From ae4d932e7f00e781db9c9cdd5c29efc51e2425fb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 21 Dec 2012 13:35:44 -0800 Subject: BulletSim: Move all the parameter variables, tables and get and fetch logic to a separate, static class for easier addition and to remove all that bulk from the BSScene class. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 549 ++---------------------- 1 file changed, 34 insertions(+), 515 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSScene.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 2ca4912..492a255 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -77,12 +77,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public ILog Logger { get { return m_log; } } public IMesher mesher; - // Level of Detail values kept as float because that's what the Meshmerizer wants - public float MeshLOD { get; private set; } - public float MeshMegaPrimLOD { get; private set; } - public float MeshMegaPrimThreshold { get; private set; } - public float SculptLOD { get; private set; } - public uint WorldID { get; private set; } public BulletSim World { get; private set; } @@ -90,21 +84,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public BSConstraintCollection Constraints { get; private set; } // Simulation parameters - private int m_maxSubSteps; - private float m_fixedTimeStep; - private long m_simulationStep = 0; + internal int m_maxSubSteps; + internal float m_fixedTimeStep; + internal long m_simulationStep = 0; public long SimulationStep { get { return m_simulationStep; } } - private int m_taintsToProcessPerStep; - - // Avatar parameters - public float ParamAvatarFriction { get; private set; } - public float ParamAvatarStandingFriction { get; private set; } - public float ParamAvatarDensity { get; private set; } - public float ParamAvatarRestitution { get; private set; } - public float ParamAvatarCapsuleWidth { get; private set; } - public float ParamAvatarCapsuleDepth { get; private set; } - public float ParamAvatarCapsuleHeight { get; private set; } - public float ParamAvatarContactProcessingThreshold { get; private set; } + internal int m_taintsToProcessPerStep; public delegate void PreStepAction(float timeStep); public event PreStepAction BeforeStep; @@ -121,20 +105,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public bool InTaintTime { get; private set; } // Pinned memory used to pass step information between managed and unmanaged - private int m_maxCollisionsPerFrame; - private CollisionDesc[] m_collisionArray; - private GCHandle m_collisionArrayPinnedHandle; - - private int m_maxUpdatesPerFrame; - private EntityProperties[] m_updateArray; - private GCHandle m_updateArrayPinnedHandle; + internal int m_maxCollisionsPerFrame; + internal CollisionDesc[] m_collisionArray; + internal GCHandle m_collisionArrayPinnedHandle; - public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed - public bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes - public bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects - - public float PID_D { get; private set; } // derivative - public float PID_P { get; private set; } // proportional + internal int m_maxUpdatesPerFrame; + internal EntityProperties[] m_updateArray; + internal GCHandle m_updateArrayPinnedHandle; public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero public const uint GROUNDPLANE_ID = 1; @@ -145,7 +122,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public ConfigurationParameters Params { - get { return m_params[0]; } + get { return UnmanagedParams[0]; } } public Vector3 DefaultGravity { @@ -157,8 +134,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters get { return Params.gravity; } } - public float MaximumObjectMass { get; private set; } - // When functions in the unmanaged code must be called, it is only // done at a known time just before the simulation step. The taint // system saves all these function calls and executes them in @@ -181,7 +156,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // A pointer to an instance if this structure is passed to the C++ code // Used to pass basic configuration values to the unmanaged code. - ConfigurationParameters[] m_params; + internal ConfigurationParameters[] UnmanagedParams; GCHandle m_paramsHandle; // Handle to the callback used by the unmanaged code to call into the managed code. @@ -218,8 +193,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters Shapes = new BSShapeCollection(this); // Allocate pinned memory to pass parameters. - m_params = new ConfigurationParameters[1]; - m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned); + UnmanagedParams = new ConfigurationParameters[1]; + m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned); // Set default values for physics parameters plus any overrides from the ini file GetInitialParameterValues(config); @@ -277,7 +252,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters TerrainManager = new BSTerrainManager(this); TerrainManager.CreateInitialGroundPlaneAndTerrain(); - m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)Params.linksetImplementation); + m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation); InTaintTime = false; m_initialized = true; @@ -288,9 +263,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters private void GetInitialParameterValues(IConfigSource config) { ConfigurationParameters parms = new ConfigurationParameters(); - m_params[0] = parms; + UnmanagedParams[0] = parms; - SetParameterDefaultValues(); + BSParam.SetParameterDefaultValues(this); if (config != null) { @@ -298,7 +273,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters IConfig pConfig = config.Configs["BulletSim"]; if (pConfig != null) { - SetParameterConfigurationValues(pConfig); + BSParam.SetParameterConfigurationValues(this, pConfig); // Very detailed logging for physics debugging m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); @@ -889,7 +864,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); - Util.PrintCallStack(); // Prints the stack into the DEBUG log file. + Util.PrintCallStack(DetailLog); // Prints the stack into the DEBUG log file. } return InTaintTime; } @@ -936,12 +911,15 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters private void DoPreStepActions(float timeStep) { + InTaintTime = true; // Only used for debugging so locking is not necessary. ProcessVehicles(timeStep); PreStepAction actions = BeforeStep; if (actions != null) actions(timeStep); + InTaintTime = false; + } // Some prims have extra vehicle actions @@ -957,472 +935,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #region INI and command line parameter processing - delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); - delegate