diff options
author | Justin Clark-Casey (justincc) | 2012-09-29 00:09:12 +0100 |
---|---|---|
committer | Justin Clark-Casey (justincc) | 2012-09-29 00:09:12 +0100 |
commit | fae869c4ca0d75c217b0ba8744346e238f7be0c9 (patch) | |
tree | dadf703ef6e2b7654779090ba0e4d20f6a8d5875 /OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |
parent | Extend attachment regression test to check for appropriate attach event firing. (diff) | |
parent | testing for xml-rpc errors in git repo. (diff) | |
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 291 |
1 files changed, 191 insertions, 100 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 9221cdb..1125d7e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -38,35 +38,112 @@ namespace OpenSim.Region.Physics.BulletSPlugin { | |||
38 | // The physics engine controller class created at initialization | 38 | // The physics engine controller class created at initialization |
39 | public struct BulletSim | 39 | public struct BulletSim |
40 | { | 40 | { |
41 | public BulletSim(uint worldId, BSScene bss, IntPtr xx) { worldID = worldId; scene = bss; Ptr = xx; } | 41 | public BulletSim(uint worldId, BSScene bss, IntPtr xx) |
42 | { | ||
43 | ptr = xx; | ||
44 | worldID = worldId; | ||
45 | physicsScene = bss; | ||
46 | } | ||
47 | public IntPtr ptr; | ||
42 | public uint worldID; | 48 | public uint worldID; |
43 | // The scene is only in here so very low level routines have a handle to print debug/error messages | 49 | // The scene is only in here so very low level routines have a handle to print debug/error messages |
44 | public BSScene scene; | 50 | public BSScene physicsScene; |
45 | public IntPtr Ptr; | 51 | } |
52 | |||
53 | // An allocated Bullet btRigidBody | ||
54 | public struct BulletBody | ||
55 | { | ||
56 | public BulletBody(uint id, IntPtr xx) | ||
57 | { | ||
58 | ID = id; | ||
59 | ptr = xx; | ||
60 | collisionFilter = 0; | ||
61 | collisionMask = 0; | ||
62 | } | ||
63 | public IntPtr ptr; | ||
64 | public uint ID; | ||
65 | public CollisionFilterGroups collisionFilter; | ||
66 | public CollisionFilterGroups collisionMask; | ||
67 | public override string ToString() | ||
68 | { | ||
69 | StringBuilder buff = new StringBuilder(); | ||
70 | buff.Append("<id="); | ||
71 | buff.Append(ID.ToString()); | ||
72 | buff.Append(",p="); | ||
73 | buff.Append(ptr.ToString("X")); | ||
74 | if (collisionFilter != 0 && collisionMask != 0) | ||
75 | { | ||
76 | buff.Append(",f="); | ||
77 | buff.Append(collisionFilter.ToString("X")); | ||
78 | buff.Append(",m="); | ||
79 | buff.Append(collisionMask.ToString("X")); | ||
80 | } | ||
81 | buff.Append(">"); | ||
82 | return buff.ToString(); | ||
83 | } | ||
46 | } | 84 | } |
47 | 85 | ||
48 | public struct BulletShape | 86 | public struct BulletShape |
49 | { | 87 | { |
50 | public BulletShape(IntPtr xx) { Ptr = xx; } | 88 | public BulletShape(IntPtr xx) |
51 | public IntPtr Ptr; | 89 | { |
90 | ptr = xx; | ||
91 | type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; | ||
92 | shapeKey = 0; | ||
93 | isNativeShape = false; | ||
94 | } | ||
95 | public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) | ||
96 | { | ||
97 | ptr = xx; | ||
98 | type = typ; | ||
99 | shapeKey = 0; | ||
100 | isNativeShape = false; | ||
101 | } | ||
102 | public IntPtr ptr; | ||
103 | public ShapeData.PhysicsShapeType type; | ||
104 | public ulong shapeKey; | ||
105 | public bool isNativeShape; | ||
106 | // Hulls have an underlying mesh. A pointer to it is hidden here. | ||
107 | public override string ToString() | ||
108 | { | ||
109 | StringBuilder buff = new StringBuilder(); | ||
110 | buff.Append("<p="); | ||
111 | buff.Append(ptr.ToString("X")); | ||
112 | buff.Append(",s="); | ||
113 | buff.Append(type.ToString()); | ||
114 | buff.Append(",k="); | ||
115 | buff.Append(shapeKey.ToString("X")); | ||
116 | buff.Append(",n="); | ||
117 | buff.Append(isNativeShape.ToString()); | ||
118 | buff.Append(">"); | ||
119 | return buff.ToString(); | ||
120 | } | ||
52 | } | 121 | } |
53 | 122 | ||
54 | // An allocated Bullet btRigidBody | 123 | // Constraint type values as defined by Bullet |
55 | public struct BulletBody | 124 | public enum ConstraintType : int |
56 | { | 125 | { |
