BulletSim: first round of conversion from direct BulletSimAPI interfacing by BulletSim core to using the BulletSimAPITemplate. Physical object creation and destruction first.

1 files changed, 169 insertions, 778 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index b361498..6b76151 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -292,985 +292,376 @@ public enum ConstraintParamAxis : int
 
 public abstract class BulletSimAPITemplate
 {
+    /*
 // Initialization and simulation
-public abstract BulletWorld Initialize2(Vector3 maxPosition, IntPtr parms,
+public abstract BulletWorld Initialize(Vector3 maxPosition, IntPtr parms,
                                                                                         int maxCollisions,  IntPtr collisionArray,
                                                                                         int maxUpdates, IntPtr updateArray
                                             );
 
-public abstract bool UpdateParameter2(BulletWorld world, uint localID, String parm, float value);
+public abstract bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);
 
-public abstract void SetHeightMap2(BulletWorld world, float[] heightmap);
+public abstract void SetHeightMap(BulletWorld world, float[] heightmap);
 
-public abstract void Shutdown2(BulletWorld sim);
+public abstract void Shutdown(BulletWorld sim);
 
-public abstract int PhysicsStep2(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
+public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
                         out int updatedEntityCount,
                         out IntPtr updatedEntitiesPtr,
                         out int collidersCount,
                         out IntPtr collidersPtr);
 
-public abstract bool PushUpdate2(BulletBody obj);
+public abstract bool PushUpdate(BulletBody obj);
+     */
 
 // =====================================================================================
 // Mesh, hull, shape and body creation helper routines
-public abstract BulletShape CreateMeshShape2(BulletWorld world,
-                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
-                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
+public abstract BulletShape CreateMeshShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices );
 
-public abstract BulletShape CreateHullShape2(BulletWorld world,
-                int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
+public abstract BulletShape CreateHullShape(BulletWorld world,
+                int hullCount, float[] hulls);
 
-public abstract BulletShape BuildHullShapeFromMesh2(BulletWorld world, BulletShape meshShape);
+public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
 
-public abstract BulletShape BuildNativeShape2(BulletWorld world, ShapeData shapeData);
+public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData);
 
-public abstract bool IsNativeShape2(BulletShape shape);
+public abstract bool IsNativeShape(BulletShape shape);
 
 public abstract void SetShapeCollisionMargin(BulletShape shape, float margin);
 
