1 files changed, 742 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
new file mode 100755
index 0000000..2af8468
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -0,0 +1,742 @@
+/*
+ * 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.BulletSPlugin
+{
+public static class BSParam
+{
+    private static string LogHeader = "[BULLETSIM PARAMETERS]"; 
+
+    // Level of Detail values kept as float because that's what the Meshmerizer wants
+    public static float MeshLOD { get; private set; }
+    public static float MeshCircularLOD { 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 int CrossingFailuresBeforeOutOfBounds { get; private set; }
+    public static float UpdateVelocityChangeThreshold { get; private set; }
+
+    public static float MinimumObjectMass { get; private set; }
+    public static float MaximumObjectMass { get; private set; }
+    public static float MaxLinearVelocity { get; private set; }
+    public static float MaxLinearVelocitySquared { get; private set; }
+    public static float MaxAngularVelocity { get; private set; }
+    public static float MaxAngularVelocitySquared { get; private set; }
+    public static float MaxAddForceMagnitude { get; private set; }
+    public static float MaxAddForceMagnitudeSquared { get; private set; }
+    public static float DensityScaleFactor { 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 bool ShouldRemoveZeroWidthTriangles { get; private set; }
+
+    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; }
+
+    public static float DefaultFriction { get; private set; }
+    public static float DefaultDensity { get; private set; }
+    public static float DefaultRestitution { get; private set; }
+    public static float CollisionMargin { get; private set; }
+    public static float Gravity { get; private set; }
+
+    // Physics Engine operation
+        public static float MaxPersistantManifoldPoolSize { get; private set; }
+        public static float MaxCollisionAlgorithmPoolSize { get; private set; }
+        public static bool ShouldDisableContactPoolDynamicAllocation { get; private set; }
+        public static bool ShouldForceUpdateAllAabbs { get; private set; }
+        public static bool ShouldRandomizeSolverOrder { get; private set; }
+        public static bool ShouldSplitSimulationIslands { get; private set; }
+        public static bool ShouldEnableFrictionCaching { get; private set; }
+        public static float NumberOfSolverIterations { get; private set; }
+    public static bool UseSingleSidedMeshes { get; private set; }
+    public static float GlobalContactBreakingThreshold { get; private set; }
+
+    // Avatar parameters
+    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 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 AvatarBelowGroundUpCorrectionMeters { get; private set; }
+        public static float AvatarStepHeight { get; private set; }
+        public static float AvatarStepApproachFactor { get; private set; }
+        public static float AvatarStepForceFactor { get; private set; }
+
+    // Vehicle parameters
+    public static float VehicleMaxLinearVelocity { get; private set; }
+    public static float VehicleMaxLinearVelocitySquared { get; private set; }
+    public static float VehicleMaxAngularVelocity { get; private set; }
+    public static float VehicleMaxAngularVelocitySq { get; private set; }
+    public static float VehicleAngularDamping { get; private set; }
+    public static float VehicleFriction { get; private set; }
+    public static float VehicleRestitution { get; private set; }
+    public static Vector3 VehicleLinearFactor { get; private set; }
+    public static Vector3 VehicleAngularFactor { get; private set; }
+    public static float VehicleGroundGravityFudge { get; private set; }
+    public static bool VehicleDebuggingEnabled { get; private set; }
+
+    // Linkset implementation parameters
+    public static float LinksetImplementation { get; private set; }
+    public static bool LinkConstraintUseFrameOffset { get; private set; }
+    public static bool 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
+
+    // Various constants that come from that other virtual world that shall not be named.
+    public const float MinGravityZ = -1f;
+    public const float MaxGravityZ = 28f;
+    public const float MinFriction = 0f;
+    public const float MaxFriction = 255f;
+    public const float MinDensity = 0.01f;
+    public const float MaxDensity = 22587f;
+    public const float MinRestitution = 0f;
+    public const float MaxRestitution = 1f;
+
+    // =====================================================================================
+    // =====================================================================================
+
+    // Base parameter definition that gets and sets parameter values via a string
+    public abstract class ParameterDefnBase
+    {
+        public string name;         // string name of the parameter
+        public string desc;         // a short description of what the parameter means
+        public ParameterDefnBase(string pName, string pDesc)
+        {
+            name = pName;
+            desc = pDesc;
+        }
+        // Set the parameter value to the default
+        public abstract void AssignDefault(BSScene s);
+        // Get the value as a string
+        public abstract string GetValue(BSScene s);
+        // Set the value to this string value
+        public abstract void SetValue(BSScene s, string valAsString);
+        // set the value on a particular object (usually sets in physics engine)
+        public abstract void SetOnObject(BSScene s, BSPhysObject obj);
+        public abstract bool HasSetOnObject { get; }
+    }
+
+    // Specific parameter definition for a parameter of a specific type.