57 | public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } | 126 | POINT2POINT_CONSTRAINT_TYPE = 3, |
58 | public IntPtr Ptr; | 127 | HINGE_CONSTRAINT_TYPE, |
59 | public uint ID; | 128 | CONETWIST_CONSTRAINT_TYPE, |
129 | D6_CONSTRAINT_TYPE, | ||
130 | SLIDER_CONSTRAINT_TYPE, | ||
131 | CONTACT_CONSTRAINT_TYPE, | ||
132 | D6_SPRING_CONSTRAINT_TYPE, | ||
133 | MAX_CONSTRAINT_TYPE | ||
60 | } | 134 | } |
61 | 135 | ||
62 | // An allocated Bullet btConstraint | 136 | // An allocated Bullet btConstraint |
63 | public struct BulletConstraint | 137 | public struct BulletConstraint |
64 | { | 138 | { |
65 | public BulletConstraint(IntPtr xx) { Ptr = xx; } | 139 | public BulletConstraint(IntPtr xx) |
66 | public IntPtr Ptr; | 140 | { |
141 | ptr = xx; | ||
142 | } | ||
143 | public IntPtr ptr; | ||
67 | } | 144 | } |
68 | 145 | ||
69 | // An allocated HeightMapThing which hold various heightmap info | 146 | // An allocated HeightMapThing which holds various heightmap info. |
70 | // Made a class rather than a struct so there would be only one | 147 | // Made a class rather than a struct so there would be only one |
71 | // instance of this and C# will pass around pointers rather | 148 | // instance of this and C# will pass around pointers rather |
72 | // than making copies. | 149 | // than making copies. |
@@ -96,14 +173,14 @@ public class BulletHeightMapInfo | |||
96 | 173 | ||
97 | // =============================================================================== | 174 | // =============================================================================== |
98 | [StructLayout(LayoutKind.Sequential)] | 175 | [StructLayout(LayoutKind.Sequential)] |
99 | public struct ConvexHull | 176 | public struct ConvexHull |
100 | { | 177 | { |
101 | Vector3 Offset; | 178 | Vector3 Offset; |
102 | int VertexCount; | 179 | int VertexCount; |
103 | Vector3[] Vertices; | 180 | Vector3[] Vertices; |
104 | } | 181 | } |
105 | [StructLayout(LayoutKind.Sequential)] | 182 | [StructLayout(LayoutKind.Sequential)] |
106 | public struct ShapeData | 183 | public struct ShapeData |
107 | { | 184 | { |
108 | public enum PhysicsShapeType | 185 | public enum PhysicsShapeType |
109 | { | 186 | { |
@@ -114,7 +191,9 @@ public struct ShapeData | |||
114 | SHAPE_CYLINDER = 4, | 191 | SHAPE_CYLINDER = 4, |
115 | SHAPE_SPHERE = 5, | 192 | SHAPE_SPHERE = 5, |
116 | SHAPE_MESH = 6, | 193 | SHAPE_MESH = 6, |
117 | SHAPE_HULL = 7 | 194 | SHAPE_HULL = 7, |
195 | SHAPE_GROUNDPLANE = 8, | ||
196 | SHAPE_TERRAIN = 9, | ||
118 | }; | 197 | }; |
119 | public uint ID; | 198 | public uint ID; |
120 | public PhysicsShapeType Type; | 199 | public PhysicsShapeType Type; |
@@ -130,13 +209,24 @@ public struct ShapeData | |||
130 | public float Restitution; | 209 | public float Restitution; |
131 | public float Collidable; // true of things bump into this | 210 | public float Collidable; // true of things bump into this |
132 | public float Static; // true if a static object. Otherwise gravity, etc. | 211 | public float Static; // true if a static object. Otherwise gravity, etc. |
212 | public float Solid; // true if object cannot be passed through | ||
213 | public Vector3 Size; | ||
133 | 214 | ||
134 | // note that bools are passed as floats since bool size changes by language and architecture | 215 | // note that bools are passed as floats since bool size changes by language and architecture |
135 | public const float numericTrue = 1f; | 216 | public const float numericTrue = 1f; |
136 | public const float numericFalse = 0f; | 217 | public const float numericFalse = 0f; |
218 | |||
219 | // The native shapes have predefined shape hash keys | ||
220 | public enum FixedShapeKey : ulong | ||
221 | { | ||
222 | KEY_BOX = 1, | ||
223 | KEY_SPHERE = 2, | ||
224 | KEY_CONE = 3, | ||
225 | KEY_CYLINDER = 4, | ||
226 | } | ||
137 | } | 227 | } |
138 | [StructLayout(LayoutKind.Sequential)] | 228 | [StructLayout(LayoutKind.Sequential)] |
139 | public struct SweepHit | 229 | public struct SweepHit |
140 | { | 230 | { |
141 | public uint ID; | 231 | public uint ID; |
142 | public float Fraction; | 232 | public float Fraction; |
@@ -227,7 +317,17 @@ public enum ActivationState : uint | |||
227 | ISLAND_SLEEPING, | 317 | ISLAND_SLEEPING, |
228 | WANTS_DEACTIVATION, | 318 | WANTS_DEACTIVATION, |