-public abstract BulletShape BuildCapsuleShape2(BulletWorld world, float radius, float height, Vector3 scale);
-
-public abstract BulletShape CreateCompoundShape2(BulletWorld sim, bool enableDynamicAabbTree);
-
-public abstract int GetNumberOfCompoundChildren2(BulletShape cShape);
-
-public abstract void AddChildShapeToCompoundShape2(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot);
-
-public abstract BulletShape GetChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx);
-
-public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx);
-
-public abstract void RemoveChildShapeFromCompoundShape2(BulletShape cShape, BulletShape removeShape);
-
-public abstract void RecalculateCompoundShapeLocalAabb2(BulletShape cShape);
-
-public abstract BulletShape DuplicateCollisionShape2(BulletWorld sim, BulletShape srcShape, uint id);
-
-public abstract BulletBody CreateBodyFromShapeAndInfo2(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo);
-
-public abstract bool DeleteCollisionShape2(BulletWorld world, BulletShape shape);
-
-public abstract int GetBodyType2(BulletBody obj);
-
-public abstract BulletBody CreateBodyFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
-
-public abstract BulletBody CreateBodyWithDefaultMotionState2(BulletShape shape, uint id, Vector3 pos, Quaternion rot);
-
-public abstract BulletBody CreateGhostFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
-
-public abstract IntPtr AllocateBodyInfo2(BulletBody obj);
-
-public abstract void ReleaseBodyInfo2(IntPtr obj);
-
-public abstract void DestroyObject2(BulletWorld sim, BulletBody obj);
-
-// =====================================================================================
-// Terrain creation and helper routines
-public abstract IntPtr CreateHeightMapInfo2(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-public abstract IntPtr FillHeightMapInfo2(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-public abstract bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
-
-public abstract BulletBody CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
-
-public abstract BulletBody CreateTerrainShape2(IntPtr mapInfo);
-
-// =====================================================================================
-// Constraint creation and helper routines
-public abstract BulletConstraint Create6DofConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 frame1loc, Quaternion frame1rot,
-                    Vector3 frame2loc, Quaternion frame2rot,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public abstract BulletConstraint Create6DofConstraintToPoint2(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 joinPoint,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public abstract BulletConstraint CreateHingeConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 pivotinA, Vector3 pivotinB,
-                    Vector3 axisInA, Vector3 axisInB,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public abstract void SetConstraintEnable2(BulletConstraint constrain, float numericTrueFalse);
-
-public abstract void SetConstraintNumSolverIterations2(BulletConstraint constrain, float iterations);
-
-public abstract bool SetFrames2(BulletConstraint constrain,
-                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
-
-public abstract bool SetLinearLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi);
-
-public abstract bool SetAngularLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi);
-
-public abstract bool UseFrameOffset2(BulletConstraint constrain, float enable);
-
-public abstract bool TranslationalLimitMotor2(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
-
-public abstract bool SetBreakingImpulseThreshold2(BulletConstraint constrain, float threshold);
-
-public abstract bool CalculateTransforms2(BulletConstraint constrain);
-
-public abstract bool SetConstraintParam2(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
-
-public abstract bool DestroyConstraint2(BulletWorld world, BulletConstraint constrain);
-
-// =====================================================================================
-// btCollisionWorld entries
-public abstract void UpdateSingleAabb2(BulletWorld world, BulletBody obj);
-
-public abstract void UpdateAabbs2(BulletWorld world);
-
-public abstract bool GetForceUpdateAllAabbs2(BulletWorld world);
-
-public abstract void SetForceUpdateAllAabbs2(BulletWorld world, bool force);
-
-// =====================================================================================
-// btDynamicsWorld entries
