// All default parameter values are set here. There should be no values set in the
// variable definitions.
private void GetInitialParameterValues(IConfigSource config)
{
ConfigurationParameters parms = new ConfigurationParameters();
UnmanagedParams[0] = parms;
BSParam.SetParameterDefaultValues(this);
if (config != null)
{
// If there are specifications in the ini file, use those values
IConfig pConfig = config.Configs["BulletSim"];
if (pConfig != null)
{
BSParam.SetParameterConfigurationValues(this, pConfig);
// There are two Bullet implementations to choose from
BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged");
// Very detailed logging for physics debugging
// TODO: the boolean values can be moved to the normal parameter processing.
m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", false);
// Very detailed logging for vehicle debugging
VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
// Do any replacements in the parameters
m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
}
else
{
// Nothing in the configuration INI file so assume unmanaged and other defaults.
BulletEngineName = "BulletUnmanaged";
m_physicsLoggingEnabled = false;
VehicleLoggingEnabled = false;
}
// The material characteristics.
BSMaterials.InitializeFromDefaults(Params);
if (pConfig != null)
{
// Let the user add new and interesting material property values.
BSMaterials.InitializefromParameters(pConfig);
}
}
}
// This is where all the default material attributes are defined.
public static void InitializeFromDefaults(ConfigurationParameters parms)
{
// Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
float dDensity = parms.defaultDensity;
float dFriction = parms.defaultFriction;
float dRestitution = parms.defaultRestitution;
Attributes[(int)MaterialAttributes.Material.Stone] =
new MaterialAttributes("stone", dDensity, 0.8f, 0.4f);
Attributes[(int)MaterialAttributes.Material.Metal] =
new MaterialAttributes("metal", dDensity, 0.3f, 0.4f);
Attributes[(int)MaterialAttributes.Material.Glass] =
new MaterialAttributes("glass", dDensity, 0.2f, 0.7f);
Attributes[(int)MaterialAttributes.Material.Wood] =
new MaterialAttributes("wood", dDensity, 0.6f, 0.5f);
Attributes[(int)MaterialAttributes.Material.Flesh] =
new MaterialAttributes("flesh", dDensity, 0.9f, 0.3f);
Attributes[(int)MaterialAttributes.Material.Plastic] =
new MaterialAttributes("plastic", dDensity, 0.4f, 0.7f);
Attributes[(int)MaterialAttributes.Material.Rubber] =
new MaterialAttributes("rubber", dDensity, 0.9f, 0.9f);
Attributes[(int)MaterialAttributes.Material.Light] =
new MaterialAttributes("light", dDensity, dFriction, dRestitution);
Attributes[(int)MaterialAttributes.Material.Avatar] =
new MaterialAttributes("avatar", 3.5f, 0.2f, 0f);
Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("stonePhysical", dDensity, 0.8f, 0.4f);
Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("metalPhysical", dDensity, 0.3f, 0.4f);
Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("glassPhysical", dDensity, 0.2f, 0.7f);
Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("woodPhysical", dDensity, 0.6f, 0.5f);
Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("fleshPhysical", dDensity, 0.9f, 0.3f);
Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("plasticPhysical", dDensity, 0.4f, 0.7f);
Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("rubberPhysical", dDensity, 0.9f, 0.9f);
Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("lightPhysical", dDensity, dFriction, dRestitution);
Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("avatarPhysical", 3.5f, 0.2f, 0f);
}
// This is where all the default material attributes are defined.
public static void InitializeFromDefaults(ConfigurationParameters parms)
{
// Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
float dDensity = parms.defaultDensity;
float dFriction = parms.defaultFriction;
float dRestitution = parms.defaultRestitution;
Attributes[(int)MaterialAttributes.Material.Stone] =
new MaterialAttributes("stone",dDensity, 0.8f, 0.4f);
Attributes[(int)MaterialAttributes.Material.Metal] =
new MaterialAttributes("metal",dDensity, 0.3f, 0.4f);
Attributes[(int)MaterialAttributes.Material.Glass] =
new MaterialAttributes("glass",dDensity, 0.2f, 0.7f);
Attributes[(int)MaterialAttributes.Material.Wood] =
new MaterialAttributes("wood",dDensity, 0.6f, 0.5f);
Attributes[(int)MaterialAttributes.Material.Flesh] =
new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f);
Attributes[(int)MaterialAttributes.Material.Plastic] =
new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f);
Attributes[(int)MaterialAttributes.Material.Rubber] =
new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f);
Attributes[(int)MaterialAttributes.Material.Light] =
new MaterialAttributes("light",dDensity, dFriction, dRestitution);
Attributes[(int)MaterialAttributes.Material.Avatar] =
new MaterialAttributes("avatar",3.5f, 0.2f, 0f);
Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f);
Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f);
Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f);
Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f);
Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f);
Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f);
Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f);
Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution);
Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f);
}
// All default parameter values are set here. There should be no values set in the
// variable definitions.
