moved some hardcoded constants into tweaking tresholds

exposed those tresholds to python (more 'expert' settings)

6 files changed, 101 insertions, 23 deletions

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 19c4632820c..8f532aafa9e 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -7,7 +7,11 @@
 
 class BP_Proxy;
 
-bool gEnableSleeping = false;//false;//true;
+//'temporarily' global variables
+float	gDeactivationTime = 0.f;
+float gLinearSleepingTreshold = 0.8f;
+float gAngularSleepingTreshold = 1.0f;
+
 #include "Dynamics/MassProps.h"
 
 SimdVector3 startVel(0,0,0);//-10000);
@@ -190,27 +194,19 @@ void		CcdPhysicsController::setNewClientInfo(void* clientinfo)
 
 }
 
-#ifdef WIN32
-float gSleepingTreshold = 0.8f;
-float gAngularSleepingTreshold = 1.f;
-
-#else
-
-float gSleepingTreshold = 0.8f;
-float gAngularSleepingTreshold = 1.0f;
-#endif
 
 
 bool CcdPhysicsController::wantsSleeping()
 {
 
-	if (!gEnableSleeping)
+	//disable deactivation
+	if (gDeactivationTime == 0.f)
 		return false;
 
 	if ( (m_body->GetActivationState() == 3) || (m_body->GetActivationState() == 2))
 		return true;
 
-	if ((m_body->getLinearVelocity().length2() < gSleepingTreshold*gSleepingTreshold) &&
+	if ((m_body->getLinearVelocity().length2() < gLinearSleepingTreshold*gLinearSleepingTreshold) &&
 		(m_body->getAngularVelocity().length2() < gAngularSleepingTreshold*gAngularSleepingTreshold))
 	{
 		m_sleepingCounter++;
@@ -219,7 +215,7 @@ bool CcdPhysicsController::wantsSleeping()
 		m_sleepingCounter=0;
 	}
 
-	if (m_sleepingCounter> 150)
+	if (m_sleepingCounter> gDeactivationTime)
 	{
 		return true;
 	}
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index 235931ebab4..53991e202e9 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -10,6 +10,11 @@
 #include "SimdScalar.h"	
 class CollisionShape;
 
+extern float gDeactivationTime;
+extern float gLinearSleepingTreshold;
+extern float gAngularSleepingTreshold;
+
+
 struct CcdConstructionInfo
 {
 	CcdConstructionInfo()
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 94ecfe27de2..0b1878fdf67 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -33,8 +33,6 @@ bool useIslands = true;
 //#include "BroadphaseCollision/QueryBox.h"
 //todo: change this to allow dynamic registration of types!
 
-unsigned long gNumIterations = 10;
-
 #ifdef WIN32
 void DrawRasterizerLine(const float* from,const float* to,int color);
 #endif
@@ -88,13 +86,16 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV
 CcdPhysicsEnvironment::CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher,BroadphaseInterface* bp)
 :m_dispatcher(dispatcher),
 m_broadphase(bp),
-m_scalingPropagated(false)
+m_scalingPropagated(false),
+m_numIterations(30),
+m_ccdMode(0)
 {
 	if (!m_dispatcher)
 	{
 		OdeConstraintSolver* solver = new OdeConstraintSolver();
 		//SimpleConstraintSolver* solver= new SimpleConstraintSolver();
 		m_dispatcher = new ToiContactDispatcher(solver);
+
 	}
 	if (!m_broadphase)
 	{
@@ -290,7 +291,6 @@ void	CcdPhysicsEnvironment::UpdateActivationState()
 	
 }
 
-bool gPredictCollision = false;//true;//false;
 
 
 /// Perform an integration step of duration 'timeStep'.
@@ -346,7 +346,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 	
 	
 	
-	int numsubstep = gNumIterations;
+	int numsubstep = m_numIterations;
 	
 	
 	DispatcherInfo dispatchInfo;
@@ -367,7 +367,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 	//contacts
 
 	
-	m_dispatcher->SolveConstraints(timeStep, gNumIterations ,numRigidBodies,m_debugDrawer);
+	m_dispatcher->SolveConstraints(timeStep, m_numIterations ,numRigidBodies,m_debugDrawer);
 
 	for (int g=0;g<numsubstep;g++)
 	{
@@ -454,7 +454,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 
 
 			
-			if (gPredictCollision)
+			if (m_ccdMode == 3)
 			{
 				DispatcherInfo dispatchInfo;
 				dispatchInfo.m_timeStep = timeStep;
@@ -548,7 +548,7 @@ void		CcdPhysicsEnvironment::setDebugMode(int debugMode)
 		if (m_dispatcher)
 			delete m_dispatcher;
 
-		if (debugMode == 11)
+		if (debugMode > 100)
 		{
 			SimpleConstraintSolver* solver= new SimpleConstraintSolver();
 			m_dispatcher = new ToiContactDispatcher(solver);
@@ -563,6 +563,51 @@ void		CcdPhysicsEnvironment::setDebugMode(int debugMode)
 	}
 }
 