-public abstract bool AddObjectToWorld2(BulletWorld world, BulletBody obj);
-
-public abstract bool RemoveObjectFromWorld2(BulletWorld world, BulletBody obj);
-
-public abstract bool AddConstraintToWorld2(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
-
-public abstract bool RemoveConstraintFromWorld2(BulletWorld world, BulletConstraint constrain);
-// =====================================================================================
-// btCollisionObject entries
-public abstract Vector3 GetAnisotripicFriction2(BulletConstraint constrain);
-
-public abstract Vector3 SetAnisotripicFriction2(BulletConstraint constrain, Vector3 frict);
-
-public abstract bool HasAnisotripicFriction2(BulletConstraint constrain);
-
-public abstract void SetContactProcessingThreshold2(BulletBody obj, float val);
-
-public abstract float GetContactProcessingThreshold2(BulletBody obj);
-
-public abstract bool IsStaticObject2(BulletBody obj);
-
-public abstract bool IsKinematicObject2(BulletBody obj);
-
-public abstract bool IsStaticOrKinematicObject2(BulletBody obj);
-
-public abstract bool HasContactResponse2(BulletBody obj);
-
-public abstract void SetCollisionShape2(BulletWorld sim, BulletBody obj, BulletBody shape);
-
-public abstract BulletShape GetCollisionShape2(BulletBody obj);
-
-public abstract int GetActivationState2(BulletBody obj);
-
-public abstract void SetActivationState2(BulletBody obj, int state);
-
-public abstract void SetDeactivationTime2(BulletBody obj, float dtime);
-
-public abstract float GetDeactivationTime2(BulletBody obj);
-
-public abstract void ForceActivationState2(BulletBody obj, ActivationState state);
-
-public abstract void Activate2(BulletBody obj, bool forceActivation);
-
-public abstract bool IsActive2(BulletBody obj);
-
-public abstract void SetRestitution2(BulletBody obj, float val);
-
-public abstract float GetRestitution2(BulletBody obj);
-
-public abstract void SetFriction2(BulletBody obj, float val);
-
-public abstract float GetFriction2(BulletBody obj);
-
-    /* Haven't defined the type 'Transform'
-public abstract Transform GetWorldTransform2(BulletBody obj);
-
-public abstract void setWorldTransform2(BulletBody obj, Transform trans);
-     */
-
-public abstract Vector3 GetPosition2(BulletBody obj);
-
-public abstract Quaternion GetOrientation2(BulletBody obj);
-
-public abstract void SetTranslation2(BulletBody obj, Vector3 position, Quaternion rotation);
-
-public abstract IntPtr GetBroadphaseHandle2(BulletBody obj);
-
-public abstract void SetBroadphaseHandle2(BulletBody obj, IntPtr handle);
-
-    /*
-public abstract Transform GetInterpolationWorldTransform2(IntPtr obj);
-
-public abstract void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
-     */
-
-public abstract void SetInterpolationLinearVelocity2(BulletBody obj, Vector3 vel);
-
-public abstract void SetInterpolationAngularVelocity2(BulletBody obj, Vector3 vel);
-
-public abstract void SetInterpolationVelocity2(BulletBody obj, Vector3 linearVel, Vector3 angularVel);
-
-public abstract float GetHitFraction2(BulletBody obj);
-
-public abstract void SetHitFraction2(BulletBody obj, float val);
-
-public abstract CollisionFlags GetCollisionFlags2(BulletBody obj);
-
-public abstract CollisionFlags SetCollisionFlags2(BulletBody obj, CollisionFlags flags);
-
-public abstract CollisionFlags AddToCollisionFlags2(BulletBody obj, CollisionFlags flags);
-
-public abstract CollisionFlags RemoveFromCollisionFlags2(BulletBody obj, CollisionFlags flags);
-
-public abstract float GetCcdMotionThreshold2(BulletBody obj);
-
-public abstract void SetCcdMotionThreshold2(BulletBody obj, float val);
-
-public abstract float GetCcdSweptSphereRadius2(BulletBody obj);
-
-public abstract void SetCcdSweptSphereRadius2(BulletBody obj, float val);
-
-public abstract IntPtr GetUserPointer2(BulletBody obj);
-
-public abstract void SetUserPointer2(BulletBody obj, IntPtr val);
-
-// =====================================================================================
-// btRigidBody entries
-public abstract void ApplyGravity2(BulletBody obj);
-
-public abstract void SetGravity2(BulletBody obj, Vector3 val);
-
-public abstract Vector3 GetGravity2(BulletBody obj);
-
-public abstract void SetDamping2(BulletBody obj, float lin_damping, float ang_damping);
-
-public abstract void SetLinearDamping2(BulletBody obj, float lin_damping);
-
-public abstract void SetAngularDamping2(BulletBody obj, float ang_damping);
-
-public abstract float GetLinearDamping2(BulletBody obj);
+public abstract BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale);
 
