BulletSim: simplify parameter specification by reducing the number of

specifications required for simple properties with defaults.

2 files changed, 94 insertions, 191 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index c5bee6d..0dd2aa5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -146,7 +146,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             enableAngularVerticalAttraction = true;
             enableAngularDeflection = false;
             enableAngularBanking = true;
-            if (BSParam.VehicleDebuggingEnabled)
+            if (BSParam.VehicleDebuggingEnable)
             {
                 enableAngularVerticalAttraction = true;
                 enableAngularDeflection = false;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 2ac68e3..3ca7e16 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -26,6 +26,7 @@
  */
 using System;
 using System.Collections.Generic;
+using System.Reflection;
 using System.Text;
 
 using OpenSim.Region.Physics.Manager;
@@ -144,7 +145,7 @@ public static class BSParam
     public static Vector3 VehicleAngularFactor { get; private set; }
     public static float VehicleGroundGravityFudge { get; private set; }
     public static float VehicleAngularBankingTimescaleFudge { get; private set; }
-    public static bool VehicleDebuggingEnabled { get; private set; }
+    public static bool VehicleDebuggingEnable { get; private set; }
 
     // Convex Hulls
     public static int CSHullMaxDepthSplit { get; private set; }
@@ -236,17 +237,41 @@ public static class BSParam
             getter = pGetter;
             objectSet = pObjSetter;
         }
-        /* Wish I could simplify using this definition but CLR doesn't store references so closure around delegates of references won't work
-         * TODO: Maybe use reflection and the name of the variable to create a reference for the getter/setter.
-        public ParameterDefn(string pName, string pDesc, T pDefault, ref T loc)
+        // Simple parameter variable where property name is the same as the INI file name
+        //     and the value is only a simple get and set.
+        public ParameterDefn(string pName, string pDesc, T pDefault)
             : base(pName, pDesc)
         {
             defaultValue = pDefault;
-            setter = (s, v) => { loc = v; };
-            getter = (s) => { return loc; };
+            setter = (s, v) => { SetValueByName(s, name, v); };
+            getter = (s) => { return GetValueByName(s, name); };
             objectSet = null;
         }
-         */
+        // Use reflection to find the property named 'pName' in BSParam and assign 'val' to same.
+        private void SetValueByName(BSScene s, string pName, T val)
+        {
+            PropertyInfo prop = typeof(BSParam).GetProperty(pName, BindingFlags.Public | BindingFlags.Static | BindingFlags.FlattenHierarchy);
+            if (prop == null)
+            {
+                // This should only be output when someone adds a new INI parameter and misspells the name.
+                s.Logger.ErrorFormat("{0} SetValueByName: did not find '{1}'. Verify specified property name is the same as the given INI parameters name.", LogHeader, pName);
+            }
+            else
+            {
+                prop.SetValue(null, val, null);
+            }
+        }
+        // Use reflection to find the property named 'pName' in BSParam and return the value in same.
+        private T GetValueByName(BSScene s, string pName)
+        {
+            PropertyInfo prop = typeof(BSParam).GetProperty(pName, BindingFlags.Public | BindingFlags.Static | BindingFlags.FlattenHierarchy);
+            if (prop == null)
+            {
+                // This should only be output when someone adds a new INI parameter and misspells the name.
+                s.Logger.ErrorFormat("{0} GetValueByName: did not find '{1}'. Verify specified property name is the same as the given INI parameter name.", LogHeader, pName);
+            }
+            return (T)prop.GetValue(null, null);
+        }
         public override void AssignDefault(BSScene s)
         {
             setter(s, defaultValue);
@@ -336,26 +361,16 @@ public static class BSParam
             (s) => { return ShouldUseHullsForPhysicalObjects; },
             (s,v) => { ShouldUseHullsForPhysicalObjects = v; } ),
         new ParameterDefn<bool>("ShouldRemoveZeroWidthTriangles", "If true, remove degenerate triangles from meshes",
-            true,
-            (s) => { return ShouldRemoveZeroWidthTriangles; },
-            (s,v) => { ShouldRemoveZeroWidthTriangles = v; } ),
+            true ),
         new ParameterDefn<bool>("ShouldUseBulletHACD", "If true, use the Bullet version of HACD",
-            false,
-            (s) => { return ShouldUseBulletHACD; },
-            (s,v) => { ShouldUseBulletHACD = v; } ),
+            false ),
         new ParameterDefn<bool>("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims",
-            true,
-            (s) => { return ShouldUseSingleConvexHullForPrims; },
-            (s,v) => { ShouldUseSingleConvexHullForPrims = v; } ),
+            true ),
 
