From 885b45b112607e3edf12838cf01cfefa6da884ae Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 16 Feb 2013 22:14:38 -0800 Subject: BulletSim: rework parameter setting for different types of values (like vectors or quaternions). --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 674 ++++++++++++------------ 1 file changed, 326 insertions(+), 348 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSParam.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 329169f..c2a9671 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -37,6 +37,8 @@ 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; } @@ -80,14 +82,13 @@ public static class BSParam // Physics Engine operation public static float MaxPersistantManifoldPoolSize; public static float MaxCollisionAlgorithmPoolSize; - public static float ShouldDisableContactPoolDynamicAllocation; - public static float ShouldForceUpdateAllAabbs; - public static float ShouldRandomizeSolverOrder; - public static float ShouldSplitSimulationIslands; - public static float ShouldEnableFrictionCaching; + public static bool ShouldDisableContactPoolDynamicAllocation; + public static bool ShouldForceUpdateAllAabbs; + public static bool ShouldRandomizeSolverOrder; + public static bool ShouldSplitSimulationIslands; + public static bool ShouldEnableFrictionCaching; public static float NumberOfSolverIterations; - public static bool UseSingleSidedMeshes { get { return UseSingleSidedMeshesF != ConfigurationParameters.numericFalse; } } - public static float UseSingleSidedMeshesF; + public static bool UseSingleSidedMeshes; public static float GlobalContactBreakingThreshold; // Avatar parameters @@ -112,16 +113,14 @@ public static class BSParam public static float VehicleAngularDamping { get; private set; } public static float VehicleFriction { get; private set; } public static float VehicleRestitution { get; private set; } - public static float VehicleLinearFactor { get; private set; } - public static Vector3 VehicleLinearFactorV { get; private set; } - public static float VehicleAngularFactor { get; private set; } - public static Vector3 VehicleAngularFactorV { 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 float VehicleDebuggingEnabled { get; private set; } + public static bool VehicleDebuggingEnabled { 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 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; } @@ -141,40 +140,106 @@ public static class BSParam public const float MinRestitution = 0f; public const float MaxRestitution = 1f; - // =========================================================================== - 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 + // 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 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) + 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(BSScene s); + public delegate void PSetValue(BSScene s, T val); + public delegate void PSetOnObject(BSScene scene, BSPhysObject obj); + public sealed class ParameterDefn : ParameterDefnBase + { + T defaultValue; + PSetValue setter; + PGetValue getter; + PSetOnObject objectSet; + public ParameterDefn(string pName, string pDesc, T pDefault, PGetValue pGetter, PSetValue pSetter) + : base(pName, pDesc) + { + defaultValue = pDefault; + setter = pSetter; + getter = pGetter; + objectSet = null; + } + public ParameterDefn(string pName, string pDesc, T pDefault, PGetValue pGetter, PSetValue pSetter, PSetOnObject 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) { - name = n; - desc = d; - defaultValue = v; - userParam = u; - getter = g; - setter = s; - onObject = null; + // 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 ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o) + public override void SetOnObject(BSScene s, BSPhysObject obj) { - name = n; - desc = d; - defaultValue = v; - userParam = u; - getter = g; - setter = s; - onObject = o; + if (objectSet != null) + objectSet(s, obj); } } @@ -184,462 +249,375 @@ public static class BSParam // 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: + // 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 + // -- 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 - // 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 = + private static ParameterDefnBase[] 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("ShouldRemoveZeroWidthTriangles", "If true, remove degenerate triangles from meshes", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldRemoveZeroWidthTriangles = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, - (s) => { return BSParam.NumericBool(ShouldRemoveZeroWidthTriangles); }, - (s,p,l,v) => { ShouldRemoveZeroWidthTriangles = BSParam.BoolNumeric(v); } ), - - new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", + new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", + true, + (s) => { return ShouldMeshSculptedPrim; }, + (s,v) => { ShouldMeshSculptedPrim = v; } ), + new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", + false, + (s) => { return ShouldForceSimplePrimMeshing; }, + (s,v) => { ShouldForceSimplePrimMeshing = v; } ), + new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", + true, + (s) => { return ShouldUseHullsForPhysicalObjects; }, + (s,v) => { ShouldUseHullsForPhysicalObjects = v; } ), + new ParameterDefn("ShouldRemoveZeroWidthTriangles", "If true, remove degenerate triangles from meshes", + true, + (s) => { return ShouldRemoveZeroWidthTriangles; }, + (s,v) => { ShouldRemoveZeroWidthTriangles = v; } ), + + new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 32f, - (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); }, (s) => { return MeshLOD; }, - (s,p,l,v) => { MeshLOD = v; } ), - new ParameterDefn("MeshLevelOfDetailCircular", "Level of detail for prims with circular cuts or shapes", + (s,v) => { MeshLOD = v; } ), + new ParameterDefn("MeshLevelOfDetailCircular", "Level of detail for prims with circular cuts or shapes", 32f, - (s,cf,p,v) => { MeshCircularLOD = (float)cf.GetInt(p, (int)v); }, (s) => { return MeshCircularLOD; }, - (s,p,l,v) => { MeshCircularLOD = v; } ), - new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD", + (s,v) => { MeshCircularLOD = 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("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", + (s,v) => { MeshMegaPrimThreshold = v; } ), + new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", 32f, - (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); }, (s) => { return MeshMegaPrimLOD; }, - (s,p,l,v) => { MeshMegaPrimLOD = v; } ), - new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", + (s,v) => { MeshMegaPrimLOD = 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; } ), + (s,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)", + new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", + 10, + (s) => { return s.m_maxSubSteps; }, + (s,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("NominalFrameRate", "The base frame rate we claim", + (s) => { return s.m_fixedTimeStep; }, + (s,v) => { s.m_fixedTimeStep = v; } ), + new ParameterDefn("NominalFrameRate", "The base frame rate we claim", 55f, - (s,cf,p,v) => { s.NominalFrameRate = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.NominalFrameRate; }, - (s,p,l,v) => { s.NominalFrameRate = (int)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("MinObjectMass", "Minimum object mass (0.0001)", + (s) => { return s.NominalFrameRate; }, + (s,v) => { s.NominalFrameRate = (int)v; } ), + new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", + 2048, + (s) => { return s.m_maxCollisionsPerFrame; }, + (s,v) => { s.m_maxCollisionsPerFrame = (int)v; } ), + new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame", + 8000, + (s) => { return s.m_maxUpdatesPerFrame; }, + (s,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), + + new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)", 0.0001f, - (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); }, (s) => { return MinimumObjectMass; }, - (s,p,l,v) => { MinimumObjectMass = v; } ), - new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", + (s,v) => { MinimumObjectMass = v; } ), + new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", 10000.01f, - (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); }, (s) => { return MaximumObjectMass; }, - (s,p,l,v) => { MaximumObjectMass = v; } ), - new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object", + (s,v) => { MaximumObjectMass = v; } ), + new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object", 1000.0f, - (s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); }, (s) => { return MaxLinearVelocity; }, - (s,p,l,v) => { MaxLinearVelocity = v; } ), - new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object", + (s,v) => { MaxLinearVelocity = v; } ), + new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object", 1000.0f, - (s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); }, (s) => { return MaxAngularVelocity; }, - (s,p,l,v) => { MaxAngularVelocity = v; } ), + (s,v) => { MaxAngularVelocity = v; } ), // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject - new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)", + new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)", 20000.0f, - (s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); }, (s) => { return MaxAddForceMagnitude; }, - (s,p,l,v) => { MaxAddForceMagnitude = v; } ), + (s,v) => { MaxAddForceMagnitude = v; } ), // Density is passed around as 100kg/m3. This scales that to 1kg/m3. - new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)", + new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)", 0.01f, - (s,cf,p,v) => { DensityScaleFactor = cf.GetFloat(p, v); }, (s) => { return DensityScaleFactor; }, - (s,p,l,v) => { DensityScaleFactor = v; } ), + (s,v) => { DensityScaleFactor = v; } ), - new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", + 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", + (s,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; } ), + (s,v) => { PID_P = v; } ), - new ParameterDefn("DefaultFriction", "Friction factor used on new objects", + new ParameterDefn("DefaultFriction", "Friction factor used on new objects", 