-public abstract float GetAngularDamping2(BulletBody obj);
+public abstract BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree);
 
-public abstract float GetLinearSleepingThreshold2(BulletBody obj);
+public abstract int GetNumberOfCompoundChildren(BulletShape cShape);
 
+public abstract void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot);
 
-public abstract void ApplyDamping2(BulletBody obj, float timeStep);
+public abstract BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
 
-public abstract void SetMassProps2(BulletBody obj, float mass, Vector3 inertia);
+public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
 
-public abstract Vector3 GetLinearFactor2(BulletBody obj);
+public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape);
 
-public abstract void SetLinearFactor2(BulletBody obj, Vector3 factor);
+public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
 
-    /*
-public abstract void SetCenterOfMassTransform2(BulletBody obj, Transform trans);
-     */
-
-public abstract void SetCenterOfMassByPosRot2(BulletBody obj, Vector3 pos, Quaternion rot);
-
-// Add a force to the object as if its mass is one.
-public abstract void ApplyCentralForce2(BulletBody obj, Vector3 force);
-
-// Set the force being applied to the object as if its mass is one.
-public abstract void SetObjectForce2(BulletBody obj, Vector3 force);
-
-public abstract Vector3 GetTotalForce2(BulletBody obj);
+public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id);
 
-public abstract Vector3 GetTotalTorque2(BulletBody obj);
+public abstract BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo);
 
-public abstract Vector3 GetInvInertiaDiagLocal2(BulletBody obj);
+public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape);
 
-public abstract void SetInvInertiaDiagLocal2(BulletBody obj, Vector3 inert);
+public abstract int GetBodyType(BulletBody obj);
 
-public abstract void SetSleepingThresholds2(BulletBody obj, float lin_threshold, float ang_threshold);
+public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
 
-public abstract void ApplyTorque2(BulletBody obj, Vector3 torque);
-
-// Apply force at the given point. Will add torque to the object.
-public abstract void ApplyForce2(BulletBody obj, Vector3 force, Vector3 pos);
-
-// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
-public abstract void ApplyCentralImpulse2(BulletBody obj, Vector3 imp);
-
-// Apply impulse to the object's torque. Force is scaled by object's mass.
-public abstract void ApplyTorqueImpulse2(BulletBody obj, Vector3 imp);
-
-// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
-public abstract void ApplyImpulse2(BulletBody obj, Vector3 imp, Vector3 pos);
+public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot);
 
-public abstract void ClearForces2(BulletBody obj);
+public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
 
-public abstract void ClearAllForces2(BulletBody obj);
+public abstract IntPtr AllocateBodyInfo(BulletBody obj);
 
-public abstract void UpdateInertiaTensor2(BulletBody obj);
+public abstract void ReleaseBodyInfo(IntPtr obj);
 