229 | DISABLE_DEACTIVATION, | 319 | DISABLE_DEACTIVATION, |
230 | DISABLE_SIMULATION | 320 | DISABLE_SIMULATION, |
321 | } | ||
322 | |||
323 | public enum CollisionObjectTypes : int | ||
324 | { | ||
325 | CO_COLLISION_OBJECT = 1 << 0, | ||
326 | CO_RIGID_BODY = 1 << 1, | ||
327 | CO_GHOST_OBJECT = 1 << 2, | ||
328 | CO_SOFT_BODY = 1 << 3, | ||
329 | CO_HF_FLUID = 1 << 4, | ||
330 | CO_USER_TYPE = 1 << 5, | ||
231 | } | 331 | } |
232 | 332 | ||
233 | // Values used by Bullet and BulletSim to control object properties. | 333 | // Values used by Bullet and BulletSim to control object properties. |
@@ -244,77 +344,60 @@ public enum CollisionFlags : uint | |||
244 | CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, | 344 | CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, |
245 | // Following used by BulletSim to control collisions | 345 | // Following used by BulletSim to control collisions |
246 | BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, | 346 | BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, |
247 | BS_VOLUME_DETECT_OBJECT = 1 << 11, | 347 | // BS_VOLUME_DETECT_OBJECT = 1 << 11, |
248 | BS_PHANTOM_OBJECT = 1 << 12, | 348 | // BS_PHANTOM_OBJECT = 1 << 12, |
249 | BS_PHYSICAL_OBJECT = 1 << 13, | 349 | // BS_PHYSICAL_OBJECT = 1 << 13, |
250 | BS_TERRAIN_OBJECT = 1 << 14, | 350 | // BS_TERRAIN_OBJECT = 1 << 14, |
251 | BS_NONE = 0, | 351 | BS_NONE = 0, |
252 | BS_ALL = 0xFFFFFFFF | 352 | BS_ALL = 0xFFFFFFFF, |
353 | |||
354 | // These are the collision flags switched depending on physical state. | ||
355 | // The other flags are used for other things and should not be fooled with. | ||
356 | BS_ACTIVE = CF_STATIC_OBJECT | ||
357 | | CF_KINEMATIC_OBJECT | ||
358 | | CF_NO_CONTACT_RESPONSE | ||
359 | // | BS_VOLUME_DETECT_OBJECT | ||
360 | // | BS_PHANTOM_OBJECT | ||
361 | // | BS_PHYSICAL_OBJECT, | ||
253 | }; | 362 | }; |
254 | 363 | ||
255 | // Values for collisions groups and masks | 364 | // Values for collisions groups and masks |
256 | public enum CollisionFilterGroups : uint | 365 | public enum CollisionFilterGroups : uint |
257 | { | 366 | { |
258 | NoneFilter = 0, | 367 | // Don't use the bit definitions!! Define the use in a |
259 | DefaultFilter = 1 << 0, | 368 | // filter/mask definition below. This way collision interactions |
260 | StaticFilter = 1 << 1, | 369 | // are more easily debugged. |
261 | KinematicFilter = 1 << 2, | 370 | BNoneFilter = 0, |
262 | DebrisFilter = 1 << 3, | 371 | BDefaultFilter = 1 << 0, |
263 | SensorTrigger = 1 << 4, | 372 | BStaticFilter = 1 << 1, |
264 | CharacterFilter = 1 << 5, | 373 | BKinematicFilter = 1 << 2, |
265 | AllFilter = 0xFFFFFFFF, | 374 | BDebrisFilter = 1 << 3, |
375 | BSensorTrigger = 1 << 4, | ||
376 | BCharacterFilter = 1 << 5, | ||
377 | BAllFilter = 0xFFFFFFFF, | ||
266 | // Filter groups defined by BulletSim | 378 | // Filter groups defined by BulletSim |
267 | GroundPlaneFilter = 1 << 10, | 379 | BGroundPlaneFilter = 1 << 10, |
268 | TerrainFilter = 1 << 11, | 380 | BTerrainFilter = 1 << 11, |
269 | RaycastFilter = 1 << 12, | 381 | BRaycastFilter = 1 << 12, |
270 | SolidFilter = 1 << 13, | 382 | BSolidFilter = 1 << 13, |
271 | }; | 383 | |
384 | // The collsion filters and masked are defined in one place -- don't want them scattered | ||
385 | AvatarFilter = BCharacterFilter, | ||
386 | AvatarMask = BAllFilter, | ||
387 | ObjectFilter = BSolidFilter, | ||
388 | ObjectMask = BAllFilter, | ||
389 | StaticObjectFilter = BStaticFilter, | ||
390 | StaticObjectMask = BAllFilter, | ||
391 | VolumeDetectFilter = BSensorTrigger, | ||
392 | VolumeDetectMask = ~BSensorTrigger, | ||
393 | TerrainFilter = BTerrainFilter, | ||
394 | TerrainMask = BAllFilter & ~BStaticFilter, | ||
395 | GroundPlaneFilter = BAllFilter, | ||
396 | GroundPlaneMask = BAllFilter | ||
272 | 397 | ||
273 | // For each type, we first clear and then set the collision flags | 398 | }; |
274 | public enum ClearCollisionFlag : uint | ||
275 | { | ||
276 | Terrain = CollisionFlags.BS_ALL, | ||
277 | Phantom = CollisionFlags.BS_ALL, | ||
278 | VolumeDetect = CollisionFlags.BS_ALL, | ||
279 | PhysicalObject = CollisionFlags.BS_ALL, | ||
280 | StaticObject = CollisionFlags.BS_ALL | ||
281 | } | ||
282 | 399 | ||
283 | public enum SetCollisionFlag : uint | ||