private void GetInitialParameterValues(IConfigSource config)
{
ConfigurationParameters parms = new ConfigurationParameters();
UnmanagedParams[0] = parms;
BSParam.SetParameterDefaultValues(this);
if (config != null)
{
// If there are specifications in the ini file, use those values
IConfig pConfig = config.Configs["BulletSim"];
if (pConfig != null)
{
BSParam.SetParameterConfigurationValues(this, pConfig);
// There are two Bullet implementations to choose from
BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged");
// Very detailed logging for physics debugging
// TODO: the boolean values can be moved to the normal parameter processing.
m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", false);
// Very detailed logging for vehicle debugging
VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
// Do any replacements in the parameters
m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
}
else
{
// Nothing in the configuration INI file so assume unmanaged and other defaults.
BulletEngineName = "BulletUnmanaged";
m_physicsLoggingEnabled = false;
VehicleLoggingEnabled = false;
}
// The material characteristics.
BSMaterials.InitializeFromDefaults(Params);
if (pConfig != null)
{
// Let the user add new and interesting material property values.
BSMaterials.InitializefromParameters(pConfig);
}
}
}
// Initialization and simulation
public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
int maxCollisions, ref CollisionDesc[] collisionArray,
int maxUpdates, ref EntityProperties[] updateArray
);
// Initialization and simulation
public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
int maxCollisions, ref CollisionDesc[] collisionArray,
int maxUpdates, ref EntityProperties[] updateArray
);
private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent,
ConfigurationParameters[] o,
int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray,
object mDebugLogCallbackHandle)
{
CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
p.angularDamping = BSParam.AngularDamping;
p.defaultFriction = o[0].defaultFriction;
p.defaultFriction = o[0].defaultFriction;
p.defaultDensity = o[0].defaultDensity;
p.defaultRestitution = o[0].defaultRestitution;
p.collisionMargin = o[0].collisionMargin;
p.gravity = o[0].gravity;
p.linearDamping = BSParam.LinearDamping;
p.angularDamping = BSParam.AngularDamping;
p.deactivationTime = BSParam.DeactivationTime;
p.linearSleepingThreshold = BSParam.LinearSleepingThreshold;
p.angularSleepingThreshold = BSParam.AngularSleepingThreshold;
p.ccdMotionThreshold = BSParam.CcdMotionThreshold;
p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius;
p.contactProcessingThreshold = BSParam.ContactProcessingThreshold;
p.terrainImplementation = BSParam.TerrainImplementation;
p.terrainFriction = BSParam.TerrainFriction;
p.terrainHitFraction = BSParam.TerrainHitFraction;
p.terrainRestitution = BSParam.TerrainRestitution;
p.terrainCollisionMargin = BSParam.TerrainCollisionMargin;
p.avatarFriction = BSParam.AvatarFriction;
p.avatarStandingFriction = BSParam.AvatarStandingFriction;
p.avatarDensity = BSParam.AvatarDensity;
p.avatarRestitution = BSParam.AvatarRestitution;
p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth;
p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth;
p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight;
p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold;
p.vehicleAngularDamping = BSParam.VehicleAngularDamping;
p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
p.numberOfSolverIterations = o[0].numberOfSolverIterations;
p.linksetImplementation = BSParam.LinksetImplementation;
p.linkConstraintUseFrameOffset = BSParam.NumericBool(BSParam.LinkConstraintUseFrameOffset);
p.linkConstraintEnableTransMotor = BSParam.NumericBool(BSParam.LinkConstraintEnableTransMotor);
p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel;
p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce;
p.linkConstraintERP = BSParam.LinkConstraintERP;
p.linkConstraintCFM = BSParam.LinkConstraintCFM;
p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations;
p.physicsLoggingFrames = o[0].physicsLoggingFrames;
// 20131224 not used DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
if (p.maxPersistantManifoldPoolSize > 0)
cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
if (p.shouldDisableContactPoolDynamicAllocation !=0)
m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
//if (p.maxCollisionAlgorithmPoolSize >0 )
DbvtBroadphase m_broadphase = new DbvtBroadphase();
//IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
//IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
//AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
world.LastCollisionDesc = 0;
world.LastEntityProperty = 0;
world.WorldSettings.Params = p;
world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
if (p.shouldRandomizeSolverOrder != 0)
world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
//world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
if (p.shouldEnableFrictionCaching != 0)
world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
if (p.numberOfSolverIterations > 0)
world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
world.GetSolverInfo().m_globalCfm = 0.0f;
world.GetSolverInfo().m_tau = 0.6f;
world.GetSolverInfo().m_friction = 0.3f;
world.GetSolverInfo().m_maxErrorReduction = 20f;
world.GetSolverInfo().m_numIterations = 10;
world.GetSolverInfo().m_erp = 0.2f;
world.GetSolverInfo().m_erp2 = 0.1f;
world.GetSolverInfo().m_sor = 1.0f;
world.GetSolverInfo().m_splitImpulse = false;
world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
world.GetSolverInfo().m_linearSlop = 0.0f;
world.GetSolverInfo().m_warmstartingFactor = 0.85f;
world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
world.SetForceUpdateAllAabbs(true);
//BSParam.TerrainImplementation = 0;
world.SetGravity(new IndexedVector3(0,0,p.gravity));
return world;
}
public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
int maxCollisions, ref CollisionDesc[] collisionArray,
int maxUpdates, ref EntityProperties[] updateArray
)
{
UpdatedObjects = updateArray;
UpdatedCollisions = collisionArray;
/* TODO */
ConfigurationParameters[] configparms = new ConfigurationParameters[1];
configparms[0] = parms;
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
m_maxCollisions = maxCollisions;
m_maxUpdatesPerFrame = maxUpdates;
specialCollisionObjects = new Dictionary<uint, GhostObject>();
return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
}
// Initialization and simulation
public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
int maxCollisions, ref CollisionDesc[] collisionArray,
int maxUpdates, ref EntityProperties[] updateArray
)
{
// Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
// If Debug logging level, enable logging from the unmanaged code
m_DebugLogCallbackHandle = null;
if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled)
{
BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
if (PhysicsScene.PhysicsLogging.Enabled)
// The handle is saved in a variable to make sure it doesn't get freed after this call
m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
else
m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
}
// Get the version of the DLL
// TODO: this doesn't work yet. Something wrong with marshaling the returned string.
// BulletEngineVersion = BulletSimAPI.GetVersion2();
BulletEngineVersion = "";
// Call the unmanaged code with the buffers and other information
return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
m_DebugLogCallbackHandle));
}
// All default parameter values are set here. There should be no values set in the
// variable definitions.
private void GetInitialParameterValues(IConfigSource config)
{
ConfigurationParameters parms = new ConfigurationParameters();
m_params[0] = parms;
SetParameterDefaultValues();
if (config != null)
{
// If there are specifications in the ini file, use those values
IConfig pConfig = config.Configs["BulletSim"];
if (pConfig != null)
{
SetParameterConfigurationValues(pConfig);
// Very detailed logging for physics debugging
m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
// Very detailed logging for vehicle debugging
VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
// Do any replacements in the parameters
m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
}
}
}
// All default parameter values are set here. There should be no values set in the
// variable definitions.
