* Initial commit of BulletSimN (BulletSNPlugin). Purely C# implementation of BulletSim. This is designed to be /as close as possible/ to the BulletSim plugin while still being entirely in the managed space to make keeping it up to date easy as possible (no thinking work). This implementation is /slower/ then the c++ version just because it's fully managed, so it's not appropriate for huge sims, but it will run small ones OK. At the moment, it supports all known features of BulletSim. Think of it like.. POS but everything works. To use this plugin, set the physics plugin to BulletSimN.

1 files changed, 559 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
new file mode 100644
index 0000000..0bb1674
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
@@ -0,0 +1,559 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+using OpenSim.Region.Physics.Manager;
+
+using OpenMetaverse;
+using Nini.Config;
+
+namespace OpenSim.Region.Physics.BulletSNPlugin
+{
+public static class BSParam
+{
+    // Level of Detail values kept as float because that's what the Meshmerizer wants
+    public static float MeshLOD { get; private set; }
+    public static float MeshMegaPrimLOD { get; private set; }
+    public static float MeshMegaPrimThreshold { get; private set; }
+    public static float SculptLOD { get; private set; }
+
+    public static float MinimumObjectMass { get; private set; }
+    public static float MaximumObjectMass { get; private set; }
+
+    public static float LinearDamping { get; private set; }
+    public static float AngularDamping { get; private set; }
+    public static float DeactivationTime { get; private set; }
+    public static float LinearSleepingThreshold { get; private set; }
+    public static float AngularSleepingThreshold { get; private set; }
+        public static float CcdMotionThreshold { get; private set; }
+        public static float CcdSweptSphereRadius { get; private set; }
+    public static float ContactProcessingThreshold { get; private set; }
+
+    public static bool ShouldMeshSculptedPrim { get; private set; }   // cause scuplted prims to get meshed
+    public static bool ShouldForceSimplePrimMeshing { get; private set; }   // if a cube or sphere, let Bullet do internal shapes
+    public static bool ShouldUseHullsForPhysicalObjects { get; private set; }   // 'true' if should create hulls for physical objects
+
+    public static float TerrainImplementation { get; private set; }
+    public static float TerrainFriction { get; private set; }
+    public static float TerrainHitFraction { get; private set; }
+    public static float TerrainRestitution { get; private set; }
+    public static float TerrainCollisionMargin { get; private set; }
+
+    // Avatar parameters
+    public static float AvatarFriction { get; private set; }
+    public static float AvatarStandingFriction { get; private set; }
+    public static float AvatarDensity { get; private set; }
+    public static float AvatarRestitution { 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 AvatarContactProcessingThreshold { get; private set; }
+
+    public static float VehicleAngularDamping { get; private set; }
+
+    public static float LinksetImplementation { get; private set; }
+    public static float LinkConstraintUseFrameOffset { get; private set; }
+    public static float LinkConstraintEnableTransMotor { get; private set; }
+    public static float LinkConstraintTransMotorMaxVel { get; private set; }
+    public static float LinkConstraintTransMotorMaxForce { get; private set; }
+    public static float LinkConstraintERP { get; private set; }
+    public static float LinkConstraintCFM { get; private set; }
+    public static float LinkConstraintSolverIterations { get; private set; }
+
+    public static float PID_D { get; private set; }    // derivative
+    public static float PID_P { get; private set; }    // proportional
+
+    public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
+    public delegate float ParamGet(BSScene scene);
+    public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
+    public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
+
+    public struct ParameterDefn
+    {
+        public string name;         // string name of the parameter
+        public string desc;         // a short description of what the parameter means
+        public float defaultValue;  // default value if not specified anywhere else
+        public ParamUser userParam; // get the value from the configuration file
+        public ParamGet getter;     // return the current value stored for this parameter
+        public ParamSet setter;     // set the current value for this parameter
+        public SetOnObject onObject;    // set the value on an object in the physical domain
+        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
+        {
+            name = n;
+            desc = d;
+            defaultValue = v;
+            userParam = u;
+            getter = g;
+            setter = s;
+            onObject = null;
+        }
+        public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
+        {
+            name = n;
+            desc = d;
+            defaultValue = v;
+            userParam = u;
+            getter = g;
+            setter = s;
+            onObject = o;
+        }
+    }
+
+    // List of all of the externally visible parameters.
+    // For each parameter, this table maps a text name to getter and setters.