284 | { | ||
285 | Terrain = CollisionFlags.CF_STATIC_OBJECT | ||
286 | | CollisionFlags.BS_TERRAIN_OBJECT, | ||
287 | Phantom = CollisionFlags.CF_STATIC_OBJECT | ||
288 | | CollisionFlags.BS_PHANTOM_OBJECT | ||
289 | | CollisionFlags.CF_NO_CONTACT_RESPONSE, | ||
290 | VolumeDetect = CollisionFlags.CF_STATIC_OBJECT | ||
291 | | CollisionFlags.BS_VOLUME_DETECT_OBJECT | ||
292 | | CollisionFlags.CF_NO_CONTACT_RESPONSE, | ||
293 | PhysicalObject = CollisionFlags.BS_PHYSICAL_OBJECT, | ||
294 | StaticObject = CollisionFlags.CF_STATIC_OBJECT, | ||
295 | } | ||
296 | 400 | ||
297 | // Collision filters used for different types of objects | ||
298 | public enum SetCollisionFilter : uint | ||
299 | { | ||
300 | Terrain = CollisionFilterGroups.AllFilter, | ||
301 | Phantom = CollisionFilterGroups.GroundPlaneFilter | ||
302 | | CollisionFilterGroups.TerrainFilter, | ||
303 | VolumeDetect = CollisionFilterGroups.AllFilter, | ||
304 | PhysicalObject = CollisionFilterGroups.AllFilter, | ||
305 | StaticObject = CollisionFilterGroups.AllFilter, | ||
306 | } | ||
307 | |||
308 | // Collision masks used for different types of objects | ||
309 | public enum SetCollisionMask : uint | ||
310 | { | ||
311 | Terrain = CollisionFilterGroups.AllFilter, | ||
312 | Phantom = CollisionFilterGroups.GroundPlaneFilter | ||
313 | | CollisionFilterGroups.TerrainFilter, | ||
314 | VolumeDetect = CollisionFilterGroups.AllFilter, | ||
315 | PhysicalObject = CollisionFilterGroups.AllFilter, | ||
316 | StaticObject = CollisionFilterGroups.AllFilter | ||
317 | } | ||
318 | 401 | ||
319 | // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 | 402 | // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 |
320 | // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. | 403 | // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. |
@@ -350,8 +433,8 @@ public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg | |||
350 | public static extern string GetVersion(); | 433 | public static extern string GetVersion(); |
351 | 434 | ||
352 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 435 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
353 | public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, | 436 | public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, |
354 | int maxCollisions, IntPtr collisionArray, | 437 | int maxCollisions, IntPtr collisionArray, |
355 | int maxUpdates, IntPtr updateArray, | 438 | int maxUpdates, IntPtr updateArray, |
356 | DebugLogCallback logRoutine); | 439 | DebugLogCallback logRoutine); |
357 | 440 | ||
@@ -370,19 +453,19 @@ public static extern bool UpdateParameter(uint worldID, uint localID, | |||
370 | 453 | ||
371 | // =============================================================================== | 454 | // =============================================================================== |
372 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 455 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
373 | public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, | 456 | public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, |
374 | out int updatedEntityCount, | 457 | out int updatedEntityCount, |
375 | out IntPtr updatedEntitiesPtr, | 458 | out IntPtr updatedEntitiesPtr, |
376 | out int collidersCount, | 459 | out int collidersCount, |
377 | out IntPtr collidersPtr); | 460 | out IntPtr collidersPtr); |
378 | 461 | ||
379 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 462 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
380 | public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, | 463 | public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, |
381 | int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls | 464 | int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls |
382 | ); | 465 | ); |
383 | 466 | ||
384 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 467 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
385 | public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, | 468 | public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, |
386 | int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, | 469 | int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, |