float ParamGet(BSScene scene); - delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); - delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val); - - private struct ParameterDefn - { - public string name; // string name of the parameter - public string desc; // a short description of what the parameter means - public float defaultValue; // default value if not specified anywhere else - public ParamUser userParam; // get the value from the configuration file - public ParamGet getter; // return the current value stored for this parameter - public ParamSet setter; // set the current value for this parameter - public SetOnObject onObject; // set the value on an object in the physical domain - public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) - { - name = n; - desc = d; - defaultValue = v; - userParam = u; - getter = g; - setter = s; - onObject = null; - } - public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o) - { - name = n; - desc = d; - defaultValue = v; - userParam = u; - getter = g; - setter = s; - onObject = o; - } - } - - // List of all of the externally visible parameters. - // For each parameter, this table maps a text name to getter and setters. - // To add a new externally referencable/settable parameter, add the paramter storage - // location somewhere in the program and make an entry in this table with the - // getters and setters. - // It is easiest to find an existing definition and copy it. - // Parameter values are floats. Booleans are converted to a floating value. - // - // A ParameterDefn() takes the following parameters: - // -- the text name of the parameter. This is used for console input and ini file. - // -- a short text description of the parameter. This shows up in the console listing. - // -- a delegate for fetching the parameter from the ini file. - // Should handle fetching the right type from the ini file and converting it. - // -- a delegate for getting the value as a float - // -- a delegate for setting the value from a float - // -- an optional delegate to update the value in the world. Most often used to - // push the new value to an in-world object. - // - // The single letter parameters for the delegates are: - // s = BSScene - // o = BSPhysObject - // p = string parameter name - // l = localID of referenced object - // v = float value - // cf = parameter configuration class (for fetching values from ini file) - private ParameterDefn[] ParameterDefinitions = - { - new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.ShouldMeshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); }, - (s) => { return s.NumericBool(s.ShouldMeshSculptedPrim); }, - (s,p,l,v) => { s.ShouldMeshSculptedPrim = s.BoolNumeric(v); } ), - new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, - (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); }, - (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ), - new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); }, - (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); }, - (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ), - - new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", - 8f, - (s,cf,p,v) => { s.MeshLOD = (float)cf.GetInt(p, (int)v); }, - (s) => { return s.MeshLOD; }, - (s,p,l,v) => { s.MeshLOD = v; } ), - new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", - 16f, - (s,cf,p,v) => { s.MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); }, - (s) => { return s.MeshMegaPrimLOD; }, - (s,p,l,v) => { s.MeshMegaPrimLOD = v; } ), - new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD", - 10f, - (s,cf,p,v) => { s.MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); }, - (s) => { return s.MeshMegaPrimThreshold; }, - (s,p,l,v) => { s.MeshMegaPrimThreshold = v; } ), - new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", - 32f, - (s,cf,p,v) => { s.SculptLOD = (float)cf.GetInt(p, (int)v); }, - (s) => { return s.SculptLOD; }, - (s,p,l,v) => { s.SculptLOD = v; } ), - - new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", - 10f, - (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxSubSteps; }, - (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ), - new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)", - 1f / 60f, - (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); }, - (s) => { return (float)s.m_fixedTimeStep; }, - (s,p,l,v) => { s.m_fixedTimeStep = v; } ), - new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", - 2048f, - (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxCollisionsPerFrame; }, - (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ), - new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame", - 8000f, - (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxUpdatesPerFrame; }, - (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), - new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step", - 500f, - (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_taintsToProcessPerStep; }, - (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ), - new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", - 10000.01f, - (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); }, - (s) => { return (float)s.MaximumObjectMass; }, - (s,p,l,v) => { s.MaximumObjectMass = v; } ), - - new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", - 2200f, - (s,cf,p,v) => { s.PID_D = cf.GetFloat(p, v); }, - (s) => { return (float)s.PID_D; }, - (s,p,l,v) => { s.PID_D = v; } ), - new ParameterDefn("PID_P", "Parameteric factor for motion smoothing", - 900f, - (s,cf,p,v) => { s.PID_P = cf.GetFloat(p, v); }, - (s) => { return (float)s.PID_P; }, - (s,p,l,v) => { s.PID_P = v; } ), - - new ParameterDefn("DefaultFriction", "Friction factor used on new objects", - 0.2f, - (s,cf,p,v) => { s.m_params[0].defaultFriction = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].defaultFriction; }, - (s,p,l,v) => { s.m_params[0].defaultFriction = v; } ), - new ParameterDefn("DefaultDensity", "Density for new objects" , - 10.000006836f, // Aluminum g/cm3 - (s,cf,p,v) => { s.m_params[0].defaultDensity = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].defaultDensity; }, - (s,p,l,v) => { s.m_params[0].defaultDensity = v; } ), - new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , - 0f, - (s,cf,p,v) => { s.m_params[0].defaultRestitution = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].defaultRestitution; }, - (s,p,l,v) => { s.m_params[0].defaultRestitution = v; } ), - new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", - 0.04f, - (s,cf,p,v) => { s.m_params[0].collisionMargin = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].collisionMargin; }, - (s,p,l,v) => { s.m_params[0].collisionMargin = v; } ), - new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", - -9.80665f, - (s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].gravity; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].gravity, p, PhysParameterEntry.APPLY_TO_NONE, v); }, - (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ), - - - new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", - 0f, - (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linearDamping; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, s.m_params[0].angularDamping); } ), - new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", - 0f, - (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].angularDamping; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, s.m_params[0].linearDamping, v); } ), - new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", - 0.2f, - (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].deactivationTime; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ), - new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", - 0.8f, - (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linearSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), - new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", - 1.0f, - (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].angularSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), - new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , - 0f, // set to zero to disable - (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].ccdMotionThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ), - new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , - 0f, - (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].ccdSweptSphereRadius; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ), - new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , - 0.1f, - (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].contactProcessingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), - - new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", - (float)BSTerrainPhys.TerrainImplementation.Mesh, - (s,cf,p,v) => { s.m_params[0].terrainImplementation = cf.GetFloat(p,v); }, - (s) => { return s.m_params[0].terrainImplementation; }, - (s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ), - new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , - 0.3f, - (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].terrainFriction; }, - (s,p,l,v) => { s.m_params[0].terrainFriction = v; /* TODO: set on real terrain */} ), - new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , - 0.8f, - (s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].terrainHitFraction; }, - (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; /* TODO: set on real terrain */ } ), - new ParameterDefn("TerrainRestitution", "Bouncyness" , - 0f, - (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].terrainRestitution; }, - (s,p,l,v) => { s.m_params[0].terrainRestitution = v; /* TODO: set on real terrain */ } ), - new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , - 0.04f, - (s,cf,p,v) => { s.m_params[0].terrainCollisionMargin = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].terrainCollisionMargin; }, - (s,p,l,v) => { s.m_params[0].terrainCollisionMargin = v; /* TODO: set on real terrain */ } ), - - new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", - 0.2f, - (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarFriction; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ), - new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", - 10.0f, - (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarStandingFriction; }, - (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ), - new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", - 60f, - (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarDensity; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarDensity, p, l, v); } ), - new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", - 0f, - (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarRestitution; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ), - new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", - 0.6f, - (s,cf,p,v) => { s.m_params[0].avatarCapsuleWidth = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarCapsuleWidth; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleWidth, p, l, v); } ), - new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", - 0.45f, - (s,cf,p,v) => { s.m_params[0].avatarCapsuleDepth = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarCapsuleDepth; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleDepth, p, l, v); } ), - new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", - 1.5f, - (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarCapsuleHeight; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ), - new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", - 0.1f, - (s,cf,p,v) => { s.m_params[0].avatarContactProcessingThreshold = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarContactProcessingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ), - - new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", - 0.95f, - (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].vehicleAngularDamping; }, - (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ), - - new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", - 0f, - (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; }, - (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ), - new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", - 0f, - (s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; }, - (s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ), - new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].shouldDisableContactPoolDynamicAllocation; }, - (s,p,l,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = v; } ), - new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.m_params[0].shouldForceUpdateAllAabbs = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].shouldForceUpdateAllAabbs; }, - (s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ), - new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].shouldRandomizeSolverOrder; }, - (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ), - new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].shouldSplitSimulationIslands; }, - (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ), - new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.m_params[0].shouldEnableFrictionCaching = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].shouldEnableFrictionCaching; }, - (s,p,l,v) => { s.m_params[0].shouldEnableFrictionCaching = v; } ), - new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", - 0f, // zero says use Bullet default - (s,cf,p,v) => { s.m_params[0].numberOfSolverIterations = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].numberOfSolverIterations; }, - (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ), - - new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", - (float)BSLinkset.LinksetImplementation.Compound, - (s,cf,p,v) => { s.m_params[0].linksetImplementation = cf.GetFloat(p,v); }, - (s) => { return s.m_params[0].linksetImplementation; }, - (s,p,l,v) => { s.m_params[0].