+    public delegate T PGetValue<T>(BSScene s);
+    public delegate void PSetValue<T>(BSScene s, T val);
+    public delegate void PSetOnObject<T>(BSScene scene, BSPhysObject obj);
+    public sealed class ParameterDefn<T> : ParameterDefnBase
+    {
+        T defaultValue;
+        PSetValue<T> setter;
+        PGetValue<T> getter;
+        PSetOnObject<T> objectSet;
+        public ParameterDefn(string pName, string pDesc, T pDefault, PGetValue<T> pGetter, PSetValue<T> pSetter)
+            : base(pName, pDesc)
+        {
+            defaultValue = pDefault;
+            setter = pSetter;
+            getter = pGetter;
+            objectSet = null;
+        }
+        public ParameterDefn(string pName, string pDesc, T pDefault, PGetValue<T> pGetter, PSetValue<T> pSetter, PSetOnObject<T> pObjSetter)
+            : base(pName, pDesc)
+        {
+            defaultValue = pDefault;
+            setter = pSetter;
+            getter = pGetter;
+            objectSet = pObjSetter;
+        }
+        public override void AssignDefault(BSScene s)
+        {
+            setter(s, defaultValue);
+        }
+        public override string GetValue(BSScene s)
+        {
+            return String.Format("{0}", getter(s));
+        }
+        public override void SetValue(BSScene s, string valAsString)
+        {
+            // Get the generic type of the setter
+            Type genericType = setter.GetType().GetGenericArguments()[0];
+            // Find the 'Parse' method on that type
+            System.Reflection.MethodInfo parser = null;
+            try
+            {
+                parser = genericType.GetMethod("Parse", new Type[] { typeof(String) } );
+            }
+            catch (Exception e)
+            {
+                s.Logger.ErrorFormat("{0} Exception getting parser for type '{1}': {2}", LogHeader, genericType, e);
+                parser = null;
+            }
+            if (parser != null)
+            {
+                // Parse the input string
+                try
+                {
+                    T setValue = (T)parser.Invoke(genericType, new Object[] { valAsString });
+                    setter(s, setValue);
+                    // s.Logger.DebugFormat("{0} Parameter {1} = {2}", LogHeader, name, setValue);
+                }
+                catch
+                {
+                    s.Logger.ErrorFormat("{0} Failed parsing parameter value '{1}' as type '{2}'", LogHeader, valAsString, genericType);
+                }
+            }
+            else
+            {
+                s.Logger.ErrorFormat("{0} Could not find parameter parser for type '{1}'", LogHeader, genericType);
+            }
+        }
+        public override bool HasSetOnObject
+        {
+            get { return objectSet != null; }
+        }
+        public override void SetOnObject(BSScene s, BSPhysObject obj)
+        {
+            if (objectSet != null)
+                objectSet(s, obj);
+        }
+    }
+
+    // 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.