private void GetInitialParameterValues(IConfigSource config)
{
ConfigurationParameters parms = new ConfigurationParameters();
_meshSculptedPrim = true; // mesh sculpted prims
_forceSimplePrimMeshing = false; // use complex meshing if called for
m_meshLOD = 32;
m_maxSubSteps = 10;
m_fixedTimeStep = 1f/60f;
m_maxCollisionsPerFrame = 2048;
m_maxUpdatesPerFrame = 2048;
_maximumObjectMass = 10000.01f;
parms.defaultFriction = 0.70f;
parms.defaultDensity = 10.000006836f; // Aluminum g/cm3
parms.defaultRestitution = 0f;
parms.collisionMargin = 0.0f;
parms.gravity = -9.80665f;
parms.linearDamping = 0.0f;
parms.angularDamping = 0.0f;
parms.deactivationTime = 0.2f;
parms.linearSleepingThreshold = 0.8f;
parms.angularSleepingThreshold = 1.0f;
parms.ccdMotionThreshold = 0.5f; // set to zero to disable
parms.ccdSweptSphereRadius = 0.2f;
parms.terrainFriction = 0.85f;
parms.terrainHitFriction = 0.8f;
parms.terrainRestitution = 0.2f;
parms.avatarFriction = 0.85f;
parms.avatarDensity = 60f;
parms.avatarCapsuleRadius = 0.37f;
parms.avatarCapsuleHeight = 1.5f; // 2.140599f
if (config != null)
{
// If there are specifications in the ini file, use those values
// WHEN ADDING OR UPDATING THIS SECTION, BE SURE TO ALSO UPDATE OpenSimDefaults.ini
IConfig pConfig = config.Configs["ModifiedBulletSim"];
if (pConfig != null)
{
_meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim);
_forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing);
m_meshLOD = pConfig.GetInt("MeshLevelOfDetail", m_meshLOD);
m_maxSubSteps = pConfig.GetInt("MaxSubSteps", m_maxSubSteps);
m_fixedTimeStep = pConfig.GetFloat("FixedTimeStep", m_fixedTimeStep);
m_maxCollisionsPerFrame = pConfig.GetInt("MaxCollisionsPerFrame", m_maxCollisionsPerFrame);
m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame);
_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", _maximumObjectMass);
_allowJump = pConfig.GetBoolean("AllowJump", _allowJump);
_allowPreJump = pConfig.GetBoolean("AllowPreJump", _allowPreJump);
_preJumpForceMultiplier = pConfig.GetFloat("PreJumpMultiplier", _preJumpForceMultiplier);
_delayingVelocityMultiplier = pConfig.GetFloat("DelayingVelocityMultiplier",
_delayingVelocityMultiplier);
parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction);
parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity);
parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution);
parms.collisionMargin = pConfig.GetFloat("CollisionMargin", parms.collisionMargin);
parms.gravity = pConfig.GetFloat("Gravity", parms.gravity);
parms.linearDamping = pConfig.GetFloat("LinearDamping", parms.linearDamping);
parms.angularDamping = pConfig.GetFloat("AngularDamping", parms.angularDamping);
parms.deactivationTime = pConfig.GetFloat("DeactivationTime", parms.deactivationTime);
parms.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold",
parms.linearSleepingThreshold);
parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold",
parms.angularSleepingThreshold);
parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold);
parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius);
parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction);
parms.terrainHitFriction = pConfig.GetFloat("TerrainHitFriction", parms.terrainHitFriction);
parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution);
parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction);
parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity);
parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius);
parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight);
}
}
m_params[0] = parms;
}
// All default parameter values are set here. There should be no values set in the
// variable definitions.
