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1 vero 1 /*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 using System;
28 using System.Collections.Generic;
29 using System.Reflection;
30 using System.Text;
31  
32 using OpenSim.Region.Physics.Manager;
33  
34 using OpenMetaverse;
35 using Nini.Config;
36  
37 namespace OpenSim.Region.Physics.BulletSPlugin
38 {
39 public static class BSParam
40 {
41 private static string LogHeader = "[BULLETSIM PARAMETERS]";
42  
43 // Tuning notes:
44 // From: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6575
45 // Contact points can be added even if the distance is positive. The constraint solver can deal with
46 // contacts with positive distances as well as negative (penetration). Contact points are discarded
47 // if the distance exceeds a certain threshold.
48 // Bullet has a contact processing threshold and a contact breaking threshold.
49 // If the distance is larger than the contact breaking threshold, it will be removed after one frame.
50 // If the distance is larger than the contact processing threshold, the constraint solver will ignore it.
51  
52 // This is separate/independent from the collision margin. The collision margin increases the object a bit
53 // to improve collision detection performance and accuracy.
54 // ===================
55 // From:
56  
57 /// <summary>
58 /// Set whether physics is active or not.
59 /// </summary>
60 /// <remarks>
61 /// Can be enabled and disabled to start and stop physics.
62 /// </remarks>
63 public static bool Active { get; private set; }
64  
65 public static bool UseSeparatePhysicsThread { get; private set; }
66 public static float PhysicsTimeStep { get; private set; }
67  
68 // Level of Detail values kept as float because that's what the Meshmerizer wants
69 public static float MeshLOD { get; private set; }
70 public static float MeshCircularLOD { get; private set; }
71 public static float MeshMegaPrimLOD { get; private set; }
72 public static float MeshMegaPrimThreshold { get; private set; }
73 public static float SculptLOD { get; private set; }
74  
75 public static int CrossingFailuresBeforeOutOfBounds { get; private set; }
76 public static float UpdateVelocityChangeThreshold { get; private set; }
77  
78 public static float MinimumObjectMass { get; private set; }
79 public static float MaximumObjectMass { get; private set; }
80 public static float MaxLinearVelocity { get; private set; }
81 public static float MaxLinearVelocitySquared { get; private set; }
82 public static float MaxAngularVelocity { get; private set; }
83 public static float MaxAngularVelocitySquared { get; private set; }
84 public static float MaxAddForceMagnitude { get; private set; }
85 public static float MaxAddForceMagnitudeSquared { get; private set; }
86 public static float DensityScaleFactor { get; private set; }
87  
88 public static float LinearDamping { get; private set; }
89 public static float AngularDamping { get; private set; }
90 public static float DeactivationTime { get; private set; }
91 public static float LinearSleepingThreshold { get; private set; }
92 public static float AngularSleepingThreshold { get; private set; }
93 public static float CcdMotionThreshold { get; private set; }
94 public static float CcdSweptSphereRadius { get; private set; }
95 public static float ContactProcessingThreshold { get; private set; }
96  
97 public static bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed
98 public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
99 public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects
100 public static bool ShouldRemoveZeroWidthTriangles { get; private set; }
101 public static bool ShouldUseBulletHACD { get; set; }
102 public static bool ShouldUseSingleConvexHullForPrims { get; set; }
103 public static bool ShouldUseGImpactShapeForPrims { get; set; }
104 public static bool ShouldUseAssetHulls { get; set; }
105  
106 public static float TerrainImplementation { get; set; }
107 public static int TerrainMeshMagnification { get; private set; }
108 public static float TerrainGroundPlane { get; private set; }
109 public static float TerrainFriction { get; private set; }
110 public static float TerrainHitFraction { get; private set; }
111 public static float TerrainRestitution { get; private set; }
112 public static float TerrainContactProcessingThreshold { get; private set; }
113 public static float TerrainCollisionMargin { get; private set; }
114  
115 public static float DefaultFriction { get; private set; }
116 public static float DefaultDensity { get; private set; }
117 public static float DefaultRestitution { get; private set; }
118 public static float CollisionMargin { get; private set; }
119 public static float Gravity { get; private set; }
120  
121 // Physics Engine operation
122 public static float MaxPersistantManifoldPoolSize { get; private set; }
123 public static float MaxCollisionAlgorithmPoolSize { get; private set; }
124 public static bool ShouldDisableContactPoolDynamicAllocation { get; private set; }
125 public static bool ShouldForceUpdateAllAabbs { get; private set; }
126 public static bool ShouldRandomizeSolverOrder { get; private set; }
127 public static bool ShouldSplitSimulationIslands { get; private set; }
128 public static bool ShouldEnableFrictionCaching { get; private set; }
129 public static float NumberOfSolverIterations { get; private set; }