         new ParameterDefn<int>("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions",
-            5,
-            (s) => { return CrossingFailuresBeforeOutOfBounds; },
-            (s,v) => { CrossingFailuresBeforeOutOfBounds = v; } ),
+            5 ),
         new ParameterDefn<float>("UpdateVelocityChangeThreshold", "Change in updated velocity required before reporting change to simulator",
-            0.1f,
-            (s) => { return UpdateVelocityChangeThreshold; },
-            (s,v) => { UpdateVelocityChangeThreshold = v; } ),
+            0.1f ),
 
         new ParameterDefn<float>("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
             32f,
@@ -422,18 +437,12 @@ public static class BSParam
             (s,v) => { MaxAddForceMagnitude = v; MaxAddForceMagnitudeSquared = v * v; } ),
         // Density is passed around as 100kg/m3. This scales that to 1kg/m3.
         new ParameterDefn<float>("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
-            0.01f,
-            (s) => { return DensityScaleFactor; },
-            (s,v) => { DensityScaleFactor = v; } ),
+            0.01f ),
 
         new ParameterDefn<float>("PID_D", "Derivitive factor for motion smoothing",
-            2200f,
-            (s) => { return (float)PID_D; },
-            (s,v) => { PID_D = v; } ),
+            2200f ),
         new ParameterDefn<float>("PID_P", "Parameteric factor for motion smoothing",
-            900f,
-            (s) => { return (float)PID_P; },
-            (s,v) => { PID_P = v; } ),
+            900f ),
 
         new ParameterDefn<float>("DefaultFriction", "Friction factor used on new objects",
             0.2f,
@@ -500,94 +509,50 @@ 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,
-            (s) => { return TerrainImplementation; },
-            (s,v) => { TerrainImplementation = v; } ),
+            (float)BSTerrainPhys.TerrainImplementation.Mesh ),
         new ParameterDefn<int>("TerrainMeshMagnification", "Number of times the 256x256 heightmap is multiplied to create the terrain mesh" ,
-            2,
-            (s) => { return TerrainMeshMagnification; },
-            (s,v) => { TerrainMeshMagnification = v; } ),
+            2 ),
         new ParameterDefn<float>("TerrainFriction", "Factor to reduce movement against terrain surface" ,
-            0.3f,
-            (s) => { return TerrainFriction; },
-            (s,v) => { TerrainFriction = v;  /* TODO: set on real terrain */} ),
+            0.3f ),
         new ParameterDefn<float>("TerrainHitFraction", "Distance to measure hit collisions" ,
-            0.8f,
-            (s) => { return TerrainHitFraction; },
-            (s,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ),
+            0.8f ),
         new ParameterDefn<float>("TerrainRestitution", "Bouncyness" ,
-            0f,
-            (s) => { return TerrainRestitution; },
-            (s,v) => { TerrainRestitution = v;  /* TODO: set on real terrain */ } ),
+            0f ),
         new ParameterDefn<float>("TerrainContactProcessingThreshold", "Distance from terrain to stop processing collisions" ,
-            0.0f,
-            (s) => { return TerrainContactProcessingThreshold; },
-            (s,v) => { TerrainContactProcessingThreshold = v;  /* TODO: set on real terrain */ } ),
+            0.0f ),
         new ParameterDefn<float>("TerrainCollisionMargin", "Margin where collision checking starts" ,
-            0.08f,
-            (s) => { return TerrainCollisionMargin; },
-            (s,v) => { TerrainCollisionMargin = v;  /* TODO: set on real terrain */ } ),
+            0.08f ),
 