+    //
+    // A ParameterDefn<T>() 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
+    //    -- a delegate for getting the value
+    //    -- a delegate for setting the value
+    //    -- 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
+    //    v = value (appropriate type)
+    private static ParameterDefnBase[] ParameterDefinitions =
+    {
+        new ParameterDefn<bool>("MeshSculptedPrim", "Whether to create meshes for sculpties",
+            true,
+            (s) => { return ShouldMeshSculptedPrim; },
+            (s,v) => { ShouldMeshSculptedPrim = v; } ),
+        new ParameterDefn<bool>("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
+            false,
+            (s) => { return ShouldForceSimplePrimMeshing; },
+            (s,v) => { ShouldForceSimplePrimMeshing = v; } ),
+        new ParameterDefn<bool>("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
+            true,
+            (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; } ),
+
+        new ParameterDefn<int>("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions",
+            5,
+            (s) => { return CrossingFailuresBeforeOutOfBounds; },
+            (s,v) => { CrossingFailuresBeforeOutOfBounds = v; } ),
+        new ParameterDefn<float>("UpdateVelocityChangeThreshold", "Change in updated velocity required before reporting change to simulator",
+            0.1f,
+            (s) => { return UpdateVelocityChangeThreshold; },
+            (s,v) => { UpdateVelocityChangeThreshold = v; } ),
+
+        new ParameterDefn<float>("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
+            32f,
+            (s) => { return MeshLOD; },
+            (s,v) => { MeshLOD = v; } ),
+        new ParameterDefn<float>("MeshLevelOfDetailCircular", "Level of detail for prims with circular cuts or shapes",
+            32f,
+            (s) => { return MeshCircularLOD; },
+            (s,v) => { MeshCircularLOD = v; } ),
+        new ParameterDefn<float>("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
+            10f,
+            (s) => { return MeshMegaPrimThreshold; },
+            (s,v) => { MeshMegaPrimThreshold = v; } ),
+        new ParameterDefn<float>("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
+            32f,
+            (s) => { return MeshMegaPrimLOD; },
+            (s,v) => { MeshMegaPrimLOD = v; } ),
+        new ParameterDefn<float>("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
+            32f,
+            (s) => { return SculptLOD; },
+            (s,v) => { SculptLOD = v; } ),
+
+        new ParameterDefn<int>("MaxSubStep", "In simulation step, maximum number of substeps",
+            10,
+            (s) => { return s.m_maxSubSteps; },
+            (s,v) => { s.m_maxSubSteps = (int)v; } ),
+        new ParameterDefn<float>("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
+            1f / 60f,
+            (s) => { return s.m_fixedTimeStep; },
+            (s,v) => { s.m_fixedTimeStep = v; } ),
+        new ParameterDefn<float>("NominalFrameRate", "The base frame rate we claim",
+            55f,
+            (s) => { return s.NominalFrameRate; },
+            (s,v) => { s.NominalFrameRate = (int)v; } ),
+        new ParameterDefn<int>("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
+            2048,
+            (s) => { return s.m_maxCollisionsPerFrame; },
+            (s,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
+        new ParameterDefn<int>("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
+            8000,
+            (s) => { return s.m_maxUpdatesPerFrame; },
+            (s,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
+
+        new ParameterDefn<float>("MinObjectMass", "Minimum object mass (0.0001)",
+            0.0001f,
+            (s) => { return MinimumObjectMass; },
+            (s,v) => { MinimumObjectMass = v; } ),
+        new ParameterDefn<float>("MaxObjectMass", "Maximum object mass (10000.01)",
+            10000.01f,
+            (s) => { return MaximumObjectMass; },
+            (s,v) => { MaximumObjectMass = v; } ),
+        new ParameterDefn<float>("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object",
+            1000.0f,
+            (s) => { return MaxLinearVelocity; },
+            (s,v) => { MaxLinearVelocity = v; MaxLinearVelocitySquared = v * v; } ),
+        new ParameterDefn<float>("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object",
+            1000.0f,
+            (s) => { return MaxAngularVelocity; },
+            (s,v) => { MaxAngularVelocity = v;  MaxAngularVelocitySquared = v * v; } ),
+        // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject
+        new ParameterDefn<float>("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
+            20000.0f,
+            (s) => { return MaxAddForceMagnitude; },
+            (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; } ),
+
+        new ParameterDefn<float>("PID_D", "Derivitive factor for motion smoothing",
+            2200f,
+            (s) => { return (float)PID_D; },
+            (s,v) => { PID_D = v; } ),
+        new ParameterDefn<float>("PID_P", "Parameteric factor for motion smoothing",
+            900f,
+            (s) => { return (float)PID_P; },