130 public static bool UseSingleSidedMeshes { get; private set; }
131 public static float GlobalContactBreakingThreshold { get; private set; }
132 public static float PhysicsUnmanLoggingFrames { get; private set; }
133  
134 // Avatar parameters
135 public static float AvatarFriction { get; private set; }
136 public static float AvatarStandingFriction { get; private set; }
137 public static float AvatarAlwaysRunFactor { get; private set; }
138 public static float AvatarDensity { get; private set; }
139 public static float AvatarRestitution { get; private set; }
140 public static int AvatarShape { get; private set; }
141 public static float AvatarCapsuleWidth { get; private set; }
142 public static float AvatarCapsuleDepth { get; private set; }
143 public static float AvatarCapsuleHeight { get; private set; }
144 public static float AvatarHeightLowFudge { get; private set; }
145 public static float AvatarHeightMidFudge { get; private set; }
146 public static float AvatarHeightHighFudge { get; private set; }
147 public static float AvatarFlyingGroundMargin { get; private set; }
148 public static float AvatarFlyingGroundUpForce { get; private set; }
149 public static float AvatarTerminalVelocity { get; private set; }
150 public static float AvatarContactProcessingThreshold { get; private set; }
151 public static float AvatarStopZeroThreshold { get; private set; }
152 public static int AvatarJumpFrames { get; private set; }
153 public static float AvatarBelowGroundUpCorrectionMeters { get; private set; }
154 public static float AvatarStepHeight { get; private set; }
155 public static float AvatarStepApproachFactor { get; private set; }
156 public static float AvatarStepForceFactor { get; private set; }
157 public static float AvatarStepUpCorrectionFactor { get; private set; }
158 public static int AvatarStepSmoothingSteps { get; private set; }
159  
160 // Vehicle parameters
161 public static float VehicleMaxLinearVelocity { get; private set; }
162 public static float VehicleMaxLinearVelocitySquared { get; private set; }
163 public static float VehicleMinLinearVelocity { get; private set; }
164 public static float VehicleMinLinearVelocitySquared { get; private set; }
165 public static float VehicleMaxAngularVelocity { get; private set; }
166 public static float VehicleMaxAngularVelocitySq { get; private set; }
167 public static float VehicleAngularDamping { get; private set; }
168 public static float VehicleFriction { get; private set; }
169 public static float VehicleRestitution { get; private set; }
170 public static Vector3 VehicleLinearFactor { get; private set; }
171 public static Vector3 VehicleAngularFactor { get; private set; }
172 public static Vector3 VehicleInertiaFactor { get; private set; }
173 public static float VehicleGroundGravityFudge { get; private set; }
174 public static float VehicleAngularBankingTimescaleFudge { get; private set; }
175 public static bool VehicleEnableLinearDeflection { get; private set; }
176 public static bool VehicleLinearDeflectionNotCollidingNoZ { get; private set; }
177 public static bool VehicleEnableAngularVerticalAttraction { get; private set; }
178 public static int VehicleAngularVerticalAttractionAlgorithm { get; private set; }
179 public static bool VehicleEnableAngularDeflection { get; private set; }
180 public static bool VehicleEnableAngularBanking { get; private set; }
181  
182 // Convex Hulls
183 public static int CSHullMaxDepthSplit { get; private set; }
184 public static int CSHullMaxDepthSplitForSimpleShapes { get; private set; }
185 public static float CSHullConcavityThresholdPercent { get; private set; }
186 public static float CSHullVolumeConservationThresholdPercent { get; private set; }
187 public static int CSHullMaxVertices { get; private set; }
188 public static float CSHullMaxSkinWidth { get; private set; }
189 public static float BHullMaxVerticesPerHull { get; private set; } // 100
190 public static float BHullMinClusters { get; private set; } // 2
191 public static float BHullCompacityWeight { get; private set; } // 0.1
192 public static float BHullVolumeWeight { get; private set; } // 0.0
193 public static float BHullConcavity { get; private set; } // 100
194 public static bool BHullAddExtraDistPoints { get; private set; } // false
195 public static bool BHullAddNeighboursDistPoints { get; private set; } // false
196 public static bool BHullAddFacesPoints { get; private set; } // false
197 public static bool BHullShouldAdjustCollisionMargin { get; private set; } // false
198  
199 // Linkset implementation parameters
200 public static float LinksetImplementation { get; private set; }
201 public static bool LinksetOffsetCenterOfMass { get; private set; }
202 public static bool LinkConstraintUseFrameOffset { get; private set; }
203 public static bool LinkConstraintEnableTransMotor { get; private set; }
204 public static float LinkConstraintTransMotorMaxVel { get; private set; }
205 public static float LinkConstraintTransMotorMaxForce { get; private set; }
206 public static float LinkConstraintERP { get; private set; }
207 public static float LinkConstraintCFM { get; private set; }
208 public static float LinkConstraintSolverIterations { get; private set; }
209  
210 public static float PID_D { get; private set; } // derivative
211 public static float PID_P { get; private set; } // proportional
212  
213 // Various constants that come from that other virtual world that shall not be named.