+public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
 
     /*
-public abstract Transform GetCenterOfMassTransform2(BulletBody obj);
-     */
-
-public abstract Vector3 GetLinearVelocity2(BulletBody obj);
-
-public abstract Vector3 GetAngularVelocity2(BulletBody obj);
-
-public abstract void SetLinearVelocity2(BulletBody obj, Vector3 val);
-
-public abstract void SetAngularVelocity2(BulletBody obj, Vector3 angularVelocity);
-
-public abstract Vector3 GetVelocityInLocalPoint2(BulletBody obj, Vector3 pos);
-
-public abstract void Translate2(BulletBody obj, Vector3 trans);
-
-public abstract void UpdateDeactivation2(BulletBody obj, float timeStep);
-
-public abstract bool WantsSleeping2(BulletBody obj);
-
-public abstract void SetAngularFactor2(BulletBody obj, float factor);
-
-public abstract void SetAngularFactorV2(BulletBody obj, Vector3 factor);
-
-public abstract Vector3 GetAngularFactor2(BulletBody obj);
-
-public abstract bool IsInWorld2(BulletBody obj);
-
-public abstract void AddConstraintRef2(BulletBody obj, BulletConstraint constrain);
-
-public abstract void RemoveConstraintRef2(BulletBody obj, BulletConstraint constrain);
-
-public abstract BulletConstraint GetConstraintRef2(BulletBody obj, int index);
-
-public abstract int GetNumConstraintRefs2(BulletBody obj);
-
-public abstract bool SetCollisionGroupMask2(BulletBody body, uint filter, uint mask);
-
-// =====================================================================================
-// btCollisionShape entries
-
-public abstract float GetAngularMotionDisc2(BulletShape shape);
-
-public abstract float GetContactBreakingThreshold2(BulletShape shape, float defaultFactor);
-
-public abstract bool IsPolyhedral2(BulletShape shape);
-
-public abstract bool IsConvex2d2(BulletShape shape);
-
-public abstract bool IsConvex2(BulletShape shape);
-
-public abstract bool IsNonMoving2(BulletShape shape);
-
-public abstract bool IsConcave2(BulletShape shape);
-
-public abstract bool IsCompound2(BulletShape shape);
-
-public abstract bool IsSoftBody2(BulletShape shape);
-
-public abstract bool IsInfinite2(BulletShape shape);
-
-public abstract void SetLocalScaling2(BulletShape shape, Vector3 scale);
-
-public abstract Vector3 GetLocalScaling2(BulletShape shape);
-
-public abstract Vector3 CalculateLocalInertia2(BulletShape shape, float mass);
-
-public abstract int GetShapeType2(BulletShape shape);
-
-public abstract void SetMargin2(BulletShape shape, float val);
-
-public abstract float GetMargin2(BulletShape shape);
-
-};
-
-// ===============================================================================
-static class BulletSimAPI {
-// ===============================================================================
-// Link back to the managed code for outputting log messages
-[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
-
-// ===============================================================================
-// Initialization and simulation
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
-                                                                                        int maxCollisions,  IntPtr collisionArray,
-                                                                                        int maxUpdates, IntPtr updateArray,
-                                            DebugLogCallback logRoutine);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Shutdown2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount,
-                        out IntPtr updatedEntitiesPtr,
-                        out int collidersCount,
-                        out IntPtr collidersPtr);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool PushUpdate2(IntPtr obj);
-
-// =====================================================================================
-// Mesh, hull, shape and body creation helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateMeshShape2(IntPtr world,
-                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
-                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHullShape2(IntPtr world,
-                int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsNativeShape2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetShapeCollisionMargin(IntPtr shape, float margin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetBodyType2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ReleaseBodyInfo2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
-
 // =====================================================================================
 // Terrain creation and helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
+public abstract IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,
+        float[] heightMap, float collisionMargin);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
+public abstract IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
+        float[] heightMap, float collisionMargin);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
+public abstract bool ReleaseHeightMapInfo(IntPtr heightMapInfo);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
+public abstract BulletBody CreateGroundPlaneShape(uint id, float height, float collisionMargin);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
+public abstract BulletBody CreateTerrainShape(IntPtr mapInfo);
 
 // =====================================================================================
 // Constraint creation and helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+public abstract BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 frame1loc, Quaternion frame1rot,
                     Vector3 frame2loc, Quaternion frame2rot,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 joinPoint,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 pivotinA, Vector3 pivotinB,
                     Vector3 axisInA, Vector3 axisInB,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
+public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
+public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetFrames2(IntPtr constrain,
+public abstract bool SetFrames(BulletConstraint constrain,
                 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
+public abstract bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
+public abstract bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
+public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
+public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
+public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool CalculateTransforms2(IntPtr constrain);
+public abstract bool CalculateTransforms(BulletConstraint constrain);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
+public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
+public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
 
 // =====================================================================================
 // btCollisionWorld entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
+public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateAabbs2(IntPtr world);
+public abstract void UpdateAabbs(BulletWorld world);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
+public abstract bool GetForceUpdateAllAabbs(BulletWorld world);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
+public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force);
 