0.2f, - (s,cf,p,v) => { DefaultFriction = cf.GetFloat(p, v); }, (s) => { return DefaultFriction; }, - (s,p,l,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ), - new ParameterDefn("DefaultDensity", "Density for new objects" , + (s,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ), + new ParameterDefn("DefaultDensity", "Density for new objects" , 10.000006836f, // Aluminum g/cm3 - (s,cf,p,v) => { DefaultDensity = cf.GetFloat(p, v); }, (s) => { return DefaultDensity; }, - (s,p,l,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ), - new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , + (s,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ), + new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , 0f, - (s,cf,p,v) => { DefaultRestitution = cf.GetFloat(p, v); }, (s) => { return DefaultRestitution; }, - (s,p,l,v) => { DefaultRestitution = v; s.UnmanagedParams[0].defaultRestitution = v; } ), - new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", + (s,v) => { DefaultRestitution = 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) => { CollisionMargin = cf.GetFloat(p, v); }, (s) => { return CollisionMargin; }, - (s,p,l,v) => { CollisionMargin = v; s.UnmanagedParams[0].collisionMargin = v; } ), - new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", + (s,v) => { CollisionMargin = v; s.UnmanagedParams[0].collisionMargin = v; } ), + new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", -9.80665f, - (s,cf,p,v) => { Gravity = cf.GetFloat(p, v); }, (s) => { return Gravity; }, - (s,p,l,v) => { Gravity = v; s.UnmanagedParams[0].gravity = v; }, - (s,o,v) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,v)); } ), + (s,v) => { Gravity = v; s.UnmanagedParams[0].gravity = v; }, + (s,o) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,Gravity)); } ), - new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", + 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) => { LinearDamping = v; }, - (s,o,v) => { s.PE.SetDamping(o.PhysBody, v, AngularDamping); } ), - new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", + (s,v) => { LinearDamping = v; }, + (s,o) => { s.PE.SetDamping(o.PhysBody, LinearDamping, 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) => { AngularDamping = v; }, - (s,o,v) => { s.PE.SetDamping(o.PhysBody, LinearDamping, v); } ), - new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", + (s,v) => { AngularDamping = v; }, + (s,o) => { s.PE.SetDamping(o.PhysBody, LinearDamping, AngularDamping); } ), + 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) => { DeactivationTime = v; }, - (s,o,v) => { s.PE.SetDeactivationTime(o.PhysBody, v); } ), - new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", + (s,v) => { DeactivationTime = v; }, + (s,o) => { s.PE.SetDeactivationTime(o.PhysBody, DeactivationTime); } ), + 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) => { LinearSleepingThreshold = v;}, - (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), - new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", + (s,v) => { LinearSleepingThreshold = v;}, + (s,o) => { s.PE.SetSleepingThresholds(o.PhysBody, LinearSleepingThreshold, AngularSleepingThreshold); } ), + 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) => { AngularSleepingThreshold = v;}, - (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), - new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , + (s,v) => { AngularSleepingThreshold = v;}, + (s,o) => { s.PE.SetSleepingThresholds(o.PhysBody, LinearSleepingThreshold, AngularSleepingThreshold); } ), + new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , 0.0f, // set to zero to disable - (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, (s) => { return CcdMotionThreshold; }, - (s,p,l,v) => { CcdMotionThreshold = v;}, - (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ), - new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , + (s,v) => { CcdMotionThreshold = v;}, + (s,o) => { s.PE.SetCcdMotionThreshold(o.PhysBody, CcdMotionThreshold); } ), + new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , 0.2f, - (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); }, (s) => { return CcdSweptSphereRadius; }, - (s,p,l,v) => { CcdSweptSphereRadius = v;}, - (s,o,v) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, v); } ), - new ParameterDefn("ContactProcessingThreshold", "Distance above which contacts can be discarded (0 means no discard)" , + (s,v) => { CcdSweptSphereRadius = v;}, + (s,o) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, CcdSweptSphereRadius); } ), + new ParameterDefn("ContactProcessingThreshold", "Distance above which contacts can be discarded (0 means no discard)" , 0.0f, - (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return ContactProcessingThreshold; }, - (s,p,l,v) => { ContactProcessingThreshold = v;}, - (s,o,v) => { s.PE.SetContactProcessingThreshold(o.PhysBody, v); } ), + (s,v) => { ContactProcessingThreshold = v;}, + (s,o) => { s.PE.SetContactProcessingThreshold(o.PhysBody, ContactProcessingThreshold); } ), - new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", + 