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) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].linkConstraintUseFrameOffset; }, - (s,p,l,v) => { s.m_params[0].linkConstraintUseFrameOffset = v; } ), - new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.m_params[0].linkConstraintEnableTransMotor = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].linkConstraintEnableTransMotor; }, - (s,p,l,v) => { s.m_params[0].linkConstraintEnableTransMotor = v; } ), - new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints", - 5.0f, - (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linkConstraintTransMotorMaxVel; }, - (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = v; } ), - new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints", - 0.1f, - (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, - (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), - new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", - 0.1f, - (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linkConstraintCFM; }, - (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), - new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", - 0.1f, - (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linkConstraintERP; }, - (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), - new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", - 40, - (s,cf,p,v) => { s.m_params[0].linkConstraintSolverIterations = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linkConstraintSolverIterations; }, - (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ), - - new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)", - 0f, - (s,cf,p,v) => { s.m_params[0].physicsLoggingFrames = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_params[0].physicsLoggingFrames; }, - (s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (int)v; } ), - }; - - // Convert a boolean to our numeric true and false values - public float NumericBool(bool b) - { - return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse); - } - - // Convert numeric true and false values to a boolean - public 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. - private bool TryGetParameter(string paramName, out ParameterDefn defn) - { - bool ret = false; - ParameterDefn foundDefn = new ParameterDefn(); - string pName = paramName.ToLower(); - - foreach (ParameterDefn parm in ParameterDefinitions) - { - if (pName == parm.name.ToLower()) - { - foundDefn = parm; - ret = true; - break; - } - } - defn = foundDefn; - return ret; - } - - // Pass through the settable parameters and set the default values - private void SetParameterDefaultValues() - { - foreach (ParameterDefn parm in ParameterDefinitions) - { - parm.setter(this, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue); - } - } - - // Get user set values out of the ini file. - private void SetParameterConfigurationValues(IConfig cfg) - { - foreach (ParameterDefn parm in ParameterDefinitions) - { - parm.userParam(this, cfg, parm.name, parm.defaultValue); - } - } - - private 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. - private void BuildParameterTable() - { - if (SettableParameters.Length < ParameterDefinitions.Length) - { - List entries = new List(); - for (int ii = 0; ii < ParameterDefinitions.Length; ii++) - { - ParameterDefn pd = ParameterDefinitions[ii]; - entries.Add(new PhysParameterEntry(pd.name, pd.desc)); - } - - // make the list in alphabetical order for estetic reasons - entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2) - { - return ppe1.name.CompareTo(ppe2.name); - }); - - SettableParameters = entries.ToArray(); - } - } - - #region IPhysicsParameters // Get the list of parameters this physics engine supports public PhysParameterEntry[] GetParameterList() { - BuildParameterTable(); - return SettableParameters; + BSParam.BuildParameterTable(); + return BSParam.SettableParameters; } // Set parameter on a specific or all instances. @@ -1434,8 +952,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public bool SetPhysicsParameter(string parm, float val, uint localID) { bool ret = false; - ParameterDefn theParam; - if (TryGetParameter(parm, out theParam)) + BSParam.ParameterDefn theParam; + if (BSParam.TryGetParameter(parm, out theParam)) { theParam.setter(this, parm, localID, val); ret = true; @@ -1447,19 +965,20 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // If the local ID is APPLY_TO_NONE, just change the default value // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs // If the localID is a specific object, apply the parameter change to only that object - private void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val) + internal delegate void AssignVal(float x); + internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val) { List objectIDs = new List(); switch (localID) { case PhysParameterEntry.APPLY_TO_NONE: - defaultLoc = val; // setting only the default value + setDefault(val); // setting only the default value // This will cause a call into the physical world if some operation is specified (SetOnObject). objectIDs.Add(TERRAIN_ID); TaintedUpdateParameter(parm, objectIDs, val); break; case PhysParameterEntry.APPLY_TO_ALL: - defaultLoc = val; // setting ALL also sets the default value + setDefault(val); // setting ALL also sets the default value lock (PhysObjects) objectIDs = new List(PhysObjects.Keys); TaintedUpdateParameter(parm, objectIDs, val); break; @@ -1478,8 +997,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters List xlIDs = lIDs; string xparm = parm; TaintedObject("BSScene.UpdateParameterSet", delegate() { - ParameterDefn thisParam; - if (TryGetParameter(xparm, out thisParam)) + BSParam.ParameterDefn thisParam; + if (BSParam.TryGetParameter(xparm, out thisParam)) { if (thisParam.onObject != null) { @@ -1500,8 +1019,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { float val = 0f; bool ret = false; - ParameterDefn theParam; - if (TryGetParameter(parm, out theParam)) + BSParam.ParameterDefn theParam; + if (BSParam.TryGetParameter(parm, out theParam)) { val = theParam.getter(this); ret = true; -- cgit v1.1