+    // To add a new externally referencable/settable parameter, add the paramter storage
+    //    location somewhere in the program and make an entry in this table with the
+    //    getters and setters.
+    // It is easiest to find an existing definition and copy it.
+    // Parameter values are floats. Booleans are converted to a floating value.
+    //
+    // A ParameterDefn() takes the following parameters:
+    //    -- the text name of the parameter. This is used for console input and ini file.
+    //    -- a short text description of the parameter. This shows up in the console listing.
+    //    -- a default value (float)
+    //    -- a delegate for fetching the parameter from the ini file.
+    //          Should handle fetching the right type from the ini file and converting it.
+    //    -- a delegate for getting the value as a float
+    //    -- a delegate for setting the value from a float
+    //    -- an optional delegate to update the value in the world. Most often used to
+    //          push the new value to an in-world object.
+    //
+    // The single letter parameters for the delegates are:
+    //    s = BSScene
+    //    o = BSPhysObject
+    //    p = string parameter name
+    //    l = localID of referenced object
+    //    v = value (float)
+    //    cf = parameter configuration class (for fetching values from ini file)
+    private static ParameterDefn[] ParameterDefinitions =
+    {
+        new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
+            (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); },
+            (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ),
+        new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
+            (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); },
+            (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ),
+        new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
+            (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); },
+            (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ),
+
+        new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
+            8f,
+            (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); },
+            (s) => { return MeshLOD; },
+            (s,p,l,v) => { MeshLOD = v; } ),
+        new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
+            16f,
+            (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
+            (s) => { return MeshMegaPrimLOD; },
+            (s,p,l,v) => { MeshMegaPrimLOD = v; } ),
+        new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
+            10f,
+            (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
+            (s) => { return MeshMegaPrimThreshold; },
+            (s,p,l,v) => { MeshMegaPrimThreshold = v; } ),
+        new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
+            32f,
+            (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); },
+            (s) => { return SculptLOD; },
+            (s,p,l,v) => { SculptLOD = v; } ),
+
+        new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
+            10f,
+            (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_maxSubSteps; },
+            (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ),
+        new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
+            1f / 60f,
+            (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
+            (s) => { return (float)s.m_fixedTimeStep; },
+            (s,p,l,v) => { s.m_fixedTimeStep = v; } ),
+        new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
+            2048f,
+            (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_maxCollisionsPerFrame; },
+            (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
+        new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
+            8000f,
+            (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_maxUpdatesPerFrame; },
+            (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
+        new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
+            500f,
+            (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.m_taintsToProcessPerStep; },
+            (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
+        new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
+            0.0001f,
+            (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
+            (s) => { return (float)MinimumObjectMass; },
+            (s,p,l,v) => { MinimumObjectMass = v; } ),
+        new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
+            10000.01f,
+            (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
+            (s) => { return (float)MaximumObjectMass; },
+            (s,p,l,v) => { MaximumObjectMass = v; } ),
+
+        new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
+            2200f,
+            (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); },
+            (s) => { return (float)PID_D; },
+            (s,p,l,v) => { PID_D = v; } ),
+        new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
+            900f,
+            (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); },
+            (s) => { return (float)PID_P; },
+            (s,p,l,v) => { PID_P = v; } ),
+
+        new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
+            0.2f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].defaultFriction; },
+            (s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ),
+        new ParameterDefn("DefaultDensity", "Density for new objects" ,
+            10.000006836f,  // Aluminum g/cm3
+            (s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].defaultDensity; },
+            (s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ),
+        new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
+            0f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].defaultRestitution; },
+            (s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ),
+        new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
+            0.04f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].collisionMargin; },
+            (s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ),
+        new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
+            -9.80665f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].gravity; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); },
+            (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
+
+
+        new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
+            0f,
+            (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); },
+            (s) => { return LinearDamping; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ),
+        new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
+            0f,
+            (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); },
+            (s) => { return AngularDamping; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ),
+        new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
+            0.2f,
+            (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); },
+            (s) => { return DeactivationTime; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); },
+            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
+        new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
+            0.8f,
+            (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); },
+            (s) => { return LinearSleepingThreshold; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, 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) => { AngularSleepingThreshold = cf.GetFloat(p, v); },
+            (s) => { return AngularSleepingThreshold; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, 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) => { CcdMotionThreshold = cf.GetFloat(p, v); },
+            (s) => { return CcdMotionThreshold; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, 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) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
+            (s) => { return CcdSweptSphereRadius; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, 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) => { ContactProcessingThreshold = cf.GetFloat(p, v); },
+            (s) => { return ContactProcessingThreshold; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, 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) => { TerrainImplementation = cf.GetFloat(p,v); },