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" , + (s,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" , + (s,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" , + (s,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" , + (s,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ), + new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , 0.08f, - (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); }, (s) => { return TerrainCollisionMargin; }, - (s,p,l,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ), + (s,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ), - new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", + 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) => { AvatarFriction = v; } ), - new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", + (s,v) => { AvatarFriction = v; } ), + new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", 0.95f, - (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); }, (s) => { return AvatarStandingFriction; }, - (s,p,l,v) => { AvatarStandingFriction = v; } ), - new ParameterDefn("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run", + (s,v) => { AvatarStandingFriction = v; } ), + new ParameterDefn("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run", 1.3f, - (s,cf,p,v) => { AvatarAlwaysRunFactor = cf.GetFloat(p, v); }, (s) => { return AvatarAlwaysRunFactor; }, - (s,p,l,v) => { AvatarAlwaysRunFactor = v; } ), - new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", + (s,v) => { AvatarAlwaysRunFactor = v; } ), + new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", 3.5f, - (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); }, (s) => { return AvatarDensity; }, - (s,p,l,v) => { AvatarDensity = v; } ), - new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", + (s,v) => { AvatarDensity = 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) => { AvatarRestitution = v; } ), - new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", + (s,v) => { AvatarRestitution = 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) => { AvatarCapsuleWidth = v; } ), - new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", + (s,v) => { AvatarCapsuleWidth = 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) => { AvatarCapsuleDepth = v; } ), - new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", + (s,v) => { AvatarCapsuleDepth = 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) => { AvatarCapsuleHeight = v; } ), - new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", + (s,v) => { AvatarCapsuleHeight = 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) => { AvatarContactProcessingThreshold = v; } ), - new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction", + (s,v) => { AvatarContactProcessingThreshold = v; } ), + new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction", 0.3f, - (s,cf,p,v) => { AvatarStepHeight = cf.GetFloat(p, v); }, (s) => { return AvatarStepHeight; }, - (s,p,l,v) => { AvatarStepHeight = v; } ), - new ParameterDefn("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)", + (s,v) => { AvatarStepHeight = v; } ), + new ParameterDefn("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)", 0.6f, - (s,cf,p,v) => { AvatarStepApproachFactor = cf.GetFloat(p, v); }, (s) => { return AvatarStepApproachFactor; }, - (s,p,l,v) => { AvatarStepApproachFactor = v; } ), - new ParameterDefn("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step", + (s,v) => { AvatarStepApproachFactor = v; } ), + new ParameterDefn("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step", 2.0f, - (s,cf,p,v) => { AvatarStepForceFactor = cf.GetFloat(p, v); }, (s) => { return AvatarStepForceFactor; }, - (s,p,l,v) => { AvatarStepForceFactor = v; } ), + (s,v) => { AvatarStepForceFactor = v; } ), - new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle", + new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle", 1000.0f, - (s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); }, (s) => { return (float)VehicleMaxLinearVelocity; }, - (s,p,l,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySq = v * v; } ), - new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle", + (s,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySq = v * v; } ), + new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle", 12.0f, - (s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); }, (s) => { return (float)VehicleMaxAngularVelocity; }, - (s,p,l,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ), - new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", + (s,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ), + new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", 0.0f, - (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, (s) => { return VehicleAngularDamping; }, - (s,p,l,v) => { VehicleAngularDamping = v; } ), - new ParameterDefn("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (0.0 - 1.0)", - 1.0f, - (s,cf,p,v) => { VehicleLinearFactor = cf.GetFloat(p, v); }, + (s,v) => { VehicleAngularDamping = v; } ), + new ParameterDefn("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,p,l,v) => { VehicleLinearFactor = v; VehicleLinearFactorV = new Vector3(v, v, v); } ), - new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (0.0 - 1.0)", - 1.0f, - (s,cf,p,v) => { VehicleAngularFactor = cf.GetFloat(p, v); }, + (s,v) => { VehicleLinearFactor = v; } ), + new ParameterDefn("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,p,l,v) => { VehicleAngularFactor = v; VehicleAngularFactorV = new Vector3(v, v, v); } ), - new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)", + (s,v) => { VehicleAngularFactor = v; } ), + new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)", 0.0f, - (s,cf,p,v) => { VehicleFriction = cf.GetFloat(p, v); }, (s) => { return VehicleFriction; }, - (s,p,l,v) => { VehicleFriction = v; } ), - new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", + (s,v) => { VehicleFriction = v; } ), + new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", 0.0f, - (s,cf,p,v) => { VehicleRestitution = cf.GetFloat(p, v); }, (s) => { return VehicleRestitution; }, - (s,p,l,v) => { VehicleRestitution = v; } ), - new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", + (s,v) => { VehicleRestitution = v; } ), + new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", 0.2f, - (s,cf,p,v) => { VehicleGroundGravityFudge = cf.GetFloat(p, v); }, (s) => { return VehicleGroundGravityFudge; }, - (s,p,l,v) => { VehicleGroundGravityFudge = v; } ), - new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { VehicleDebuggingEnabled = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { VehicleGroundGravityFudge = v; } ), + new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging", + false, (s) => { return VehicleDebuggingEnabled; }, - (s,p,l,v) => { VehicleDebuggingEnabled = v; } ), + (s,v) => { VehicleDebuggingEnabled = v; } ), - new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", + new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 0f, - (s,cf,p,v) => { MaxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, (s) => { return MaxPersistantManifoldPoolSize; }, - (s,p,l,v) => { MaxPersistantManifoldPoolSize = v; s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ), - new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", + (s,v) => { MaxPersistantManifoldPoolSize = v; s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ), + new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", 0f, - (s,cf,p,v) => { MaxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, (s) => { return MaxCollisionAlgorithmPoolSize; }, - (s,p,l,v) => { MaxCollisionAlgorithmPoolSize = v; s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ), - new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { ShouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { MaxCollisionAlgorithmPoolSize = v; s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ), + new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", + false, (s) => { return ShouldDisableContactPoolDynamicAllocation; }, - (s,p,l,v) => { ShouldDisableContactPoolDynamicAllocation = v; s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ), - new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { ShouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { ShouldDisableContactPoolDynamicAllocation = v; + s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = NumericBool(v); } ), + new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", + false, (s) => { return ShouldForceUpdateAllAabbs; }, - (s,p,l,v) => { ShouldForceUpdateAllAabbs = v; s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ), - new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { ShouldForceUpdateAllAabbs = v; s.UnmanagedParams[0].shouldForceUpdateAllAabbs = NumericBool(v); } ), + new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", + true, (s) => { return ShouldRandomizeSolverOrder; }, - (s,p,l,v) => { ShouldRandomizeSolverOrder = v; s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ), - new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { ShouldRandomizeSolverOrder = v; s.UnmanagedParams[0].shouldRandomizeSolverOrder = NumericBool(v); } ), + new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", + true, (s) => { return ShouldSplitSimulationIslands; }, - (s,p,l,v) => { ShouldSplitSimulationIslands = v; s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ), - new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { ShouldSplitSimulationIslands = v; s.UnmanagedParams[0].shouldSplitSimulationIslands = NumericBool(v); } ), + new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", + true, (s) => { return ShouldEnableFrictionCaching; }, - (s,p,l,v) => { ShouldEnableFrictionCaching = v; s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ), - new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", + (s,v) => { ShouldEnableFrictionCaching = v; s.UnmanagedParams[0].shouldEnableFrictionCaching = NumericBool(v); } ), + new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", 0f, // zero says use Bullet default - (s,cf,p,v) => { NumberOfSolverIterations = cf.GetFloat(p, v); }, (s) => { return NumberOfSolverIterations; }, - (s,p,l,v) => { NumberOfSolverIterations = v; s.UnmanagedParams[0].numberOfSolverIterations = v; } ), - new ParameterDefn("UseSingleSidedMeshes", "Whether to compute collisions based on single sided meshes.", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { UseSingleSidedMeshesF = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return UseSingleSidedMeshesF; }, - (s,p,l,v) => { UseSingleSidedMeshesF = v; s.UnmanagedParams[0].useSingleSidedMeshes = v; } ), - new ParameterDefn("GlobalContactBreakingThreshold", "Amount of shape radius before breaking a collision contact (0 says Bullet default (0.2))", + (s,v) => { NumberOfSolverIterations = v; s.UnmanagedParams[0].numberOfSolverIterations = v; } ), + new ParameterDefn("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("GlobalContactBreakingThreshold", "Amount of shape radius before breaking a collision contact (0 says Bullet default (0.2))", 0f, - (s,cf,p,v) => { GlobalContactBreakingThreshold = cf.GetFloat(p, v); }, (s) => { return GlobalContactBreakingThreshold; }, - (s,p,l,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ), + (s,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ), - new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", + 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,v) => { LinksetImplementation = v; } ), + new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", + false, (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,v) => { LinkConstraintUseFrameOffset = v; } ), + new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", + true, (s) => { return LinkConstraintEnableTransMotor; }, - (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ), - new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints", + (s,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", + (s,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", + (s,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", + (s,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)", + (s,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; } ), + (s,v) => { LinkConstraintSolverIterations = v; } ), - new ParameterDefn("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)", - 0f, - (s,cf,p,v) => { s.PhysicsMetricDumpFrames = cf.GetFloat(p, (int)v); }, - (s) => { return (float)s.PhysicsMetricDumpFrames; }, - (s,p,l,v) => { s.PhysicsMetricDumpFrames = (int)v; } ), - new ParameterDefn("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool", + new ParameterDefn("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)", + 0, + (s) => { return s.PhysicsMetricDumpFrames; }, + (s,v) => { s.PhysicsMetricDumpFrames = v; } ), + new ParameterDefn("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool", 0f, - (s,cf,p,v) => { ; }, (s) => { return 0f; }, - (s,p,l,v) => { BSParam.ResetBroadphasePoolTainted(s, v); } ), - new ParameterDefn("ResetConstraintSolver", "Setting this is any value resets the constraint solver", + (s,v) => { BSParam.ResetBroadphasePoolTainted(s, v); } ), + new ParameterDefn("ResetConstraintSolver", "Setting this is any value resets the constraint solver", 0f, - (s,cf,p,v) => { ; }, (s) => { return 0f; }, - (s,p,l,v) => { BSParam.ResetConstraintSolverTainted(s, v); } ), + (s,v) => { BSParam.ResetConstraintSolverTainted(s, v); } ), }; // Convert a boolean to our numeric true and false values @@ -658,13 +636,13 @@ public static class BSParam // 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) + internal static bool TryGetParameter(string paramName, out ParameterDefnBase defn) { bool ret = false; - ParameterDefn foundDefn = new ParameterDefn(); + ParameterDefnBase foundDefn = null; string pName = paramName.ToLower(); - foreach (ParameterDefn parm in ParameterDefinitions) + foreach (ParameterDefnBase parm in ParameterDefinitions) { if (pName == parm.name.ToLower()) { @@ -680,18 +658,18 @@ public static class BSParam // Pass through the settable parameters and set the default values internal static void SetParameterDefaultValues(BSScene physicsScene) { - foreach (ParameterDefn parm in ParameterDefinitions) + foreach (ParameterDefnBase parm in ParameterDefinitions) { - parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue); + parm.AssignDefault(physicsScene); } } // Get user set values out of the ini file. internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg) { - foreach (ParameterDefn parm in ParameterDefinitions) + foreach (ParameterDefnBase parm in ParameterDefinitions) { - parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue); + parm.SetValue(physicsScene, cfg.GetString(parm.name, parm.GetValue(physicsScene))); } } @@ -706,11 +684,11 @@ public static class BSParam List entries = new List(); for (int ii = 0; ii < ParameterDefinitions.Length; ii++) { - ParameterDefn pd = ParameterDefinitions[ii]; + ParameterDefnBase pd = ParameterDefinitions[ii]; entries.Add(new PhysParameterEntry(pd.name, pd.desc)); } - // make the list alphabetical for estetic reasons + // make the list alphabetical for ease of finding anything entries.Sort((ppe1, ppe2) => { return ppe1.name.CompareTo(ppe2.name); }); SettableParameters = entries.ToArray(); -- cgit v1.1