214 public const float MinGravityZ = -1f;
215 public const float MaxGravityZ = 28f;
216 public const float MinFriction = 0f;
217 public const float MaxFriction = 255f;
218 public const float MinDensity = 0.01f;
219 public const float MaxDensity = 22587f;
220 public const float MinRestitution = 0f;
221 public const float MaxRestitution = 1f;
222  
223 // =====================================================================================
224 // =====================================================================================
225  
226 // Base parameter definition that gets and sets parameter values via a string
227 public abstract class ParameterDefnBase
228 {
229 public string name; // string name of the parameter
230 public string desc; // a short description of what the parameter means
231 public ParameterDefnBase(string pName, string pDesc)
232 {
233 name = pName;
234 desc = pDesc;
235 }
236 // Set the parameter value to the default
237 public abstract void AssignDefault(BSScene s);
238 // Get the value as a string
239 public abstract string GetValue(BSScene s);
240 // Set the value to this string value
241 public abstract void SetValue(BSScene s, string valAsString);
242 // set the value on a particular object (usually sets in physics engine)
243 public abstract void SetOnObject(BSScene s, BSPhysObject obj);
244 public abstract bool HasSetOnObject { get; }
245 }
246  
247 // Specific parameter definition for a parameter of a specific type.
248 public delegate T PGetValue<T>(BSScene s);
249 public delegate void PSetValue<T>(BSScene s, T val);
250 public delegate void PSetOnObject<T>(BSScene scene, BSPhysObject obj);
251 public sealed class ParameterDefn<T> : ParameterDefnBase
252 {
253 private T defaultValue;
254 private PSetValue<T> setter;
255 private PGetValue<T> getter;
256 private PSetOnObject<T> objectSet;
257 public ParameterDefn(string pName, string pDesc, T pDefault, PGetValue<T> pGetter, PSetValue<T> pSetter)
258 : base(pName, pDesc)
259 {
260 defaultValue = pDefault;
261 setter = pSetter;
262 getter = pGetter;
263 objectSet = null;
264 }
265 public ParameterDefn(string pName, string pDesc, T pDefault, PGetValue<T> pGetter, PSetValue<T> pSetter, PSetOnObject<T> pObjSetter)
266 : base(pName, pDesc)
267 {
268 defaultValue = pDefault;
269 setter = pSetter;
270 getter = pGetter;
271 objectSet = pObjSetter;
272 }
273 // Simple parameter variable where property name is the same as the INI file name
274 // and the value is only a simple get and set.
275 public ParameterDefn(string pName, string pDesc, T pDefault)
276 : base(pName, pDesc)
277 {
278 defaultValue = pDefault;
279 setter = (s, v) => { SetValueByName(s, name, v); };
280 getter = (s) => { return GetValueByName(s, name); };
281 objectSet = null;
282 }
283 // Use reflection to find the property named 'pName' in BSParam and assign 'val' to same.
284 private void SetValueByName(BSScene s, string pName, T val)
285 {
286 PropertyInfo prop = typeof(BSParam).GetProperty(pName, BindingFlags.Public | BindingFlags.Static | BindingFlags.FlattenHierarchy);
287 if (prop == null)
288 {
289 // This should only be output when someone adds a new INI parameter and misspells the name.
290 s.Logger.ErrorFormat("{0} SetValueByName: did not find '{1}'. Verify specified property name is the same as the given INI parameters name.", LogHeader, pName);
291 }
292 else
293 {
294 prop.SetValue(null, val, null);
295 }
296 }
297 // Use reflection to find the property named 'pName' in BSParam and return the value in same.
298 private T GetValueByName(BSScene s, string pName)
299 {
300 PropertyInfo prop = typeof(BSParam).GetProperty(pName, BindingFlags.Public | BindingFlags.Static | BindingFlags.FlattenHierarchy);
301 if (prop == null)
302 {
303 // This should only be output when someone adds a new INI parameter and misspells the name.
304 s.Logger.ErrorFormat("{0} GetValueByName: did not find '{1}'. Verify specified property name is the same as the given INI parameter name.", LogHeader, pName);
305 }
306 return (T)prop.GetValue(null, null);
307 }
308 public override void AssignDefault(BSScene s)
309 {
310 setter(s, defaultValue);
311 }
312 public override string GetValue(BSScene s)
313 {
314 return getter(s).ToString();
315 }
316 public override void SetValue(BSScene s, string valAsString)
317 {
318 // Get the generic type of the setter
319 Type genericType = setter.GetType().GetGenericArguments()[0];
320 // Find the 'Parse' method on that type
321 System.Reflection.MethodInfo parser = null;
322 try
323 {
324 parser = genericType.GetMethod("Parse", new Type[] { typeof(String) } );
325 }
326 catch (Exception e)
327 {
328 s.Logger.ErrorFormat("{0} Exception getting parser for type '{1}': {2}", LogHeader, genericType, e);
329 parser = null;
330 }
331 if (parser != null)
332 {
333 // Parse the input string
334 try
335 {
336 T setValue = (T)parser.Invoke(genericType, new Object[] { valAsString });
337 // Store the parsed value
338 setter(s, setValue);
339 // s.Logger.DebugFormat("{0} Parameter {1} = {2}", LogHeader, name, setValue);
340 }
341 catch
342 {
343 s.Logger.ErrorFormat("{0} Failed parsing parameter value '{1}' as type '{2}'", LogHeader, valAsString, genericType);
344 }
345 }
346 else
347 {
348 s.Logger.ErrorFormat("{0} Could not find parameter parser for type '{1}'", LogHeader, genericType);
349 }
350 }
351 public override bool HasSetOnObject
352 {
353 get { return objectSet != null; }
354 }
355 public override void SetOnObject(BSScene s, BSPhysObject obj)
356 {
357 if (objectSet != null)
358 objectSet(s, obj);
359 }
360 }
361  
362 // List of all of the externally visible parameters.
