// 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);
// 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);
m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", 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);
}
// The material characteristics.
BSMaterials.InitializeFromDefaults(Params);
if (pConfig != null)
{
// Let the user add new and interesting material property values.
BSMaterials.InitializefromParameters(pConfig);
}
}
}
public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray, int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, object mDebugLogCallbackHandle)
{
CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
p.angularDamping = o[0].XangularDamping;
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 = o[0].XlinearDamping;
p.angularDamping = o[0].XangularDamping;
p.deactivationTime = o[0].XdeactivationTime;
p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
p.ccdMotionThreshold = o[0].XccdMotionThreshold;
p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
p.terrainImplementation = o[0].XterrainImplementation;
p.terrainFriction = o[0].XterrainFriction;
p.terrainHitFraction = o[0].XterrainHitFraction;
p.terrainRestitution = o[0].XterrainRestitution;
p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
p.avatarFriction = o[0].XavatarFriction;
p.avatarStandingFriction = o[0].XavatarStandingFriction;
p.avatarDensity = o[0].XavatarDensity;
p.avatarRestitution = o[0].XavatarRestitution;
p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
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 = o[0].XlinksetImplementation;
p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
p.linkConstraintERP = o[0].XlinkConstraintERP;
p.linkConstraintCFM = o[0].XlinkConstraintCFM;
p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
p.physicsLoggingFrames = o[0].physicsLoggingFrames;
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.UpdatedObjects = updateArray;
world.UpdatedCollisions = collisionArray;
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);
world.SetGravity(new IndexedVector3(0,0,p.gravity));
return world;
}
// 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);
}