 // =====================================================================================
 // btDynamicsWorld entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
+public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
+public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
+public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
+public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
 // =====================================================================================
 // btCollisionObject entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
+public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
+public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool HasAnisotripicFriction2(IntPtr constrain);
+public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
+public abstract void SetContactProcessingThreshold(BulletBody obj, float val);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetContactProcessingThreshold2(IntPtr obj);
+public abstract float GetContactProcessingThreshold(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsStaticObject2(IntPtr obj);
+public abstract bool IsStaticObject(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsKinematicObject2(IntPtr obj);
+public abstract bool IsKinematicObject(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
+public abstract bool IsStaticOrKinematicObject(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool HasContactResponse2(IntPtr obj);
+public abstract bool HasContactResponse(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
+public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletBody shape);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetCollisionShape2(IntPtr obj);
+public abstract BulletShape GetCollisionShape(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetActivationState2(IntPtr obj);
+public abstract int GetActivationState(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetActivationState2(IntPtr obj, int state);
+public abstract void SetActivationState(BulletBody obj, int state);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
+public abstract void SetDeactivationTime(BulletBody obj, float dtime);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetDeactivationTime2(IntPtr obj);
+public abstract float GetDeactivationTime(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
+public abstract void ForceActivationState(BulletBody obj, ActivationState state);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Activate2(IntPtr obj, bool forceActivation);
+public abstract void Activate(BulletBody obj, bool forceActivation);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsActive2(IntPtr obj);
+public abstract bool IsActive(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetRestitution2(IntPtr obj, float val);
+public abstract void SetRestitution(BulletBody obj, float val);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetRestitution2(IntPtr obj);
+public abstract float GetRestitution(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetFriction2(IntPtr obj, float val);
+public abstract void SetFriction(BulletBody obj, float val);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetFriction2(IntPtr obj);
+public abstract float GetFriction(BulletBody obj);
 
-    /* Haven't defined the type 'Transform'
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetWorldTransform2(IntPtr obj);
+public abstract Vector3 GetPosition(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void setWorldTransform2(IntPtr obj, Transform trans);
-     */
+public abstract Quaternion GetOrientation(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetPosition2(IntPtr obj);
+public abstract void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Quaternion GetOrientation2(IntPtr obj);
+public abstract IntPtr GetBroadphaseHandle(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
+public abstract void SetBroadphaseHandle(BulletBody obj, IntPtr handle);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
+public abstract void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
+public abstract void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel);
 
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
+public abstract void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
+public abstract float GetHitFraction(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetHitFraction2(IntPtr obj);
+public abstract void SetHitFraction(BulletBody obj, float val);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHitFraction2(IntPtr obj, float val);
+public abstract CollisionFlags GetCollisionFlags(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
+public abstract CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
+public abstract CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
+public abstract CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
+public abstract float GetCcdMotionThreshold(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetCcdMotionThreshold2(IntPtr obj);
+public abstract void SetCcdMotionThreshold(BulletBody obj, float val);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
+public abstract float GetCcdSweptSphereRadius(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
+public abstract void SetCcdSweptSphereRadius(BulletBody obj, float val);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
+public abstract IntPtr GetUserPointer(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetUserPointer2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
+public abstract void SetUserPointer(BulletBody obj, IntPtr val);
 
 // =====================================================================================
 // btRigidBody entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyGravity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetGravity2(IntPtr obj, Vector3 val);
+public abstract void ApplyGravity(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetGravity2(IntPtr obj);
+public abstract void SetGravity(BulletBody obj, Vector3 val);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
+public abstract Vector3 GetGravity(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
+public abstract void SetDamping(BulletBody obj, float lin_damping, float ang_damping);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
+public abstract void SetLinearDamping(BulletBody obj, float lin_damping);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetLinearDamping2(IntPtr obj);
+public abstract void SetAngularDamping(BulletBody obj, float ang_damping);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularDamping2(IntPtr obj);
+public abstract float GetLinearDamping(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetLinearSleepingThreshold2(IntPtr obj);
+public abstract float GetAngularDamping(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularSleepingThreshold2(IntPtr obj);
+public abstract float GetLinearSleepingThreshold(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyDamping2(IntPtr obj, float timeStep);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
+public abstract void ApplyDamping(BulletBody obj, float timeStep);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLinearFactor2(IntPtr obj);
+public abstract void SetMassProps(BulletBody obj, float mass, Vector3 inertia);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
+public abstract Vector3 GetLinearFactor(BulletBody obj);
 
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
-     */
+public abstract void SetLinearFactor(BulletBody obj, Vector3 factor);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
+public abstract void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot);
 
 // Add a force to the object as if its mass is one.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
+public abstract void ApplyCentralForce(BulletBody obj, Vector3 force);
 