+            (s,v) => { PID_P = v; } ),
+
+        new ParameterDefn<float>("DefaultFriction", "Friction factor used on new objects",
+            0.2f,
+            (s) => { return DefaultFriction; },
+            (s,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ),
+        new ParameterDefn<float>("DefaultDensity", "Density for new objects" ,
+            10.000006836f,  // Aluminum g/cm3
+            (s) => { return DefaultDensity; },
+            (s,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ),
+        new ParameterDefn<float>("DefaultRestitution", "Bouncyness of an object" ,
+            0f,
+            (s) => { return DefaultRestitution; },
+            (s,v) => { DefaultRestitution = v; s.UnmanagedParams[0].defaultRestitution = v; } ),
+        new ParameterDefn<float>("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
+            0.04f,
+            (s) => { return CollisionMargin; },
+            (s,v) => { CollisionMargin = v; s.UnmanagedParams[0].collisionMargin = v; } ),
+        new ParameterDefn<float>("Gravity", "Vertical force of gravity (negative means down)",
+            -9.80665f,
+            (s) => { return Gravity; },
+            (s,v) => { Gravity = v; s.UnmanagedParams[0].gravity = v; },
+            (s,o) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,Gravity)); } ),
+
+
+        new ParameterDefn<float>("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
+            0f,
+            (s) => { return LinearDamping; },
+            (s,v) => { LinearDamping = v; },
+            (s,o) => { s.PE.SetDamping(o.PhysBody, LinearDamping, AngularDamping); } ),
+        new ParameterDefn<float>("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
+            0f,
+            (s) => { return AngularDamping; },
+            (s,v) => { AngularDamping = v; },
+            (s,o) => { s.PE.SetDamping(o.PhysBody, LinearDamping, AngularDamping); } ),
+        new ParameterDefn<float>("DeactivationTime", "Seconds before considering an object potentially static",
+            0.2f,
+            (s) => { return DeactivationTime; },
+            (s,v) => { DeactivationTime = v; },
+            (s,o) => { s.PE.SetDeactivationTime(o.PhysBody, DeactivationTime); } ),
+        new ParameterDefn<float>("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
+            0.8f,
+            (s) => { return LinearSleepingThreshold; },
+            (s,v) => { LinearSleepingThreshold = v;},
+            (s,o) => { s.PE.SetSleepingThresholds(o.PhysBody, LinearSleepingThreshold, AngularSleepingThreshold); } ),
+        new ParameterDefn<float>("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
+            1.0f,
+            (s) => { return AngularSleepingThreshold; },
+            (s,v) => { AngularSleepingThreshold = v;},
+            (s,o) => { s.PE.SetSleepingThresholds(o.PhysBody, LinearSleepingThreshold, AngularSleepingThreshold); } ),
+        new ParameterDefn<float>("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
+            0.0f,     // set to zero to disable
+            (s) => { return CcdMotionThreshold; },
+            (s,v) => { CcdMotionThreshold = v;},
+            (s,o) => { s.PE.SetCcdMotionThreshold(o.PhysBody, CcdMotionThreshold); } ),
+        new ParameterDefn<float>("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
+            0.2f,
+            (s) => { return CcdSweptSphereRadius; },
+            (s,v) => { CcdSweptSphereRadius = v;},
+            (s,o) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, CcdSweptSphereRadius); } ),
+        new ParameterDefn<float>("ContactProcessingThreshold", "Distance above which contacts can be discarded (0 means no discard)" ,
+            0.0f,
+            (s) => { return ContactProcessingThreshold; },
+            (s,v) => { ContactProcessingThreshold = v;},
+            (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; } ),
+        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 */} ),
+        new ParameterDefn<float>("TerrainHitFraction", "Distance to measure hit collisions" ,
+            0.8f,
+            (s) => { return TerrainHitFraction; },
+            (s,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ),
+        new ParameterDefn<float>("TerrainRestitution", "Bouncyness" ,
+            0f,
+            (s) => { return TerrainRestitution; },
+            (s,v) => { TerrainRestitution = v;  /* TODO: set on real terrain */ } ),
+        new ParameterDefn<float>("TerrainCollisionMargin", "Margin where collision checking starts" ,
+            0.08f,
+            (s) => { return TerrainCollisionMargin; },
+            (s,v) => { TerrainCollisionMargin = v;  /* TODO: set on real terrain */ } ),
+
+        new ParameterDefn<float>("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
+            0.2f,
+            (s) => { return AvatarFriction; },
+            (s,v) => { AvatarFriction = v; } ),
+        new ParameterDefn<float>("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
+            0.95f,
+            (s) => { return AvatarStandingFriction; },
+            (s,v) => { AvatarStandingFriction = v; } ),
+        new ParameterDefn<float>("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
+            1.3f,