363 // For each parameter, this table maps a text name to getter and setters.
364 // To add a new externally referencable/settable parameter, add the paramter storage
365 // location somewhere in the program and make an entry in this table with the
366 // getters and setters.
367 // It is easiest to find an existing definition and copy it.
368 //
369 // A ParameterDefn<T>() takes the following parameters:
370 // -- the text name of the parameter. This is used for console input and ini file.
371 // -- a short text description of the parameter. This shows up in the console listing.
372 // -- a default value
373 // -- a delegate for getting the value
374 // -- a delegate for setting the value
375 // -- an optional delegate to update the value in the world. Most often used to
376 // push the new value to an in-world object.
377 //
378 // The single letter parameters for the delegates are:
379 // s = BSScene
380 // o = BSPhysObject
381 // v = value (appropriate type)
382 private static ParameterDefnBase[] ParameterDefinitions =
383 {
384 new ParameterDefn<bool>("Active", "If 'true', false then physics is not active",
385 false ),
386 new ParameterDefn<bool>("UseSeparatePhysicsThread", "If 'true', the physics engine runs independent from the simulator heartbeat",
387 false ),
388 new ParameterDefn<float>("PhysicsTimeStep", "If separate thread, seconds to simulate each interval",
389 0.089f ),
390  
391 new ParameterDefn<bool>("MeshSculptedPrim", "Whether to create meshes for sculpties",
392 true,
393 (s) => { return ShouldMeshSculptedPrim; },
394 (s,v) => { ShouldMeshSculptedPrim = v; } ),
395 new ParameterDefn<bool>("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
396 false,
397 (s) => { return ShouldForceSimplePrimMeshing; },
398 (s,v) => { ShouldForceSimplePrimMeshing = v; } ),
399 new ParameterDefn<bool>("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
400 true,
401 (s) => { return ShouldUseHullsForPhysicalObjects; },
402 (s,v) => { ShouldUseHullsForPhysicalObjects = v; } ),
403 new ParameterDefn<bool>("ShouldRemoveZeroWidthTriangles", "If true, remove degenerate triangles from meshes",
404 true ),
405 new ParameterDefn<bool>("ShouldUseBulletHACD", "If true, use the Bullet version of HACD",
406 false ),
407 new ParameterDefn<bool>("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims",
408 true ),
409 new ParameterDefn<bool>("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists",
410 false ),
411 new ParameterDefn<bool>("ShouldUseAssetHulls", "If true, use hull if specified in the mesh asset info",
412 true ),
413  
414 new ParameterDefn<int>("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions",
415 5 ),
416 new ParameterDefn<float>("UpdateVelocityChangeThreshold", "Change in updated velocity required before reporting change to simulator",
417 0.1f ),
418  
419 new ParameterDefn<float>("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
420 32f,
421 (s) => { return MeshLOD; },
422 (s,v) => { MeshLOD = v; } ),
423 new ParameterDefn<float>("MeshLevelOfDetailCircular", "Level of detail for prims with circular cuts or shapes",
424 32f,
425 (s) => { return MeshCircularLOD; },
426 (s,v) => { MeshCircularLOD = v; } ),
427 new ParameterDefn<float>("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
428 10f,
429 (s) => { return MeshMegaPrimThreshold; },
430 (s,v) => { MeshMegaPrimThreshold = v; } ),
431 new ParameterDefn<float>("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
432 32f,
433 (s) => { return MeshMegaPrimLOD; },
434 (s,v) => { MeshMegaPrimLOD = v; } ),
435 new ParameterDefn<float>("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
436 32f,
437 (s) => { return SculptLOD; },
438 (s,v) => { SculptLOD = v; } ),
439  
440 new ParameterDefn<int>("MaxSubStep", "In simulation step, maximum number of substeps",
441 10,
442 (s) => { return s.m_maxSubSteps; },
443 (s,v) => { s.m_maxSubSteps = (int)v; } ),
444 new ParameterDefn<float>("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
445 1f / 60f,
446 (s) => { return s.m_fixedTimeStep; },
447 (s,v) => { s.m_fixedTimeStep = v; } ),
448 new ParameterDefn<float>("NominalFrameRate", "The base frame rate we claim",
449 55f,
450 (s) => { return s.NominalFrameRate; },
451 (s,v) => { s.NominalFrameRate = (int)v; } ),
452 new ParameterDefn<int>("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
453 2048,
454 (s) => { return s.m_maxCollisionsPerFrame; },
455 (s,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
456 new ParameterDefn<int>("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
457 8000,
458 (s) => { return s.m_maxUpdatesPerFrame; },
459 (s,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
460  
461 new ParameterDefn<float>("MinObjectMass", "Minimum object mass (0.0001)",
462 0.0001f,
463 (s) => { return MinimumObjectMass; },
464 (s,v) => { MinimumObjectMass = v; } ),
465 new ParameterDefn<float>("MaxObjectMass", "Maximum object mass (10000.01)",
466 10000.01f,
467 (s) => { return MaximumObjectMass; },
468 (s,v) => { MaximumObjectMass = v; } ),
469 new ParameterDefn<float>("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object",
470 1000.0f,
471 (s) => { return MaxLinearVelocity; },
472 (s,v) => { MaxLinearVelocity = v; MaxLinearVelocitySquared = v * v; } ),
473 new ParameterDefn<float>("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object",
474 1000.0f,
475 (s) => { return MaxAngularVelocity; },
476 (s,v) => { MaxAngularVelocity = v; MaxAngularVelocitySquared = v * v; } ),
477 // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject
478 new ParameterDefn<float>("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
479 20000.0f,
480 (s) => { return MaxAddForceMagnitude; },
481 (s,v) => { MaxAddForceMagnitude = v; MaxAddForceMagnitudeSquared = v * v; } ),
482 // Density is passed around as 100kg/m3. This scales that to 1kg/m3.