private void GetInitialParameterValues(IConfigSource config)
{
ConfigurationParameters parms = new ConfigurationParameters();
_meshSculptedPrim = true; // mesh sculpted prims
_forceSimplePrimMeshing = false; // use complex meshing if called for
m_meshLOD = 32;
m_maxSubSteps = 10;
m_fixedTimeStep = 1f / 60f;
m_maxCollisionsPerFrame = 2048;
m_maxUpdatesPerFrame = 2048;
_maximumObjectMass = 10000.01f;
parms.defaultFriction = 0.70f;
parms.defaultDensity = 10.000006836f; // Aluminum g/cm3
parms.defaultRestitution = 0f;
parms.collisionMargin = 0.0f;
parms.gravity = -9.80665f;
parms.linearDamping = 0.0f;
parms.angularDamping = 0.0f;
parms.deactivationTime = 0.2f;
parms.linearSleepingThreshold = 0.8f;
parms.angularSleepingThreshold = 1.0f;
parms.ccdMotionThreshold = 0.5f; // set to zero to disable
parms.ccdSweptSphereRadius = 0.2f;
parms.terrainFriction = 0.85f;
parms.terrainHitFriction = 0.8f;
parms.terrainRestitution = 0.2f;
parms.avatarFriction = 0.85f;
parms.avatarDensity = 60f;
parms.avatarCapsuleRadius = 0.37f;
parms.avatarCapsuleHeight = 1.5f; // 2.140599f
if (config != null)
{
// If there are specifications in the ini file, use those values
// WHEN ADDING OR UPDATING THIS SECTION, BE SURE TO ALSO UPDATE OpenSimDefaults.ini
IConfig pConfig = config.Configs["ModifiedBulletSim"];
if (pConfig != null)
{
_meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim);
_forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing);
m_meshLOD = pConfig.GetInt("MeshLevelOfDetail", m_meshLOD);
m_maxSubSteps = pConfig.GetInt("MaxSubSteps", m_maxSubSteps);
m_fixedTimeStep = pConfig.GetFloat("FixedTimeStep", m_fixedTimeStep);
m_maxCollisionsPerFrame = pConfig.GetInt("MaxCollisionsPerFrame", m_maxCollisionsPerFrame);
m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame);
_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", _maximumObjectMass);
_allowJump = pConfig.GetBoolean("AllowJump", _allowJump);
_allowPreJump = pConfig.GetBoolean("AllowPreJump", _allowPreJump);
_preJumpForceMultiplier = pConfig.GetFloat("PreJumpMultiplier", _preJumpForceMultiplier);
_delayingVelocityMultiplier = pConfig.GetFloat("DelayingVelocityMultiplier",
_delayingVelocityMultiplier);
parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction);
parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity);
parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution);
parms.collisionMargin = pConfig.GetFloat("CollisionMargin", parms.collisionMargin);
parms.gravity = pConfig.GetFloat("Gravity", parms.gravity);
parms.linearDamping = pConfig.GetFloat("LinearDamping", parms.linearDamping);
parms.angularDamping = pConfig.GetFloat("AngularDamping", parms.angularDamping);
parms.deactivationTime = pConfig.GetFloat("DeactivationTime", parms.deactivationTime);
parms.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold",
parms.linearSleepingThreshold);
parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold",
parms.angularSleepingThreshold);
parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold);
parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius);
parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction);
parms.terrainHitFriction = pConfig.GetFloat("TerrainHitFriction", parms.terrainHitFriction);
parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution);
parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction);
parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity);
parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius);
parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight);
}
}
m_params[0] = parms;
}
public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
int maxCollisions, ref CollisionDesc[] collisionArray,
int maxUpdates, ref EntityProperties[] updateArray
)
{
/* TODO */
return new BulletWorldXNA(1, null, null);
}
// All default parameter values are set here. There should be no values set in the
// variable definitions.
private void GetInitialParameterValues(IConfigSource config)
{
ConfigurationParameters parms = new ConfigurationParameters();
_meshSculptedPrim = true; // mesh sculpted prims
_forceSimplePrimMeshing = false; // use complex meshing if called for
m_meshLOD = 8f;
m_sculptLOD = 32f;
m_detailedStatsStep = 0; // disabled
m_maxSubSteps = 10;
m_fixedTimeStep = 1f / 60f;
m_maxCollisionsPerFrame = 2048;
m_maxUpdatesPerFrame = 2048;
m_maximumObjectMass = 10000.01f;
parms.defaultFriction = 0.5f;
parms.defaultDensity = 10.000006836f; // Aluminum g/cm3
parms.defaultRestitution = 0f;
parms.collisionMargin = 0.0f;
parms.gravity = -9.80665f;
parms.linearDamping = 0.0f;
parms.angularDamping = 0.0f;
parms.deactivationTime = 0.2f;
parms.linearSleepingThreshold = 0.8f;
parms.angularSleepingThreshold = 1.0f;
parms.ccdMotionThreshold = 0.0f; // set to zero to disable
parms.ccdSweptSphereRadius = 0.0f;
parms.contactProcessingThreshold = 0.1f;
parms.terrainFriction = 0.5f;
parms.terrainHitFraction = 0.8f;
parms.terrainRestitution = 0f;
parms.avatarFriction = 0.5f;
parms.avatarRestitution = 0.0f;
parms.avatarDensity = 60f;
parms.avatarCapsuleRadius = 0.37f;
parms.avatarCapsuleHeight = 1.5f; // 2.140599f
parms.avatarContactProcessingThreshold = 0.1f;
parms.maxPersistantManifoldPoolSize = 0f;
parms.shouldDisableContactPoolDynamicAllocation = ConfigurationParameters.numericTrue;
parms.shouldForceUpdateAllAabbs = ConfigurationParameters.numericFalse;
parms.shouldRandomizeSolverOrder = ConfigurationParameters.numericFalse;
parms.shouldSplitSimulationIslands = ConfigurationParameters.numericFalse;
parms.shouldEnableFrictionCaching = ConfigurationParameters.numericFalse;
parms.numberOfSolverIterations = 0f; // means use default
if (config != null)
{
// If there are specifications in the ini file, use those values
// WHEN ADDING OR UPDATING THIS SECTION, BE SURE TO UPDATE OpenSimDefaults.ini
// ALSO REMEMBER TO UPDATE THE RUNTIME SETTING OF THE PARAMETERS.