+            (s) => { return AvatarAlwaysRunFactor; },
+            (s,v) => { AvatarAlwaysRunFactor = v; } ),
+        new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
+            3.5f,
+            (s) => { return AvatarDensity; },
+            (s,v) => { AvatarDensity = v; } ),
+        new ParameterDefn<float>("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
+            0f,
+            (s) => { return AvatarRestitution; },
+            (s,v) => { AvatarRestitution = v; } ),
+        new ParameterDefn<float>("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
+            0.6f,
+            (s) => { return AvatarCapsuleWidth; },
+            (s,v) => { AvatarCapsuleWidth = v; } ),
+        new ParameterDefn<float>("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
+            0.45f,
+            (s) => { return AvatarCapsuleDepth; },
+            (s,v) => { AvatarCapsuleDepth = v; } ),
+        new ParameterDefn<float>("AvatarCapsuleHeight", "Default height of space around avatar",
+            1.5f,
+            (s) => { return AvatarCapsuleHeight; },
+            (s,v) => { AvatarCapsuleHeight = v; } ),
+            new ParameterDefn<float>("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
+            0.1f,
+            (s) => { return AvatarContactProcessingThreshold; },
+            (s,v) => { AvatarContactProcessingThreshold = v; } ),
+            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; } ),
+            new ParameterDefn<float>("AvatarStepHeight", "Height of a step obstacle to consider step correction",
+            0.3f,
+            (s) => { return AvatarStepHeight; },
+            (s,v) => { AvatarStepHeight = v; } ),
+            new ParameterDefn<float>("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)",
+            0.6f,
+            (s) => { return AvatarStepApproachFactor; },
+            (s,v) => { AvatarStepApproachFactor = v; } ),
+            new ParameterDefn<float>("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step",
+            2.0f,
+            (s) => { return AvatarStepForceFactor; },
+            (s,v) => { AvatarStepForceFactor = v; } ),
+
+        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>("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
+            12.0f,
+            (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; } ),
+        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 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 ParameterDefn<float>("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)",
+            0.0f,
+            (s) => { return VehicleFriction; },
+            (s,v) => { VehicleFriction = v; } ),
+        new ParameterDefn<float>("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
+            0.0f,
+            (s) => { return VehicleRestitution; },
+            (s,v) => { VehicleRestitution = v; } ),
+        new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
+            0.2f,
+            (s) => { return VehicleGroundGravityFudge; },
+            (s,v) => { VehicleGroundGravityFudge = v; } ),
+        new ParameterDefn<bool>("VehicleDebuggingEnable", "Turn on/off vehicle debugging",
+            false,
+            (s) => { return VehicleDebuggingEnabled; },
+            (s,v) => { VehicleDebuggingEnabled = v; } ),
+
+            new ParameterDefn<float>("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
+            0f,
+            (s) => { return MaxPersistantManifoldPoolSize; },
+            (s,v) => { MaxPersistantManifoldPoolSize = v; s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
+            new ParameterDefn<float>("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
+            0f,
+            (s) => { return MaxCollisionAlgorithmPoolSize; },
+            (s,v) => { MaxCollisionAlgorithmPoolSize = v; s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
+            new ParameterDefn<bool>("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
+            false,
+            (s) => { return ShouldDisableContactPoolDynamicAllocation; },
+            (s,v) => { ShouldDisableContactPoolDynamicAllocation = v; 
+                        s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = NumericBool(v); } ),
+            new ParameterDefn<bool>("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
+            false,
+            (s) => { return ShouldForceUpdateAllAabbs; },
+            (s,v) => { ShouldForceUpdateAllAabbs = v; s.UnmanagedParams[0].shouldForceUpdateAllAabbs = NumericBool(v); } ),
+            new ParameterDefn<bool>("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
+            true,
+            (s) => { return ShouldRandomizeSolverOrder; },
+            (s,v) => { ShouldRandomizeSolverOrder = v; s.UnmanagedParams[0].shouldRandomizeSolverOrder = NumericBool(v); } ),
+            new ParameterDefn<bool>("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
+            true,
+            (s) => { return ShouldSplitSimulationIslands; },
+            (s,v) => { ShouldSplitSimulationIslands = v; s.UnmanagedParams[0].shouldSplitSimulationIslands = NumericBool(v); } ),
+            new ParameterDefn<bool>("ShouldEnableFrictionCaching", "Enable friction computation caching",