+            (s) => { return TerrainImplementation; },
+            (s,p,l,v) => { TerrainImplementation = v; } ),
+        new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
+            0.3f,
+            (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); },
+            (s) => { return TerrainFriction; },
+            (s,p,l,v) => { TerrainFriction = v;  /* TODO: set on real terrain */} ),
+        new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
+            0.8f,
+            (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); },
+            (s) => { return TerrainHitFraction; },
+            (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ),
+        new ParameterDefn("TerrainRestitution", "Bouncyness" ,
+            0f,
+            (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); },
+            (s) => { return TerrainRestitution; },
+            (s,p,l,v) => { TerrainRestitution = v;  /* TODO: set on real terrain */ } ),
+        new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
+            0.04f,
+            (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); },
+            (s) => { return TerrainCollisionMargin; },
+            (s,p,l,v) => { 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) => { AvatarFriction = cf.GetFloat(p, v); },
+            (s) => { return AvatarFriction; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ),
+        new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
+            10.0f,
+            (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); },
+            (s) => { return AvatarStandingFriction; },
+            (s,p,l,v) => { AvatarStandingFriction = v; } ),
+        new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
+            60f,
+            (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); },
+            (s) => { return AvatarDensity; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ),
+        new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
+            0f,
+            (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); },
+            (s) => { return AvatarRestitution; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ),
+        new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
+            0.6f,
+            (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); },
+            (s) => { return AvatarCapsuleWidth; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ),
+        new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
+            0.45f,
+            (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); },
+            (s) => { return AvatarCapsuleDepth; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ),
+        new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
+            1.5f,
+            (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); },
+            (s) => { return AvatarCapsuleHeight; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ),
+            new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
+            0.1f,
+            (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); },
+            (s) => { return AvatarContactProcessingThreshold; },
+            (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ),
+
+        new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
+            0.95f,
+            (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
+            (s) => { return VehicleAngularDamping; },
+            (s,p,l,v) => { VehicleAngularDamping = v; } ),
+
+            new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
+            0f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; },
+            (s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
+            new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
+            0f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; },
+            (s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
+            new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; },
+            (s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ),
+            new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; },
+            (s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ),
+            new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; },
+            (s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ),
+            new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; },
+            (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ),
+            new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
+            ConfigurationParameters.numericFalse,
+            (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; },
+            (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ),
+            new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
+            0f,     // zero says use Bullet default
+            (s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); },
+            (s) => { return s.UnmanagedParams[0].numberOfSolverIterations; },
+            (s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
+
+            new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
+            (float)BSLinkset.LinksetImplementation.Compound,
+            (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); },
+            (s) => { return LinksetImplementation; },
+            (s,p,l,v) => { 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) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return LinkConstraintUseFrameOffset; },
+            (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ),
+            new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
+            ConfigurationParameters.numericTrue,
+            (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
+            (s) => { return LinkConstraintEnableTransMotor; },
+            (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ),
+            new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
+            5.0f,
+            (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintTransMotorMaxVel; },
+            (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ),
+            new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
+            0.1f,
+            (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintTransMotorMaxForce; },
+            (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ),
+            new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
+            0.1f,
+            (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintCFM; },
+            (s,p,l,v) => { LinkConstraintCFM = v; } ),
+            new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
+            0.1f,
+            (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintERP; },
+            (s,p,l,v) => { LinkConstraintERP = v; } ),
+            new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
+            40,
+            (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); },
+            (s) => { return LinkConstraintSolverIterations; },
+            (s,p,l,v) => { LinkConstraintSolverIterations = v; } ),
+
+        new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
+            0f,
+            (s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
+            (s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; },
+            (s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ),
+    };
+
+    // Convert a boolean to our numeric true and false values
+    public static float NumericBool(bool b)
+    {
+        return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
+    }
+
+    // Convert numeric true and false values to a boolean
+    public static 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.
+    internal static 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
+    internal static void SetParameterDefaultValues(BSScene physicsScene)
+    {
+        foreach (ParameterDefn parm in ParameterDefinitions)
+        {
+            parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue);
+        }
+    }
+
+    // Get user set values out of the ini file.
+    internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg)
+    {
+        foreach (ParameterDefn parm in ParameterDefinitions)
+        {
+            parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue);
+        }
+    }
+
+    internal static 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.
+    internal static 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();
+        }
+    }
+
+
+}
+}