 // Set the force being applied to the object as if its mass is one.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
+public abstract void SetObjectForce(BulletBody obj, Vector3 force);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetTotalForce2(IntPtr obj);
+public abstract Vector3 GetTotalForce(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetTotalTorque2(IntPtr obj);
+public abstract Vector3 GetTotalTorque(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
+public abstract Vector3 GetInvInertiaDiagLocal(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
+public abstract void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
+public abstract void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
+public abstract void ApplyTorque(BulletBody obj, Vector3 torque);
 
 // Apply force at the given point. Will add torque to the object.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
+public abstract void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);
 
 // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
+public abstract void ApplyCentralImpulse(BulletBody obj, Vector3 imp);
 
 // Apply impulse to the object's torque. Force is scaled by object's mass.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
+public abstract void ApplyTorqueImpulse(BulletBody obj, Vector3 imp);
 
 // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ClearForces2(IntPtr obj);
+public abstract void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ClearAllForces2(IntPtr obj);
+public abstract void ClearForces(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateInertiaTensor2(IntPtr obj);
+public abstract void ClearAllForces(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
-
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
-     */
+public abstract void UpdateInertiaTensor(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLinearVelocity2(IntPtr obj);
+public abstract Vector3 GetLinearVelocity(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAngularVelocity2(IntPtr obj);
+public abstract Vector3 GetAngularVelocity(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
+public abstract void SetLinearVelocity(BulletBody obj, Vector3 val);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
+public abstract void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
+public abstract Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Translate2(IntPtr obj, Vector3 trans);
+public abstract void Translate(BulletBody obj, Vector3 trans);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
+public abstract void UpdateDeactivation(BulletBody obj, float timeStep);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool WantsSleeping2(IntPtr obj);
+public abstract bool WantsSleeping(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularFactor2(IntPtr obj, float factor);
+public abstract void SetAngularFactor(BulletBody obj, float factor);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
+public abstract void SetAngularFactorV(BulletBody obj, Vector3 factor);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAngularFactor2(IntPtr obj);
+public abstract Vector3 GetAngularFactor(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsInWorld2(IntPtr obj);
+public abstract bool IsInWorld(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
+public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
+public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
+public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetNumConstraintRefs2(IntPtr obj);
+public abstract int GetNumConstraintRefs(BulletBody obj);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
+public abstract bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);
 
 // =====================================================================================
 // btCollisionShape entries
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularMotionDisc2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
+public abstract float GetAngularMotionDisc(BulletShape shape);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsPolyhedral2(IntPtr shape);
+public abstract float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConvex2d2(IntPtr shape);
+public abstract bool IsPolyhedral(BulletShape shape);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConvex2(IntPtr shape);
+public abstract bool IsConvex2d(BulletShape shape);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsNonMoving2(IntPtr shape);
+public abstract bool IsConvex(BulletShape shape);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConcave2(IntPtr shape);
+public abstract bool IsNonMoving(BulletShape shape);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsCompound2(IntPtr shape);
+public abstract bool IsConcave(BulletShape shape);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsSoftBody2(IntPtr shape);
+public abstract bool IsCompound(BulletShape shape);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsInfinite2(IntPtr shape);
+public abstract bool IsSoftBody(BulletShape shape);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
+public abstract bool IsInfinite(BulletShape shape);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLocalScaling2(IntPtr shape);
+public abstract void SetLocalScaling(BulletShape shape, Vector3 scale);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
+public abstract Vector3 GetLocalScaling(BulletShape shape);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetShapeType2(IntPtr shape);
+public abstract Vector3 CalculateLocalInertia(BulletShape shape, float mass);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetMargin2(IntPtr shape, float val);
+public abstract int GetShapeType(BulletShape shape);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetMargin2(IntPtr shape);
-
-// =====================================================================================
-// Debugging
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
+public abstract void SetMargin(BulletShape shape, float val);
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
+public abstract float GetMargin(BulletShape shape);
+    */
 
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpActivationInfo2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpAllInfo2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpPhysicsStatistics2(IntPtr sim);
-
-}
+};
 }