From de7611662472ffcae3c18976037a87a384864308 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 25 Jan 2015 13:24:09 -0800 Subject: BulletSim: add parameters and parameter definitions for VHACD addition coming. --- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 15 ++++++++ OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 44 ++++++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 3 +- 3 files changed, 61 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 0458cd9..8491c0f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -211,6 +211,21 @@ public struct HACDParams public float addNeighboursDistPoints; // false public float addFacesPoints; // false public float shouldAdjustCollisionMargin; // false + // VHACD + public float whichHACD; // zero if Bullet HACD, non-zero says VHACD + // http://kmamou.blogspot.ca/2014/12/v-hacd-20-parameters-description.html + public float vHACDresolution; // 100,000 max number of voxels generated during voxelization stage + public float vHACDdepth; // 20 max number of clipping stages + public float vHACDconcavity; // 0.0025 maximum concavity + public float vHACDplaneDownsampling; // 4 granularity of search for best clipping plane + public float vHACDconvexHullDownsampling; // 4 precision of hull gen process + public float vHACDalpha; // 0.05 bias toward clipping along symmetry planes + public float vHACDbeta; // 0.05 bias toward clipping along revolution axis + public float vHACDgamma; // 0.00125 max concavity when merging + public float vHACDpca; // 0 on/off normalizing mesh before decomp + public float vHACDmode; // 0 0:voxel based, 1: tetrahedron based + public float vHACDmaxNumVerticesPerCH; // 64 max triangles per convex hull + public float vHACDminVolumePerCH; // 0.0001 sampling of generated convex hulls } // The states a bullet collision object can have diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index ef75e3f..6d46fe6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -183,6 +183,7 @@ public static class BSParam public static bool VehicleEnableAngularBanking { get; private set; } // Convex Hulls + // Parameters for convex hull routine that ships with Bullet public static int CSHullMaxDepthSplit { get; private set; } public static int CSHullMaxDepthSplitForSimpleShapes { get; private set; } public static float CSHullConcavityThresholdPercent { get; private set; } @@ -198,6 +199,22 @@ public static class BSParam public static bool BHullAddNeighboursDistPoints { get; private set; } // false public static bool BHullAddFacesPoints { get; private set; } // false public static bool BHullShouldAdjustCollisionMargin { get; private set; } // false + public static float WhichHACD { get; private set; } // zero if Bullet HACD, non-zero says VHACD + // Parameters for VHACD 2.0: http://code.google.com/p/v-hacd + // To enable, set both ShouldUseBulletHACD=true and WhichHACD=1 + // http://kmamou.blogspot.ca/2014/12/v-hacd-20-parameters-description.html + public static float VHACDresolution { get; private set; } // 100,000 max number of voxels generated during voxelization stage + public static float VHACDdepth { get; private set; } // 20 max number of clipping stages + public static float VHACDconcavity { get; private set; } // 0.0025 maximum concavity + public static float VHACDplaneDownsampling { get; private set; } // 4 granularity of search for best clipping plane + public static float VHACDconvexHullDownsampling { get; private set; } // 4 precision of hull gen process + public static float VHACDalpha { get; private set; } // 0.05 bias toward clipping along symmetry planes + public static float VHACDbeta { get; private set; } // 0.05 bias toward clipping along revolution axis + public static float VHACDgamma { get; private set; } // 0.00125 max concavity when merging + public static float VHACDpca { get; private set; } // 0 on/off normalizing mesh before decomp + public static float VHACDmode { get; private set; } // 0 0:voxel based, 1: tetrahedron based + public static float VHACDmaxNumVerticesPerCH { get; private set; } // 64 max triangles per convex hull + public static float VHACDminVolumePerCH { get; private set; } // 0.0001 sampling of generated convex hulls // Linkset implementation parameters public static float LinksetImplementation { get; private set; } @@ -749,6 +766,33 @@ public static class BSParam new ParameterDefn("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin", false ), + new ParameterDefn("WhichHACD", "zero if Bullet HACD, non-zero says VHACD", + 0f ), + new ParameterDefn("VHACDresolution", "max number of voxels generated during voxelization stage", + 100000f ), + new ParameterDefn("VHACDdepth", "max number of clipping stages", + 20f ), + new ParameterDefn("VHACDconcavity", "maximum concavity", + 0.0025f ), + new ParameterDefn("VHACDplaneDownsampling", "granularity of search for best clipping plane", + 4f ), + new ParameterDefn("VHACDconvexHullDownsampling", "precision of hull gen process", + 4f ), + new ParameterDefn("VHACDalpha", "bias toward clipping along symmetry planes", + 0.05f ), + new ParameterDefn("VHACDbeta", "bias toward clipping along revolution axis", + 0.05f ), + new ParameterDefn("VHACDgamma", "max concavity when merging", + 0.00125f ), + new ParameterDefn("VHACDpca", "on/off normalizing mesh before decomp", + 0f ), + new ParameterDefn("VHACDmode", "0:voxel based, 1: tetrahedron based", + 0f ), + new ParameterDefn("VHACDmaxNumVerticesPerCH", "max triangles per convex hull", + 64f ), + new ParameterDefn("VHACDminVolumePerCH", "sampling of generated convex hulls", + 0.0001f ), + new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", (float)BSLinkset.LinksetImplementation.Compound ), new ParameterDefn("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index aa04726..86d86cb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -782,7 +782,7 @@ public class BSShapeHull : BSShape if (meshShape.physShapeInfo.HasPhysicalShape) { - HACDParams parms; + HACDParams parms = new HACDParams(); parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull; parms.minClusters = BSParam.BHullMinClusters; parms.compacityWeight = BSParam.BHullCompacityWeight; @@ -792,6 +792,7 @@ public class BSShapeHull : BSShape parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints); parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints); parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin); + parms.whichHACD = 0; // Use the HACD routine that comes with Bullet physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape); newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms); -- cgit v1.1