+            true,
+            (s) => { return ShouldEnableFrictionCaching; },
+            (s,v) => { ShouldEnableFrictionCaching = v; s.UnmanagedParams[0].shouldEnableFrictionCaching = NumericBool(v); } ),
+            new ParameterDefn<float>("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
+            0f,     // zero says use Bullet default
+            (s) => { return NumberOfSolverIterations; },
+            (s,v) => { NumberOfSolverIterations = v; s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
+            new ParameterDefn<bool>("UseSingleSidedMeshes", "Whether to compute collisions based on single sided meshes.",
+            true,
+            (s) => { return UseSingleSidedMeshes; },
+            (s,v) => { UseSingleSidedMeshes = v; s.UnmanagedParams[0].useSingleSidedMeshes = NumericBool(v); } ),
+            new ParameterDefn<float>("GlobalContactBreakingThreshold", "Amount of shape radius before breaking a collision contact (0 says Bullet default (0.2))",
+            0f,
+            (s) => { return GlobalContactBreakingThreshold; },
+            (s,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ),
+
+            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; } ),
+            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; } ),
+            new ParameterDefn<bool>("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
+            true,
+            (s) => { return LinkConstraintEnableTransMotor; },
+            (s,v) => { LinkConstraintEnableTransMotor = v; } ),
+            new ParameterDefn<float>("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
+            5.0f,
+            (s) => { return LinkConstraintTransMotorMaxVel; },
+            (s,v) => { LinkConstraintTransMotorMaxVel = v; } ),
+            new ParameterDefn<float>("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
+            0.1f,
+            (s) => { return LinkConstraintTransMotorMaxForce; },
+            (s,v) => { LinkConstraintTransMotorMaxForce = v; } ),
+            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; } ),
+            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; } ),
+            new ParameterDefn<float>("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
+            40,
+            (s) => { return LinkConstraintSolverIterations; },
+            (s,v) => { LinkConstraintSolverIterations = v; } ),
+
+        new ParameterDefn<int>("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)",
+            0,
+            (s) => { return s.PhysicsMetricDumpFrames; },
+            (s,v) => { s.PhysicsMetricDumpFrames = v; } ),
+        new ParameterDefn<float>("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool",
+            0f,
+            (s) => { return 0f; },
+            (s,v) => { BSParam.ResetBroadphasePoolTainted(s, v); } ),
+        new ParameterDefn<float>("ResetConstraintSolver", "Setting this is any value resets the constraint solver",
+            0f,
+            (s) => { return 0f; },
+            (s,v) => { BSParam.ResetConstraintSolverTainted(s, 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 ParameterDefnBase defn)
+    {
+        bool ret = false;
+        ParameterDefnBase foundDefn = null;
+        string pName = paramName.ToLower();
+
+        foreach (ParameterDefnBase 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 (ParameterDefnBase parm in ParameterDefinitions)
+        {
+            parm.AssignDefault(physicsScene);
+        }
+    }
+
+    // Get user set values out of the ini file.
+    internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg)
+    {
+        foreach (ParameterDefnBase parm in ParameterDefinitions)
+        {
+            parm.SetValue(physicsScene, cfg.GetString(parm.name, parm.GetValue(physicsScene)));
+        }
+    }
+
+    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++)
+            {
+                ParameterDefnBase pd = ParameterDefinitions[ii];
+                entries.Add(new PhysParameterEntry(pd.name, pd.desc));
+            }
+
+            // make the list alphabetical for ease of finding anything
+            entries.Sort((ppe1, ppe2) => { return ppe1.name.CompareTo(ppe2.name); });
+
+            SettableParameters = entries.ToArray();
+        }
+    }
+
+    // =====================================================================
+    // =====================================================================
+    // There are parameters that, when set, cause things to happen in the physics engine.
+    // This causes the broadphase collision cache to be cleared.
+    private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v)
+    {
+        BSScene physScene = pPhysScene;
+        physScene.TaintedObject("BSParam.ResetBroadphasePoolTainted", delegate()
+        {
+            physScene.PE.ResetBroadphasePool(physScene.World);
+        });
+    }
+
+    // This causes the constraint solver cache to be cleared and reset.
+    private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v)
+    {
+        BSScene physScene = pPhysScene;
+        physScene.TaintedObject("BSParam.ResetConstraintSolver", delegate()
+        {
+            physScene.PE.ResetConstraintSolver(physScene.World);
+        });
+    }
+}
+}