         new ParameterDefn<float>("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
-            0.2f,
-            (s) => { return AvatarFriction; },
-            (s,v) => { AvatarFriction = v; } ),
+            0.2f ),
         new ParameterDefn<float>("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
-            0.95f,
-            (s) => { return AvatarStandingFriction; },
-            (s,v) => { AvatarStandingFriction = v; } ),
+            0.95f ),
         new ParameterDefn<float>("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
-            1.3f,
-            (s) => { return AvatarAlwaysRunFactor; },
-            (s,v) => { AvatarAlwaysRunFactor = v; } ),
+            1.3f ),
         new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
-            3.5f,
-            (s) => { return AvatarDensity; },
-            (s,v) => { AvatarDensity = v; } ),
+            3.5f) ,
         new ParameterDefn<float>("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
-            0f,
-            (s) => { return AvatarRestitution; },
-            (s,v) => { AvatarRestitution = v; } ),
+            0f ),
         new ParameterDefn<float>("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
-            0.6f,
-            (s) => { return AvatarCapsuleWidth; },
-            (s,v) => { AvatarCapsuleWidth = v; } ),
+            0.6f ) ,
         new ParameterDefn<float>("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
-            0.45f,
-            (s) => { return AvatarCapsuleDepth; },
-            (s,v) => { AvatarCapsuleDepth = v; } ),
+            0.45f ),
         new ParameterDefn<float>("AvatarCapsuleHeight", "Default height of space around avatar",
-            1.5f,
-            (s) => { return AvatarCapsuleHeight; },
-            (s,v) => { AvatarCapsuleHeight = v; } ),
+            1.5f ),
             new ParameterDefn<float>("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
-            0.1f,
-            (s) => { return AvatarContactProcessingThreshold; },
-            (s,v) => { AvatarContactProcessingThreshold = v; } ),
+            0.1f ),
             new ParameterDefn<float>("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground",
-            1.0f,
-            (s) => { return AvatarBelowGroundUpCorrectionMeters; },
-            (s,v) => { AvatarBelowGroundUpCorrectionMeters = v; } ),
+            1.0f ),
             new ParameterDefn<float>("AvatarStepHeight", "Height of a step obstacle to consider step correction",
-            0.6f,
-            (s) => { return AvatarStepHeight; },
-            (s,v) => { AvatarStepHeight = v; } ),
+            0.6f ) ,
             new ParameterDefn<float>("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)",
-            0.6f,
-            (s) => { return AvatarStepApproachFactor; },
-            (s,v) => { AvatarStepApproachFactor = v; } ),
+            0.6f ),
             new ParameterDefn<float>("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step",
-            1.0f,
-            (s) => { return AvatarStepForceFactor; },
-            (s,v) => { AvatarStepForceFactor = v; } ),
+            1.0f ),
             new ParameterDefn<float>("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step",
-            1.0f,
-            (s) => { return AvatarStepUpCorrectionFactor; },
-            (s,v) => { AvatarStepUpCorrectionFactor = v; } ),
+            1.0f ),
             new ParameterDefn<int>("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs",
-            2,
-            (s) => { return AvatarStepSmoothingSteps; },
-            (s,v) => { AvatarStepSmoothingSteps = v; } ),
+            2 ),
 