483 // Reduce by power of 100 because Bullet doesn't seem to handle objects with large mass very well
484 new ParameterDefn<float>("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
485 0.01f ),
486  
487 new ParameterDefn<float>("PID_D", "Derivitive factor for motion smoothing",
488 2200f ),
489 new ParameterDefn<float>("PID_P", "Parameteric factor for motion smoothing",
490 900f ),
491  
492 new ParameterDefn<float>("DefaultFriction", "Friction factor used on new objects",
493 0.2f,
494 (s) => { return DefaultFriction; },
495 (s,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ),
496 // For historical reasons, the viewer and simulator multiply the density by 100
497 new ParameterDefn<float>("DefaultDensity", "Density for new objects" ,
498 1000.0006836f, // Aluminum g/cm3 * 100
499 (s) => { return DefaultDensity; },
500 (s,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ),
501 new ParameterDefn<float>("DefaultRestitution", "Bouncyness of an object" ,
502 0f,
503 (s) => { return DefaultRestitution; },
504 (s,v) => { DefaultRestitution = v; s.UnmanagedParams[0].defaultRestitution = v; } ),
505 new ParameterDefn<float>("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
506 0.04f,
507 (s) => { return CollisionMargin; },
508 (s,v) => { CollisionMargin = v; s.UnmanagedParams[0].collisionMargin = v; } ),
509 new ParameterDefn<float>("Gravity", "Vertical force of gravity (negative means down)",
510 -9.80665f,
511 (s) => { return Gravity; },
512 (s,v) => { Gravity = v; s.UnmanagedParams[0].gravity = v; },
513 (s,o) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,Gravity)); } ),
514  
515  
516 new ParameterDefn<float>("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
517 0f,
518 (s) => { return LinearDamping; },
519 (s,v) => { LinearDamping = v; },
520 (s,o) => { s.PE.SetDamping(o.PhysBody, LinearDamping, AngularDamping); } ),
521 new ParameterDefn<float>("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
522 0f,
523 (s) => { return AngularDamping; },
524 (s,v) => { AngularDamping = v; },
525 (s,o) => { s.PE.SetDamping(o.PhysBody, LinearDamping, AngularDamping); } ),
526 new ParameterDefn<float>("DeactivationTime", "Seconds before considering an object potentially static",
527 0.2f,
528 (s) => { return DeactivationTime; },
529 (s,v) => { DeactivationTime = v; },
530 (s,o) => { s.PE.SetDeactivationTime(o.PhysBody, DeactivationTime); } ),
531 new ParameterDefn<float>("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
532 0.8f,
533 (s) => { return LinearSleepingThreshold; },
534 (s,v) => { LinearSleepingThreshold = v;},
535 (s,o) => { s.PE.SetSleepingThresholds(o.PhysBody, LinearSleepingThreshold, AngularSleepingThreshold); } ),
536 new ParameterDefn<float>("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
537 1.0f,
538 (s) => { return AngularSleepingThreshold; },
539 (s,v) => { AngularSleepingThreshold = v;},
540 (s,o) => { s.PE.SetSleepingThresholds(o.PhysBody, LinearSleepingThreshold, AngularSleepingThreshold); } ),
541 new ParameterDefn<float>("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
542 0.0f, // set to zero to disable
543 (s) => { return CcdMotionThreshold; },
544 (s,v) => { CcdMotionThreshold = v;},
545 (s,o) => { s.PE.SetCcdMotionThreshold(o.PhysBody, CcdMotionThreshold); } ),
546 new ParameterDefn<float>("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
547 0.2f,
548 (s) => { return CcdSweptSphereRadius; },
549 (s,v) => { CcdSweptSphereRadius = v;},
550 (s,o) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, CcdSweptSphereRadius); } ),
551 new ParameterDefn<float>("ContactProcessingThreshold", "Distance above which contacts can be discarded (0 means no discard)" ,
552 0.0f,
553 (s) => { return ContactProcessingThreshold; },
554 (s,v) => { ContactProcessingThreshold = v;},
555 (s,o) => { s.PE.SetContactProcessingThreshold(o.PhysBody, ContactProcessingThreshold); } ),
556  
557 new ParameterDefn<float>("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
558 (float)BSTerrainPhys.TerrainImplementation.Heightmap ),
559 new ParameterDefn<int>("TerrainMeshMagnification", "Number of times the 256x256 heightmap is multiplied to create the terrain mesh" ,
560 2 ),
561 new ParameterDefn<float>("TerrainGroundPlane", "Altitude of ground plane used to keep things from falling to infinity" ,
562 -500.0f ),
563 new ParameterDefn<float>("TerrainFriction", "Factor to reduce movement against terrain surface" ,
564 0.3f ),
565 new ParameterDefn<float>("TerrainHitFraction", "Distance to measure hit collisions" ,
566 0.8f ),
567 new ParameterDefn<float>("TerrainRestitution", "Bouncyness" ,
568 0f ),
569 new ParameterDefn<float>("TerrainContactProcessingThreshold", "Distance from terrain to stop processing collisions" ,
570 0.0f ),
571 new ParameterDefn<float>("TerrainCollisionMargin", "Margin where collision checking starts" ,
572 0.04f ),
573  
574 new ParameterDefn<float>("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
575 0.2f ),
576 new ParameterDefn<float>("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
577 0.95f ),
578 new ParameterDefn<float>("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
579 1.3f ),
580 // For historical reasons, density is reported * 100
581 new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation. Scaled times 100.",
582 3500f) , // 3.5 * 100
583 new ParameterDefn<float>("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
584 0f ),
585 new ParameterDefn<int>("AvatarShape", "Code for avatar physical shape: 0:capsule, 1:cube, 2:ovoid, 2:mesh",
586 BSShapeCollection.AvatarShapeCube ) ,
587 new ParameterDefn<float>("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
588 0.6f ) ,
589 new ParameterDefn<float>("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
590 0.45f ),
591 new ParameterDefn<float>("AvatarCapsuleHeight", "Default height of space around avatar",
592 1.5f ),
593 new ParameterDefn<float>("AvatarHeightLowFudge", "A fudge factor to make small avatars stand on the ground",
594 0f ),
595 new ParameterDefn<float>("AvatarHeightMidFudge", "A fudge distance to adjust average sized avatars to be standing on ground",
596 0f ),
597 new ParameterDefn<float>("AvatarHeightHighFudge", "A fudge factor to make tall avatars stand on the ground",
598 0f ),
599 new ParameterDefn<float>("AvatarFlyingGroundMargin", "Meters avatar is kept above the ground when flying",
600 5f ),
601 new ParameterDefn<float>("AvatarFlyingGroundUpForce", "Upward force applied to the avatar to keep it at flying ground margin",
602 2.0f ),
603 new ParameterDefn<float>("AvatarTerminalVelocity", "Terminal Velocity of falling avatar",
604 -54.0f ),
605 new ParameterDefn<float>("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
606 0.1f ),
607 new ParameterDefn<float>("AvatarStopZeroThreshold", "Movement velocity below which avatar is assumed to be stopped",
608 0.1f ),
609 new ParameterDefn<float>("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground",
610 1.0f ),
611 new ParameterDefn<int>("AvatarJumpFrames", "Number of frames to allow jump forces. Changes jump height.",
612 4 ),
613 new ParameterDefn<float>("AvatarStepHeight", "Height of a step obstacle to consider step correction",
614 0.6f ) ,
615 new ParameterDefn<float>("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)",
616 0.6f ),
617 new ParameterDefn<float>("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step",
618 1.0f ),
619 new ParameterDefn<float>("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step",
620 2.0f ),
621 new ParameterDefn<int>("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs",
622 1 ),
623  
624 new ParameterDefn<float>("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
625 1000.0f,
626 (s) => { return (float)VehicleMaxLinearVelocity; },
627 (s,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySquared = v * v; } ),
628 new ParameterDefn<float>("VehicleMinLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
629 0.001f,
630 (s) => { return (float)VehicleMinLinearVelocity; },
631 (s,v) => { VehicleMinLinearVelocity = v; VehicleMinLinearVelocitySquared = v * v; } ),
632 new ParameterDefn<float>("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
633 12.0f,
634 (s) => { return (float)VehicleMaxAngularVelocity; },
635 (s,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ),
636 new ParameterDefn<float>("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
637 0.0f ),
638 new ParameterDefn<Vector3>("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (<0,0,0> to <1,1,1>)",
639 new Vector3(1f, 1f, 1f) ),
640 new ParameterDefn<Vector3>("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (<0,0,0> to <1,1,1>)",
641 new Vector3(1f, 1f, 1f) ),
642 new ParameterDefn<Vector3>("VehicleInertiaFactor", "Fraction of physical inertia applied (<0,0,0> to <1,1,1>)",
643 new Vector3(1f, 1f, 1f) ),
644 new ParameterDefn<float>("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)",
645 0.0f ),
646 new ParameterDefn<float>("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
647 0.0f ),
648 new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
649 0.2f ),
650 new ParameterDefn<float>("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
651 60.0f ),
652 new ParameterDefn<bool>("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect",
653 true ),
654 new ParameterDefn<bool>("VehicleLinearDeflectionNotCollidingNoZ", "Turn on/off linear deflection Z effect on non-colliding vehicles",
655 true ),
656 new ParameterDefn<bool>("VehicleEnableAngularVerticalAttraction", "Turn on/off vehicle angular vertical attraction effect",
657 true ),
658 new ParameterDefn<int>("VehicleAngularVerticalAttractionAlgorithm", "Select vertical attraction algo. You need to look at the source.",
659  
660 new ParameterDefn<bool>("VehicleEnableAngularDeflection", "Turn on/off vehicle angular deflection effect",
661 true ),
