; }
     public static float VehicleMaxAngularVelocity { get; private set; }
     public static float VehicleMaxAngularVelocitySq { get; private set; }
     public static float VehicleAngularDamping { get; private set; }
@@ -165,6 +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; }
@@ -180,6 +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; }
@@ -366,6 +401,8 @@ public static class BSParam
     //    v = value (appropriate type)
     private static ParameterDefnBase[] ParameterDefinitions =
     {
+        new ParameterDefn<bool>("Active", "If 'true', false then physics is not active",
+            false ),
         new ParameterDefn<bool>("UseSeparatePhysicsThread", "If 'true', the physics engine runs independent from the simulator heartbeat",
             false ),
         new ParameterDefn<float>("PhysicsTimeStep", "If separate thread, seconds to simulate each interval",
@@ -538,9 +575,11 @@ public static class BSParam
             (s,o) => { s.PE.SetContactProcessingThreshold(o.PhysBody, ContactProcessingThreshold); } ),
 
             new ParameterDefn<float>("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
-            (float)BSTerrainPhys.TerrainImplementation.Mesh ),
+            (float)BSTerrainPhys.TerrainImplementation.Heightmap ),
         new ParameterDefn<int>("TerrainMeshMagnification", "Number of times the 256x256 heightmap is multiplied to create the terrain mesh" ,
             2 ),
+        new ParameterDefn<float>("TerrainGroundPlane", "Altitude of ground plane used to keep things from falling to infinity" ,
+            -500.0f ),
         new ParameterDefn<float>("TerrainFriction", "Factor to reduce movement against terrain surface" ,
             0.3f ),
         new ParameterDefn<float>("TerrainHitFraction", "Distance to measure hit collisions" ,
@@ -550,8 +589,10 @@ public static class BSParam
         new ParameterDefn<float>("TerrainContactProcessingThreshold", "Distance from terrain to stop processing collisions" ,
             0.0f ),
         new ParameterDefn<float>("TerrainCollisionMargin", "Margin where collision checking starts" ,
-            0.08f ),
+            0.04f ),
 
+        new ParameterDefn<bool>("AvatarToAvatarCollisionsByDefault", "Should avatars collide with other avatars by default?",
+            true),
         new ParameterDefn<float>("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
             0.2f ),
         new ParameterDefn<float>("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
@@ -563,6 +604,8 @@ public static class BSParam
             3500f) ,    // 3.5 * 100
         new ParameterDefn<float>("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
             0f ),
+        new ParameterDefn<int>("AvatarShape", "Code for avatar physical shape: 0:capsule, 1:cube, 2:ovoid, 2:mesh",
+            BSShapeCollection.AvatarShapeCube ) ,
         new ParameterDefn<float>("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
             0.6f ) ,
         new ParameterDefn<float>("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
@@ -570,11 +613,17 @@ public static class BSParam
         new ParameterDefn<float>("AvatarCapsuleHeight", "Default height of space around avatar",
             1.5f ),
         new ParameterDefn<float>("AvatarHeightLowFudge", "A fudge factor to make small avatars stand on the ground",
-            -0.2f ),
+            0f ),
         new ParameterDefn<float>("AvatarHeightMidFudge", "A fudge distance to adjust average sized avatars to be standing on ground",
-            0.1f ),
+            0f ),
         new ParameterDefn<float>("AvatarHeightHighFudge", "A fudge factor to make tall avatars stand on the ground",
-            0.1f ),
+            0f ),
+        new ParameterDefn<float>("AvatarFlyingGroundMargin", "Meters avatar is kept above the ground when flying",
+            5f ),
+        new ParameterDefn<float>("AvatarFlyingGroundUpForce", "Upward force applied to the avatar to keep it at flying ground margin",
+            2.0f ),
+        new ParameterDefn<float>("AvatarTerminalVelocity", "Terminal Velocity of falling avatar",
+            -54.0f ),
             new ParameterDefn<float>("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
             0.1f ),
             new ParameterDefn<float>("AvatarStopZeroThreshold", "Movement velocity below which avatar is assumed to be stopped",
@@ -584,20 +633,28 @@ public static class BSParam
             new ParameterDefn<int>("AvatarJumpFrames", "Number of frames to allow jump forces. Changes jump height.",
             4 ),
             new ParameterDefn<float>("AvatarStepHeight", "Height of a step obstacle to consider step correction",
-            0.6f ) ,
+            0.999f ) ,
+            new ParameterDefn<float>("AvatarStepAngle", "The angle (in radians) for a vertical surface to be considered a step",
+            0.3f ) ,
+            new ParameterDefn<float>("AvatarStepGroundFudge", "Fudge factor subtracted from avatar base when comparing collision height",
+            0.1f ) ,
             new ParameterDefn<float>("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)",
-            0.6f ),
+            2f ),
             new ParameterDefn<float>("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step",
-            1.0f ),
+            0f ),
             new ParameterDefn<float>("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step",
-            1.0f ),
+            0.8f ),
             new ParameterDefn<int>("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs",
-            2 ),
+            1 ),
 
         new ParameterDefn<float>("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
             1000.0f,
             (s) => { return (float)VehicleMaxLinearVelocity; },
             (s,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySquared = v * v; } ),
+        new ParameterDefn<float>("VehicleMinLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
+            0.001f,
+            (s) => { return (float)VehicleMinLinearVelocity; },
+            (s,v) => { VehicleMinLinearVelocity = v; VehicleMinLinearVelocitySquared = v * v; } ),
         new ParameterDefn<float>("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
             12.0f,
             (s) => { return (float)VehicleMaxAngularVelocity; },
@@ -709,6 +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",