         new ParameterDefn<float>("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
             1000.0f,
@@ -598,37 +563,21 @@ public static class BSParam
             (s) => { return (float)VehicleMaxAngularVelocity; },
             (s,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ),
         new ParameterDefn<float>("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
-            0.0f,
-            (s) => { return VehicleAngularDamping; },
-            (s,v) => { VehicleAngularDamping = v; } ),
+            0.0f ),
         new ParameterDefn<Vector3>("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (<0,0,0> to <1,1,1>)",
-            new Vector3(1f, 1f, 1f),
-            (s) => { return VehicleLinearFactor; },
-            (s,v) => { VehicleLinearFactor = v; } ),
+            new Vector3(1f, 1f, 1f) ),
         new ParameterDefn<Vector3>("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (<0,0,0> to <1,1,1>)",
-            new Vector3(1f, 1f, 1f),
-            (s) => { return VehicleAngularFactor; },
-            (s,v) => { VehicleAngularFactor = v; } ),
+            new Vector3(1f, 1f, 1f) ),
         new ParameterDefn<float>("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)",
-            0.0f,
-            (s) => { return VehicleFriction; },
-            (s,v) => { VehicleFriction = v; } ),
+            0.0f ),
         new ParameterDefn<float>("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
-            0.0f,
-            (s) => { return VehicleRestitution; },
-            (s,v) => { VehicleRestitution = v; } ),
+            0.0f ),
         new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
-            0.2f,
-            (s) => { return VehicleGroundGravityFudge; },
-            (s,v) => { VehicleGroundGravityFudge = v; } ),
+            0.2f ),
         new ParameterDefn<float>("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
-            60.0f,
-            (s) => { return VehicleAngularBankingTimescaleFudge; },
-            (s,v) => { VehicleAngularBankingTimescaleFudge = v; } ),
+            60.0f ),
         new ParameterDefn<bool>("VehicleDebuggingEnable", "Turn on/off vehicle debugging",
-            false,
-            (s) => { return VehicleDebuggingEnabled; },
-            (s,v) => { VehicleDebuggingEnabled = v; } ),
+            false ),
 
             new ParameterDefn<float>("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
             0f,
@@ -673,99 +622,53 @@ public static class BSParam
             (s,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ),
 
             new ParameterDefn<int>("CSHullMaxDepthSplit", "CS impl: max depth to split for hull. 1-10 but > 7 is iffy",
-            7,
-            (s) => { return CSHullMaxDepthSplit; },
-            (s,v) => { CSHullMaxDepthSplit = v; } ),
+            7 ),
             new ParameterDefn<int>("CSHullMaxDepthSplitForSimpleShapes", "CS impl: max depth setting for simple prim shapes",
-            2,
-            (s) => { return CSHullMaxDepthSplitForSimpleShapes; },
-            (s,v) => { CSHullMaxDepthSplitForSimpleShapes = v; } ),
+            2 ),
             new ParameterDefn<float>("CSHullConcavityThresholdPercent", "CS impl: concavity threshold percent (0-20)",
-            5f,
-            (s) => { return CSHullConcavityThresholdPercent; },
-            (s,v) => { CSHullConcavityThresholdPercent = v; } ),
+            5f ),
             new ParameterDefn<float>("CSHullVolumeConservationThresholdPercent", "percent volume conservation to collapse hulls (0-30)",
-            5f,
-            (s) => { return CSHullVolumeConservationThresholdPercent; },
-            (s,v) => { CSHullVolumeConservationThresholdPercent = v; } ),
+            5f ),
             new ParameterDefn<int>("CSHullMaxVertices", "CS impl: maximum number of vertices in output hulls. Keep < 50.",
-            32,
-            (s) => { return CSHullMaxVertices; },
-            (s,v) => { CSHullMaxVertices = v; } ),
+            32 ),
             new ParameterDefn<float>("CSHullMaxSkinWidth", "CS impl: skin width to apply to output hulls.",
-            0f,
-            (s) => { return CSHullMaxSkinWidth; },
-            (s,v) => { CSHullMaxSkinWidth = v; } ),
+            0f ),
 