662 new ParameterDefn<bool>("VehicleEnableAngularBanking", "Turn on/off vehicle angular banking effect",
663 true ),
664  
665 new ParameterDefn<float>("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
666 0f,
667 (s) => { return MaxPersistantManifoldPoolSize; },
668 (s,v) => { MaxPersistantManifoldPoolSize = v; s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
669 new ParameterDefn<float>("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
670 0f,
671 (s) => { return MaxCollisionAlgorithmPoolSize; },
672 (s,v) => { MaxCollisionAlgorithmPoolSize = v; s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
673 new ParameterDefn<bool>("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
674 false,
675 (s) => { return ShouldDisableContactPoolDynamicAllocation; },
676 (s,v) => { ShouldDisableContactPoolDynamicAllocation = v;
677 s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = NumericBool(v); } ),
678 new ParameterDefn<bool>("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
679 false,
680 (s) => { return ShouldForceUpdateAllAabbs; },
681 (s,v) => { ShouldForceUpdateAllAabbs = v; s.UnmanagedParams[0].shouldForceUpdateAllAabbs = NumericBool(v); } ),
682 new ParameterDefn<bool>("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
683 true,
684 (s) => { return ShouldRandomizeSolverOrder; },
685 (s,v) => { ShouldRandomizeSolverOrder = v; s.UnmanagedParams[0].shouldRandomizeSolverOrder = NumericBool(v); } ),
686 new ParameterDefn<bool>("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
687 true,
688 (s) => { return ShouldSplitSimulationIslands; },
689 (s,v) => { ShouldSplitSimulationIslands = v; s.UnmanagedParams[0].shouldSplitSimulationIslands = NumericBool(v); } ),
690 new ParameterDefn<bool>("ShouldEnableFrictionCaching", "Enable friction computation caching",
691 true,
692 (s) => { return ShouldEnableFrictionCaching; },
693 (s,v) => { ShouldEnableFrictionCaching = v; s.UnmanagedParams[0].shouldEnableFrictionCaching = NumericBool(v); } ),
694 new ParameterDefn<float>("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
695 0f, // zero says use Bullet default
696 (s) => { return NumberOfSolverIterations; },
697 (s,v) => { NumberOfSolverIterations = v; s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
698 new ParameterDefn<bool>("UseSingleSidedMeshes", "Whether to compute collisions based on single sided meshes.",
699 true,
700 (s) => { return UseSingleSidedMeshes; },
701 (s,v) => { UseSingleSidedMeshes = v; s.UnmanagedParams[0].useSingleSidedMeshes = NumericBool(v); } ),
702 new ParameterDefn<float>("GlobalContactBreakingThreshold", "Amount of shape radius before breaking a collision contact (0 says Bullet default (0.2))",
703 0f,
704 (s) => { return GlobalContactBreakingThreshold; },
705 (s,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ),
706 new ParameterDefn<float>("PhysicsUnmanLoggingFrames", "If non-zero, frames between output of detailed unmanaged physics statistics",
707 0f,
708 (s) => { return PhysicsUnmanLoggingFrames; },
709 (s,v) => { PhysicsUnmanLoggingFrames = v; s.UnmanagedParams[0].physicsLoggingFrames = v; } ),
710  
711 new ParameterDefn<int>("CSHullMaxDepthSplit", "CS impl: max depth to split for hull. 1-10 but > 7 is iffy",
712 7 ),
713 new ParameterDefn<int>("CSHullMaxDepthSplitForSimpleShapes", "CS impl: max depth setting for simple prim shapes",
714 2 ),
715 new ParameterDefn<float>("CSHullConcavityThresholdPercent", "CS impl: concavity threshold percent (0-20)",
716 5f ),
717 new ParameterDefn<float>("CSHullVolumeConservationThresholdPercent", "percent volume conservation to collapse hulls (0-30)",
718 5f ),
719 new ParameterDefn<int>("CSHullMaxVertices", "CS impl: maximum number of vertices in output hulls. Keep < 50.",
720 32 ),
721 new ParameterDefn<float>("CSHullMaxSkinWidth", "CS impl: skin width to apply to output hulls.",
722 0f ),
723  
724 new ParameterDefn<float>("BHullMaxVerticesPerHull", "Bullet impl: max number of vertices per created hull",
725 200f ),
726 new ParameterDefn<float>("BHullMinClusters", "Bullet impl: minimum number of hulls to create per mesh",
727 10f ),
728 new ParameterDefn<float>("BHullCompacityWeight", "Bullet impl: weight factor for how compact to make hulls",
729 20f ),
730 new ParameterDefn<float>("BHullVolumeWeight", "Bullet impl: weight factor for volume in created hull",
731 0.1f ),
732 new ParameterDefn<float>("BHullConcavity", "Bullet impl: weight factor for how convex a created hull can be",
733 10f ),
734 new ParameterDefn<bool>("BHullAddExtraDistPoints", "Bullet impl: whether to add extra vertices for long distance vectors",
735 true ),
736 new ParameterDefn<bool>("BHullAddNeighboursDistPoints", "Bullet impl: whether to add extra vertices between neighbor hulls",
737 true ),
738 new ParameterDefn<bool>("BHullAddFacesPoints", "Bullet impl: whether to add extra vertices to break up hull faces",
739 true ),
740 new ParameterDefn<bool>("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin",