IConfig pConfig = config.Configs["BulletSim"];
if (pConfig != null)
{
_meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim);
_forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing);
m_detailedStatsStep = pConfig.GetInt("DetailedStatsStep", m_detailedStatsStep);
m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD);
m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD);
m_maxSubSteps = pConfig.GetInt("MaxSubSteps", m_maxSubSteps);
m_fixedTimeStep = pConfig.GetFloat("FixedTimeStep", m_fixedTimeStep);
m_maxCollisionsPerFrame = pConfig.GetInt("MaxCollisionsPerFrame", m_maxCollisionsPerFrame);
m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame);
m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass);
parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction);
parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity);
parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution);
parms.collisionMargin = pConfig.GetFloat("CollisionMargin", parms.collisionMargin);
parms.gravity = pConfig.GetFloat("Gravity", parms.gravity);
parms.linearDamping = pConfig.GetFloat("LinearDamping", parms.linearDamping);
parms.angularDamping = pConfig.GetFloat("AngularDamping", parms.angularDamping);
parms.deactivationTime = pConfig.GetFloat("DeactivationTime", parms.deactivationTime);
parms.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold", parms.linearSleepingThreshold);
parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", parms.angularSleepingThreshold);
parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold);
parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius);
parms.contactProcessingThreshold = pConfig.GetFloat("ContactProcessingThreshold", parms.contactProcessingThreshold);
parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction);
parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction);
parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution);
parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction);
parms.avatarRestitution = pConfig.GetFloat("AvatarRestitution", parms.avatarRestitution);
parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity);
parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius);
parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight);
parms.avatarContactProcessingThreshold = pConfig.GetFloat("AvatarContactProcessingThreshold", parms.avatarContactProcessingThreshold);
parms.maxPersistantManifoldPoolSize = pConfig.GetFloat("MaxPersistantManifoldPoolSize", parms.maxPersistantManifoldPoolSize);
parms.shouldDisableContactPoolDynamicAllocation = ParamBoolean(pConfig, "ShouldDisableContactPoolDynamicAllocation", parms.shouldDisableContactPoolDynamicAllocation);
parms.shouldForceUpdateAllAabbs = ParamBoolean(pConfig, "ShouldForceUpdateAllAabbs", parms.shouldForceUpdateAllAabbs);
parms.shouldRandomizeSolverOrder = ParamBoolean(pConfig, "ShouldRandomizeSolverOrder", parms.shouldRandomizeSolverOrder);
parms.shouldSplitSimulationIslands = ParamBoolean(pConfig, "ShouldSplitSimulationIslands", parms.shouldSplitSimulationIslands);
parms.shouldEnableFrictionCaching = ParamBoolean(pConfig, "ShouldEnableFrictionCaching", parms.shouldEnableFrictionCaching);
parms.numberOfSolverIterations = pConfig.GetFloat("NumberOfSolverIterations", parms.numberOfSolverIterations);
}
}
m_params[0] = parms;
}