             new ParameterDefn<float>("BHullMaxVerticesPerHull", "Bullet impl: max number of vertices per created hull",
-            100f,
-            (s) => { return BHullMaxVerticesPerHull; },
-            (s,v) => { BHullMaxVerticesPerHull = v; } ),
+            100f ),
             new ParameterDefn<float>("BHullMinClusters", "Bullet impl: minimum number of hulls to create per mesh",
-            2f,
-            (s) => { return BHullMinClusters; },
-            (s,v) => { BHullMinClusters = v; } ),
+            2f ),
             new ParameterDefn<float>("BHullCompacityWeight", "Bullet impl: weight factor for how compact to make hulls",
-            2f,
-            (s) => { return BHullCompacityWeight; },
-            (s,v) => { BHullCompacityWeight = v; } ),
+            0.1f ),
             new ParameterDefn<float>("BHullVolumeWeight", "Bullet impl: weight factor for volume in created hull",
-            0.1f,
-            (s) => { return BHullVolumeWeight; },
-            (s,v) => { BHullVolumeWeight = v; } ),
+            0f ),
             new ParameterDefn<float>("BHullConcavity", "Bullet impl: weight factor for how convex a created hull can be",
-            100f,
-            (s) => { return BHullConcavity; },
-            (s,v) => { BHullConcavity = v; } ),
+            100f ),
             new ParameterDefn<bool>("BHullAddExtraDistPoints", "Bullet impl: whether to add extra vertices for long distance vectors",
-            false,
-            (s) => { return BHullAddExtraDistPoints; },
-            (s,v) => { BHullAddExtraDistPoints = v; } ),
+            false ),
             new ParameterDefn<bool>("BHullAddNeighboursDistPoints", "Bullet impl: whether to add extra vertices between neighbor hulls",
-            false,
-            (s) => { return BHullAddNeighboursDistPoints; },
-            (s,v) => { BHullAddNeighboursDistPoints = v; } ),
+            false ),
             new ParameterDefn<bool>("BHullAddFacesPoints", "Bullet impl: whether to add extra vertices to break up hull faces",
-            false,
-            (s) => { return BHullAddFacesPoints; },
-            (s,v) => { BHullAddFacesPoints = v; } ),
+            false ),
             new ParameterDefn<bool>("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin",
-            false,
-            (s) => { return BHullShouldAdjustCollisionMargin; },
-            (s,v) => { BHullShouldAdjustCollisionMargin = v; } ),
+            false ),
 
             new ParameterDefn<float>("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
-            (float)BSLinkset.LinksetImplementation.Compound,
-            (s) => { return LinksetImplementation; },
-            (s,v) => { LinksetImplementation = v; } ),
+            (float)BSLinkset.LinksetImplementation.Compound ),
             new ParameterDefn<bool>("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
-            false,
-            (s) => { return LinkConstraintUseFrameOffset; },
-            (s,v) => { LinkConstraintUseFrameOffset = v; } ),
+            false ),
             new ParameterDefn<bool>("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
-            true,
-            (s) => { return LinkConstraintEnableTransMotor; },
-            (s,v) => { LinkConstraintEnableTransMotor = v; } ),
+            true ),
             new ParameterDefn<float>("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
-            5.0f,
-            (s) => { return LinkConstraintTransMotorMaxVel; },
-            (s,v) => { LinkConstraintTransMotorMaxVel = v; } ),
+            5.0f ),
             new ParameterDefn<float>("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
-            0.1f,
-            (s) => { return LinkConstraintTransMotorMaxForce; },
-            (s,v) => { LinkConstraintTransMotorMaxForce = v; } ),
+            0.1f ),
             new ParameterDefn<float>("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
-            0.1f,
-            (s) => { return LinkConstraintCFM; },
-            (s,v) => { LinkConstraintCFM = v; } ),
+            0.1f ),
             new ParameterDefn<float>("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
-            0.1f,
-            (s) => { return LinkConstraintERP; },
-            (s,v) => { LinkConstraintERP = v; } ),
+            0.1f ),
             new ParameterDefn<float>("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
-            40,
-            (s) => { return LinkConstraintSolverIterations; },
-            (s,v) => { LinkConstraintSolverIterations = v; } ),
+            40 ),
 
         new ParameterDefn<int>("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)",
             0,