387 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices | 470 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices |
388 | ); | 471 | ); |
@@ -496,7 +579,7 @@ public static extern void Shutdown2(IntPtr sim); | |||
496 | 579 | ||
497 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 580 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
498 | public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, | 581 | public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, |
499 | out int updatedEntityCount, | 582 | out int updatedEntityCount, |
500 | out IntPtr updatedEntitiesPtr, | 583 | out IntPtr updatedEntitiesPtr, |
501 | out int collidersCount, | 584 | out int collidersCount, |
502 | out IntPtr collidersPtr); | 585 | out IntPtr collidersPtr); |
@@ -507,8 +590,8 @@ public static extern bool PushUpdate2(IntPtr obj); | |||
507 | // ===================================================================================== | 590 | // ===================================================================================== |
508 | // Mesh, hull, shape and body creation helper routines | 591 | // Mesh, hull, shape and body creation helper routines |
509 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 592 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
510 | public static extern IntPtr CreateMeshShape2(IntPtr world, | 593 | public static extern IntPtr CreateMeshShape2(IntPtr world, |
511 | int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, | 594 | int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, |
512 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); | 595 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); |
513 | 596 | ||
514 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 597 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -516,11 +599,10 @@ public static extern IntPtr CreateHullShape2(IntPtr world, | |||
516 | int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); | 599 | int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); |
517 | 600 | ||
518 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 601 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
519 | public static extern IntPtr BuildHullShape2(IntPtr world, IntPtr meshShape); | 602 | public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape); |
520 | 603 | ||
521 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 604 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
522 | public static extern IntPtr BuildNativeShape2(IntPtr world, | 605 | public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); |
523 | float shapeType, float collisionMargin, Vector3 scale); | ||
524 | 606 | ||
525 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 607 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
526 | public static extern bool IsNativeShape2(IntPtr shape); | 608 | public static extern bool IsNativeShape2(IntPtr shape); |
@@ -535,16 +617,25 @@ public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShap | |||
535 | public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape); | 617 | public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape); |
536 | 618 | ||
537 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 619 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
538 | public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo); | 620 | public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); |
621 | |||
622 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
623 | public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo); | ||
539 | 624 | ||
540 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 625 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
541 | public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); | 626 | public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); |
542 | 627 | ||
543 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 628 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
544 | public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); | 629 | public static extern int GetBodyType2(IntPtr obj); |
630 | |||
631 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
632 | public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); | ||
545 | 633 | ||
546 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 634 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