741 false ),
742  
743 new ParameterDefn<float>("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
744 (float)BSLinkset.LinksetImplementation.Compound ),
745 new ParameterDefn<bool>("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same",
746 true ),
747 new ParameterDefn<bool>("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
748 false ),
749 new ParameterDefn<bool>("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
750 true ),
751 new ParameterDefn<float>("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
752 5.0f ),
753 new ParameterDefn<float>("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
754 0.1f ),
755 new ParameterDefn<float>("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
756 0.1f ),
757 new ParameterDefn<float>("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
758 0.1f ),
759 new ParameterDefn<float>("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
760 40 ),
761  
762 new ParameterDefn<int>("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)",
763 0,
764 (s) => { return s.PhysicsMetricDumpFrames; },
765 (s,v) => { s.PhysicsMetricDumpFrames = v; } ),
766 new ParameterDefn<float>("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool",
767 0f,
768 (s) => { return 0f; },
769 (s,v) => { BSParam.ResetBroadphasePoolTainted(s, v, false /* inTaintTime */); } ),
770 new ParameterDefn<float>("ResetConstraintSolver", "Setting this is any value resets the constraint solver",
771 0f,
772 (s) => { return 0f; },
773 (s,v) => { BSParam.ResetConstraintSolverTainted(s, v); } ),
774 };
775  
776 // Convert a boolean to our numeric true and false values
777 public static float NumericBool(bool b)
778 {
779 return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
780 }
781  
782 // Convert numeric true and false values to a boolean
783 public static bool BoolNumeric(float b)
784 {
785 return (b == ConfigurationParameters.numericTrue ? true : false);
786 }
787  
788 // Search through the parameter definitions and return the matching
789 // ParameterDefn structure.
790 // Case does not matter as names are compared after converting to lower case.
791 // Returns 'false' if the parameter is not found.
792 internal static bool TryGetParameter(string paramName, out ParameterDefnBase defn)
793 {
794 bool ret = false;
795 ParameterDefnBase foundDefn = null;
796 string pName = paramName.ToLower();
797  
798 foreach (ParameterDefnBase parm in ParameterDefinitions)
799 {
800 if (pName == parm.name.ToLower())
801 {
802 foundDefn = parm;
803 ret = true;
804 break;
805 }
806 }
807 defn = foundDefn;
808 return ret;
809 }
810  
811 // Pass through the settable parameters and set the default values
812 internal static void SetParameterDefaultValues(BSScene physicsScene)
813 {
814 foreach (ParameterDefnBase parm in ParameterDefinitions)
815 {
816 parm.AssignDefault(physicsScene);
817 }
818 }
819  
820 // Get user set values out of the ini file.
821 internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg)
822 {
823 foreach (ParameterDefnBase parm in ParameterDefinitions)
824 {
825 parm.SetValue(physicsScene, cfg.GetString(parm.name, parm.GetValue(physicsScene)));
826 }
827 }
828  
829 internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
830  
831 // This creates an array in the correct format for returning the list of
832 // parameters. This is used by the 'list' option of the 'physics' command.
833 internal static void BuildParameterTable()
834 {
835 if (SettableParameters.Length < ParameterDefinitions.Length)
836 {
837 List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
838 for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
839 {
840 ParameterDefnBase pd = ParameterDefinitions[ii];
841 entries.Add(new PhysParameterEntry(pd.name, pd.desc));
842 }
843  
844 // make the list alphabetical for ease of finding anything
845 entries.Sort((ppe1, ppe2) => { return ppe1.name.CompareTo(ppe2.name); });
846  
847 SettableParameters = entries.ToArray();
848 }
849 }
850  
851 // =====================================================================
852 // =====================================================================
853 // There are parameters that, when set, cause things to happen in the physics engine.
854 // This causes the broadphase collision cache to be cleared.
855 private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v, bool inTaintTime)
856 {
857 BSScene physScene = pPhysScene;
858 physScene.TaintedObject(inTaintTime, "BSParam.ResetBroadphasePoolTainted", delegate()
859 {
860 physScene.PE.ResetBroadphasePool(physScene.World);
861 });
862 }
863  
864 // This causes the constraint solver cache to be cleared and reset.
865 private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v)
866 {
867 BSScene physScene = pPhysScene;
868 physScene.TaintedObject(BSScene.DetailLogZero, "BSParam.ResetConstraintSolver", delegate()
869 {
870 physScene.PE.ResetConstraintSolver(physScene.World);
871 });
872 }
873 }
874 }