+void		CcdPhysicsEnvironment::setNumIterations(int numIter)
+{
+	m_numIterations = numIter;
+}
+void		CcdPhysicsEnvironment::setDeactivationTime(float dTime)
+{
+	gDeactivationTime = dTime;
+}
+void		CcdPhysicsEnvironment::setDeactivationLinearTreshold(float linTresh)
+{
+	gLinearSleepingTreshold = linTresh;
+}
+void		CcdPhysicsEnvironment::setDeactivationAngularTreshold(float angTresh) 
+{
+	gAngularSleepingTreshold = angTresh;
+}
+void		CcdPhysicsEnvironment::setContactBreakingTreshold(float contactBreakingTreshold)
+{
+	gContactBreakingTreshold = contactBreakingTreshold;
+	
+}
+
+
+void		CcdPhysicsEnvironment::setCcdMode(int ccdMode)
+{
+	m_ccdMode = ccdMode;
+}
+
+
+void		CcdPhysicsEnvironment::setSolverSorConstant(float sor)
+{
+	m_dispatcher->SetSor(sor);
+}
+
+void		CcdPhysicsEnvironment::setTau(float tau)
+{
+	m_dispatcher->SetTau(tau);
+}
+void		CcdPhysicsEnvironment::setDamping(float damping)
+{
+	m_dispatcher->SetDamping(damping);
+}
+
+
+
 
 void	CcdPhysicsEnvironment::SyncMotionStates(float timeStep)
 {
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
index be6f6c648c7..5e98ffd2473 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h
@@ -26,6 +26,8 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 	SimdVector3 m_gravity;
 	BroadphaseInterface*	m_broadphase;
 	IDebugDraw*	m_debugDrawer;
+	int	m_numIterations;
+	int	m_ccdMode;
 	
 	public:
 		CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);
@@ -43,6 +45,16 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 			m_debugDrawer = debugDrawer;
 		}
 
+		virtual void		setNumIterations(int numIter);
+		virtual void		setDeactivationTime(float dTime);
+		virtual	void		setDeactivationLinearTreshold(float linTresh) ;
+		virtual	void		setDeactivationAngularTreshold(float angTresh) ;
+		virtual void		setContactBreakingTreshold(float contactBreakingTreshold) ;
+		virtual void		setCcdMode(int ccdMode);
+		virtual void		setSolverSorConstant(float sor);
+		virtual void		setTau(float tau);
+		virtual void		setDamping(float damping);
+
 
 		virtual	void		beginFrame() {};
 		virtual void		endFrame() {};
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsController.h b/source/gameengine/Physics/common/PHY_IPhysicsController.h
index cdf203ac17e..931dc0e988c 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsController.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsController.h
@@ -34,12 +34,12 @@
 
 #include "PHY_DynamicTypes.h"
 
+
+
 /**
 	PHY_IPhysicsController is the abstract simplified Interface to a physical object.
 	It contains the IMotionState and IDeformableMesh Interfaces.
 */
-
-
 class PHY_IPhysicsController	
 {
 
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
index ca856598772..96b0eda326f 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h
@@ -51,7 +51,27 @@ class PHY_IPhysicsEnvironment
 		//returns 0.f if no fixed timestep is used
 		virtual	float		getFixedTimeStep()=0;
 
+		///setDebugMode is used to support several ways of debug lines, contact point visualization
 		virtual void		setDebugMode(int debugMode) {}
+		///setNumIterations set the number of iterations for iterative solvers
+		virtual void		setNumIterations(int numIter) {}
+		///setDeactivationTime sets the minimum time that an objects has to stay within the velocity tresholds until it gets fully deactivated
+		virtual void		setDeactivationTime(float dTime) {}
+		///setDeactivationLinearTreshold sets the linear velocity treshold, see setDeactivationTime
+		virtual	void		setDeactivationLinearTreshold(float linTresh) {}
+		///setDeactivationAngularTreshold sets the angular velocity treshold, see setDeactivationTime
+		virtual	void		setDeactivationAngularTreshold(float angTresh) {}
+		///setContactBreakingTreshold sets tresholds to do with contact point management
+		virtual void		setContactBreakingTreshold(float contactBreakingTreshold) {}
+		///continuous collision detection mode, very experimental for Bullet
+		virtual void		setCcdMode(int ccdMode) {}
+		///successive overrelaxation constant, in case PSOR is used, values in between 1 and 2 guarantee converging behaviour
+		virtual void		setSolverSorConstant(float sor) {}
+		///setTau sets the spring constant of a penalty based solver
+		virtual void		setTau(float tau) {}
+		///setDamping sets the damper constant of a penalty based solver
+		virtual void		setDamping(float damping) {}
+
 		virtual	void		setGravity(float x,float y,float z)=0;
 
 		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,