547 | public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); | 635 | public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot); |
636 | |||
637 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
638 | public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); | ||
548 | 639 | ||
549 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 640 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
550 | public static extern IntPtr AllocateBodyInfo2(IntPtr obj); | 641 | public static extern IntPtr AllocateBodyInfo2(IntPtr obj); |
@@ -558,11 +649,11 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj); | |||
558 | // ===================================================================================== | 649 | // ===================================================================================== |
559 | // Terrain creation and helper routines | 650 | // Terrain creation and helper routines |
560 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 651 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
561 | public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, | 652 | public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, |
562 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); | 653 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); |
563 | 654 | ||
564 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 655 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
565 | public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, | 656 | public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, |
566 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); | 657 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); |
567 | 658 | ||
568 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 659 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -600,7 +691,7 @@ public static extern void SetConstraintEnable2(IntPtr constrain, float numericTr | |||
600 | public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); | 691 | public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); |
601 | 692 | ||
602 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 693 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
603 | public static extern bool SetFrames2(IntPtr constrain, | 694 | public static extern bool SetFrames2(IntPtr constrain, |
604 | Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); | 695 | Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); |
605 | 696 | ||
606 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 697 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -963,6 +1054,9 @@ public static extern Vector3 GetPushVelocity2(IntPtr obj); | |||
963 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 1054 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
964 | public static extern Vector3 GetTurnVelocity2(IntPtr obj); | 1055 | public static extern Vector3 GetTurnVelocity2(IntPtr obj); |
965 | 1056 | ||
1057 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1058 | public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask); | ||
1059 | |||
966 | // ===================================================================================== | 1060 | // ===================================================================================== |
967 | // btCollisionShape entries | 1061 | // btCollisionShape entries |
968 | 1062 | ||
@@ -1014,9 +1108,6 @@ public static extern void SetMargin2(IntPtr shape, float val); | |||
1014 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 1108 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
1015 | public static extern float GetMargin2(IntPtr shape); | 1109 | public static extern float GetMargin2(IntPtr shape); |
1016 | 1110 | ||
1017 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1018 | public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint mask); | ||
1019 | |||
1020 | // ===================================================================================== | 1111 | // ===================================================================================== |
1021 | // Debugging | 1112 | // Debugging |
1022 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 1113 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |