BulletSim: another round of conversion: dynamics world and collision object functions.

15 files changed, 1454 insertions, 1248 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index bbfc1f8..9a8a2e8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -1,1107 +1,1318 @@
-/*

- * Copyright (c) Contributors, http://opensimulator.org/

- * See CONTRIBUTORS.TXT for a full list of copyright holders.

- *

- * Redistribution and use in source and binary forms, with or without

- * modification, are permitted provided that the following conditions are met:

- *     * Redistributions of source code must retain the above copyright

- *       notice, this list of conditions and the following disclaimer.

- *     * Redistributions in binary form must reproduce the above copyrightD

- *       notice, this list of conditions and the following disclaimer in the

- *       documentation and/or other materials provided with the distribution.

- *     * Neither the name of the OpenSimulator Project nor the

- *       names of its contributors may be used to endorse or promote products

- *       derived from this software without specific prior written permission.

- *

- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY

- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY

- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

- */

-using System;

-using System.Collections.Generic;

-using System.Runtime.InteropServices;

-using System.Security;

-using System.Text;

-

-using OpenMetaverse;

-

-namespace OpenSim.Region.Physics.BulletSPlugin

-{

-public sealed class BSAPIUnman : BulletSimAPITemplate

-{

-    /*

-// Initialization and simulation

-public BulletWorld Initialize(Vector3 maxPosition, IntPtr parms,

-                                                                                        int maxCollisions,  IntPtr collisionArray,

-                                                                                        int maxUpdates, IntPtr updateArray

-                                            );

-

-public bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);

-

-public void SetHeightMap(BulletWorld world, float[] heightmap);

-

-public void Shutdown(BulletWorld sim);

-

-public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,

-                        out int updatedEntityCount,

-                        out IntPtr updatedEntitiesPtr,

-                        out int collidersCount,

-                        out IntPtr collidersPtr);

-

-public bool PushUpdate(BulletBody obj);

-     */

-

-// =====================================================================================

-// Mesh, hull, shape and body creation helper routines

-public override BulletShape CreateMeshShape(BulletWorld world,

-                int indicesCount, int[] indices,

-                int verticesCount, float[] vertices)

-{

-    return new BulletShape(

-                    BSAPI.CreateMeshShape2(world.ptr, indicesCount, indices, verticesCount, vertices),

-                    BSPhysicsShapeType.SHAPE_MESH);

-}

-

-public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)

-{

-    return new BulletShape(

-                    BSAPI.CreateHullShape2(world.ptr, hullCount, hulls), 

-                    BSPhysicsShapeType.SHAPE_HULL);

-}

-

-public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)

-{

-    return new BulletShape(

-                    BSAPI.BuildHullShapeFromMesh2(world.ptr, meshShape.ptr),

-                    BSPhysicsShapeType.SHAPE_HULL);

-}

-

-public override BulletShape BuildNativeShape( BulletWorld world, ShapeData shapeData)

-{

-    return new BulletShape(

-                    BSAPI.BuildNativeShape2(world.ptr, shapeData), 

-                    shapeData.Type);

-}

-

-public override bool IsNativeShape(BulletShape shape)

-{

-    if (shape.HasPhysicalShape)

-        return BSAPI.IsNativeShape2(shape.ptr);

-    return false;

-}

-

-public override void SetShapeCollisionMargin(BulletShape shape, float margin)

-{

-    if (shape.HasPhysicalShape)

-        BSAPI.SetShapeCollisionMargin2(shape.ptr, margin);

-}

-

-public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)

-{

-    return new BulletShape(

-                   BSAPI.BuildCapsuleShape2(world.ptr, radius, height, scale),

-                   BSPhysicsShapeType.SHAPE_CAPSULE);

-}

-

-public override BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree)

-{

-    return new BulletShape(

-                    BSAPI.CreateCompoundShape2(sim.ptr, enableDynamicAabbTree),

-                    BSPhysicsShapeType.SHAPE_COMPOUND);

-

-}

-

-public override int GetNumberOfCompoundChildren(BulletShape shape)

-{

-    if (shape.HasPhysicalShape)

-        return BSAPI.GetNumberOfCompoundChildren2(shape.ptr);

-    return 0;

-}

-

-public override void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot)

-{

-    BSAPI.AddChildShapeToCompoundShape2(cShape.ptr, addShape.ptr, pos, rot);

-}

-

-public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)

-{

-    return new BulletShape(BSAPI.GetChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));

-}

-

-public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)

-{

-    return new BulletShape(BSAPI.RemoveChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));

-}

-

-public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape)

-{

-    BSAPI.RemoveChildShapeFromCompoundShape2(cShape.ptr, removeShape.ptr);

-}

-

-public override void RecalculateCompoundShapeLocalAabb(BulletShape cShape)

-{

-    BSAPI.RecalculateCompoundShapeLocalAabb2(cShape.ptr);

-}

-

-public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id)

-{

-    return new BulletShape(BSAPI.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type);

-}

-

-public override BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo)

-{

-    return new BulletBody(id, BSAPI.CreateBodyFromShapeAndInfo2(sim.ptr, shape.ptr, id, constructionInfo));

-}

-

-public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)

-{

-    return BSAPI.DeleteCollisionShape2(world.ptr, shape.ptr);

-}

-

-public override int GetBodyType(BulletBody obj)

-{

-    return BSAPI.GetBodyType2(obj.ptr);

-}

-

-public override BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)

-{

-    return new BulletBody(id, BSAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, id, pos, rot));

-}

-

-public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)

-{

-    return new BulletBody(id, BSAPI.CreateBodyWithDefaultMotionState2(shape.ptr, id, pos, rot));

-}

-

-public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)

-{

-    return new BulletBody(id, BSAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot));

-}

-

-public override IntPtr AllocateBodyInfo(BulletBody obj)

-{

-    return BSAPI.AllocateBodyInfo2(obj.ptr);

-}

-

-public override void ReleaseBodyInfo(IntPtr obj)

-{

-    BSAPI.ReleaseBodyInfo2(obj);

-}

-

-public override void DestroyObject(BulletWorld sim, BulletBody obj)

-{

-    BSAPI.DestroyObject2(sim.ptr, obj.ptr);

-}

-

-    /*

-// =====================================================================================

-// Terrain creation and helper routines

-public override IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,

-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);

-

-public override IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,

-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);

-

-public override bool ReleaseHeightMapInfo(IntPtr heightMapInfo);

-

-public override BulletBody CreateGroundPlaneShape(uint id, float height, float collisionMargin);

-

-public override BulletBody CreateTerrainShape(IntPtr mapInfo);

-

-// =====================================================================================

-// Constraint creation and helper routines

-public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,

-                    Vector3 frame1loc, Quaternion frame1rot,

-                    Vector3 frame2loc, Quaternion frame2rot,

-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);

-

-public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,

-                    Vector3 joinPoint,

-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);

-

-public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,

-                    Vector3 pivotinA, Vector3 pivotinB,

-                    Vector3 axisInA, Vector3 axisInB,

-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);

-

-public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);

-

-public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);

-

-public override bool SetFrames(BulletConstraint constrain,

-                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);

-

-public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);

-

-public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);

-

-public override bool UseFrameOffset(BulletConstraint constrain, float enable);

-

-public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);

-

-public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);

-

-public override bool CalculateTransforms(BulletConstraint constrain);

-

-public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);

-

-public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);

-

-// =====================================================================================

-// btCollisionWorld entries

-public override void UpdateSingleAabb(BulletWorld world, BulletBody obj);

-

-public override void UpdateAabbs(BulletWorld world);

-

-public override bool GetForceUpdateAllAabbs(BulletWorld world);

-

-public override void SetForceUpdateAllAabbs(BulletWorld world, bool force);

-

-// =====================================================================================

-// btDynamicsWorld entries

-public override bool AddObjectToWorld(BulletWorld world, BulletBody obj);

-

-public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);

-

-public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);

-

-public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);

-// =====================================================================================

-// btCollisionObject entries

-public override Vector3 GetAnisotripicFriction(BulletConstraint constrain);

-

-public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);

-

-public override bool HasAnisotripicFriction(BulletConstraint constrain);

-

-public override void SetContactProcessingThreshold(BulletBody obj, float val);

-

-public override float GetContactProcessingThreshold(BulletBody obj);

-

-public override bool IsStaticObject(BulletBody obj);

-

-public override bool IsKinematicObject(BulletBody obj);

-

-public override bool IsStaticOrKinematicObject(BulletBody obj);

-

-public override bool HasContactResponse(BulletBody obj);

-

-public override void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletBody shape);

-

-public override BulletShape GetCollisionShape(BulletBody obj);

-

-public override int GetActivationState(BulletBody obj);

-

-public override void SetActivationState(BulletBody obj, int state);

-

-public override void SetDeactivationTime(BulletBody obj, float dtime);

-

-public override float GetDeactivationTime(BulletBody obj);

-

-public override void ForceActivationState(BulletBody obj, ActivationState state);

-

-public override void Activate(BulletBody obj, bool forceActivation);

-

-public override bool IsActive(BulletBody obj);

-

-public override void SetRestitution(BulletBody obj, float val);

-

-public override float GetRestitution(BulletBody obj);

-

-public override void SetFriction(BulletBody obj, float val);

-

-public override float GetFriction(BulletBody obj);

-

-public override Vector3 GetPosition(BulletBody obj);

-

-public override Quaternion GetOrientation(BulletBody obj);

-

-public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation);

-

-public override IntPtr GetBroadphaseHandle(BulletBody obj);

-

-public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle);

-

-public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel);

-

-public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel);

-

-public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel);

-

-public override float GetHitFraction(BulletBody obj);

-

-public override void SetHitFraction(BulletBody obj, float val);

-

-public override CollisionFlags GetCollisionFlags(BulletBody obj);

-

-public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags);

-

-public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags);

-

-public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags);

-

-public override float GetCcdMotionThreshold(BulletBody obj);

-

-public override void SetCcdMotionThreshold(BulletBody obj, float val);

-

-public override float GetCcdSweptSphereRadius(BulletBody obj);

-

-public override void SetCcdSweptSphereRadius(BulletBody obj, float val);

-

-public override IntPtr GetUserPointer(BulletBody obj);

-

-public override void SetUserPointer(BulletBody obj, IntPtr val);

-

-// =====================================================================================

-// btRigidBody entries

-public override void ApplyGravity(BulletBody obj);

-

-public override void SetGravity(BulletBody obj, Vector3 val);

-

-public override Vector3 GetGravity(BulletBody obj);

-

-public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping);

-

-public override void SetLinearDamping(BulletBody obj, float lin_damping);

-

-public override void SetAngularDamping(BulletBody obj, float ang_damping);

-

-public override float GetLinearDamping(BulletBody obj);

-

-public override float GetAngularDamping(BulletBody obj);

-

-public override float GetLinearSleepingThreshold(BulletBody obj);

-

-

-public override void ApplyDamping(BulletBody obj, float timeStep);

-

-public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia);

-

-public override Vector3 GetLinearFactor(BulletBody obj);

-

-public override void SetLinearFactor(BulletBody obj, Vector3 factor);

-

-public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot);

-

-// Add a force to the object as if its mass is one.

-public override void ApplyCentralForce(BulletBody obj, Vector3 force);

-

-// Set the force being applied to the object as if its mass is one.

-public override void SetObjectForce(BulletBody obj, Vector3 force);

-

-public override Vector3 GetTotalForce(BulletBody obj);

-

-public override Vector3 GetTotalTorque(BulletBody obj);

-

-public override Vector3 GetInvInertiaDiagLocal(BulletBody obj);

-

-public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);

-

-public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);

-

-public override void ApplyTorque(BulletBody obj, Vector3 torque);

-

-// Apply force at the given point. Will add torque to the object.

-public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);

-

-// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.

-public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp);

-

-// Apply impulse to the object's torque. Force is scaled by object's mass.

-public override 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.

-public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);

-

-public override void ClearForces(BulletBody obj);

-

-public override void ClearAllForces(BulletBody obj);

-

-public override void UpdateInertiaTensor(BulletBody obj);

-

-public override Vector3 GetLinearVelocity(BulletBody obj);

-

-public override Vector3 GetAngularVelocity(BulletBody obj);

-

-public override void SetLinearVelocity(BulletBody obj, Vector3 val);

-

-public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);

-

-public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);

-

-public override void Translate(BulletBody obj, Vector3 trans);

-

-public override void UpdateDeactivation(BulletBody obj, float timeStep);

-

-public override bool WantsSleeping(BulletBody obj);

-

-public override void SetAngularFactor(BulletBody obj, float factor);

-

-public override void SetAngularFactorV(BulletBody obj, Vector3 factor);

-

-public override Vector3 GetAngularFactor(BulletBody obj);

-

-public override bool IsInWorld(BulletBody obj);

-

-public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain);

-

-public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);

-

-public override BulletConstraint GetConstraintRef(BulletBody obj, int index);

-

-public override int GetNumConstraintRefs(BulletBody obj);

-

-public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);

-

-// =====================================================================================

-// btCollisionShape entries

-

-public override float GetAngularMotionDisc(BulletShape shape);

-

-public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);

-

-public override bool IsPolyhedral(BulletShape shape);

-

-public override bool IsConvex2d(BulletShape shape);

-

-public override bool IsConvex(BulletShape shape);

-

-public override bool IsNonMoving(BulletShape shape);

-

-public override bool IsConcave(BulletShape shape);

-

-public override bool IsCompound(BulletShape shape);

-

-public override bool IsSoftBody(BulletShape shape);

-

-public override bool IsInfinite(BulletShape shape);

-

-public override void SetLocalScaling(BulletShape shape, Vector3 scale);

-

-public override Vector3 GetLocalScaling(BulletShape shape);

-

-public override Vector3 CalculateLocalInertia(BulletShape shape, float mass);

-

-public override int GetShapeType(BulletShape shape);

-

-public override void SetMargin(BulletShape shape, float val);

-

-public override float GetMargin(BulletShape shape);

-    */

-

-static class BSAPI

-{

-// =====================================================================================

-// 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 SetShapeCollisionMargin2(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);

-

-}

-}

-

-// ===============================================================================

-// ===============================================================================

-// ===============================================================================

-// ===============================================================================

-// ===============================================================================

-// ===============================================================================

-// ===============================================================================

-// ===============================================================================

-// ===============================================================================

-// ===============================================================================

-// ===============================================================================

-// ===============================================================================

-// ===============================================================================

-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);

-

-// =====================================================================================

-// 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);

-

-[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);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);

-

-// =====================================================================================

-// Constraint creation and helper routines

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr 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,

-                    Vector3 joinPoint,

-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr 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);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool SetFrames2(IntPtr 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);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool UseFrameOffset2(IntPtr constrain, float enable);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool CalculateTransforms2(IntPtr constrain);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);

-

-// =====================================================================================

-// btCollisionWorld entries

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void UpdateAabbs2(IntPtr world);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool GetForceUpdateAllAabbs2(IntPtr world);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);

-

-// =====================================================================================

-// btDynamicsWorld entries

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);

-// =====================================================================================

-// btCollisionObject entries

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool HasAnisotripicFriction2(IntPtr constrain);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern float GetContactProcessingThreshold2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool IsStaticObject2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool IsKinematicObject2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool IsStaticOrKinematicObject2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool HasContactResponse2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern IntPtr GetCollisionShape2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern int GetActivationState2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetActivationState2(IntPtr obj, int state);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetDeactivationTime2(IntPtr obj, float dtime);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern float GetDeactivationTime2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void ForceActivationState2(IntPtr obj, ActivationState state);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void Activate2(IntPtr obj, bool forceActivation);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool IsActive2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetRestitution2(IntPtr obj, float val);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern float GetRestitution2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetFriction2(IntPtr obj, float val);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern float GetFriction2(IntPtr obj);

-

-    /* Haven't defined the type 'Transform'

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Transform GetWorldTransform2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void setWorldTransform2(IntPtr obj, Transform trans);

-     */

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 GetPosition2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Quaternion GetOrientation2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);

-

-    /*

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);

-

-[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);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern float GetHitFraction2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetHitFraction2(IntPtr obj, float val);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern float GetCcdMotionThreshold2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern float GetCcdSweptSphereRadius2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);

-

-[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);

-

-// =====================================================================================

-// 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);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 GetGravity2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern float GetLinearDamping2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern float GetAngularDamping2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern float GetLinearSleepingThreshold2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern float GetAngularSleepingThreshold2(IntPtr 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);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 GetLinearFactor2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);

-

-    /*

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);

-     */

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetCenterOfMassByPosRot2(IntPtr 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);

-

-// 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);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 GetTotalForce2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 GetTotalTorque2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void ApplyTorque2(IntPtr 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);

-

-// 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);

-

-// 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);

-

-// 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);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void ClearAllForces2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void UpdateInertiaTensor2(IntPtr 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);

-     */

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 GetLinearVelocity2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 GetAngularVelocity2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void Translate2(IntPtr obj, Vector3 trans);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool WantsSleeping2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetAngularFactor2(IntPtr obj, float factor);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 GetAngularFactor2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool IsInWorld2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern int GetNumConstraintRefs2(IntPtr obj);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool SetCollisionGroupMask2(IntPtr 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);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool IsPolyhedral2(IntPtr shape);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool IsConvex2d2(IntPtr shape);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool IsConvex2(IntPtr shape);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool IsNonMoving2(IntPtr shape);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool IsConcave2(IntPtr shape);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool IsCompound2(IntPtr shape);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool IsSoftBody2(IntPtr shape);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern bool IsInfinite2(IntPtr shape);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 GetLocalScaling2(IntPtr shape);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern int GetShapeType2(IntPtr shape);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void SetMargin2(IntPtr shape, float val);

-

-[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);

-

-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

-public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);

-

-[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);

-

-}

-}

+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Security;
+using System.Text;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public sealed class BSAPIUnman : BulletSimAPITemplate
+{
+    /*
+// Initialization and simulation
+public BulletWorld Initialize(Vector3 maxPosition, IntPtr parms,
+                                                                                        int maxCollisions,  IntPtr collisionArray,
+                                                                                        int maxUpdates, IntPtr updateArray
+                                            );
+
+public bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);
+
+public void SetHeightMap(BulletWorld world, float[] heightmap);
+
+public void Shutdown(BulletWorld sim);
+
+public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount,
+                        out IntPtr updatedEntitiesPtr,
+                        out int collidersCount,
+                        out IntPtr collidersPtr);
+
+public bool PushUpdate(BulletBody obj);
+     */
+
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+public override BulletShape CreateMeshShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices)
+{
+    return new BulletShape(
+                    BSAPICPP.CreateMeshShape2(world.ptr, indicesCount, indices, verticesCount, vertices),
+                    BSPhysicsShapeType.SHAPE_MESH);
+}
+
+public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
+{
+    return new BulletShape(
+                    BSAPICPP.CreateHullShape2(world.ptr, hullCount, hulls), 
+                    BSPhysicsShapeType.SHAPE_HULL);
+}
+
+public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+{
+    return new BulletShape(
+                    BSAPICPP.BuildHullShapeFromMesh2(world.ptr, meshShape.ptr),
+                    BSPhysicsShapeType.SHAPE_HULL);
+}
+
+public override BulletShape BuildNativeShape( BulletWorld world, ShapeData shapeData)
+{
+    return new BulletShape(
+                    BSAPICPP.BuildNativeShape2(world.ptr, shapeData), 
+                    shapeData.Type);
+}
+
+public override bool IsNativeShape(BulletShape shape)
+{
+    if (shape.HasPhysicalShape)
+        return BSAPICPP.IsNativeShape2(shape.ptr);
+    return false;
+}
+
+public override void SetShapeCollisionMargin(BulletShape shape, float margin)
+{
+    if (shape.HasPhysicalShape)
+        BSAPICPP.SetShapeCollisionMargin2(shape.ptr, margin);
+}
+
+public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
+{
+    return new BulletShape(
+                   BSAPICPP.BuildCapsuleShape2(world.ptr, radius, height, scale),
+                   BSPhysicsShapeType.SHAPE_CAPSULE);
+}
+
+public override BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree)
+{
+    return new BulletShape(
+                    BSAPICPP.CreateCompoundShape2(sim.ptr, enableDynamicAabbTree),
+                    BSPhysicsShapeType.SHAPE_COMPOUND);
+
+}
+
+public override int GetNumberOfCompoundChildren(BulletShape shape)
+{
+    if (shape.HasPhysicalShape)
+        return BSAPICPP.GetNumberOfCompoundChildren2(shape.ptr);
+    return 0;
+}
+
+public override void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot)
+{
+    BSAPICPP.AddChildShapeToCompoundShape2(cShape.ptr, addShape.ptr, pos, rot);
+}
+
+public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)
+{
+    return new BulletShape(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));
+}
+
+public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)
+{
+    return new BulletShape(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));
+}
+
+public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape)
+{
+    BSAPICPP.RemoveChildShapeFromCompoundShape2(cShape.ptr, removeShape.ptr);
+}
+
+public override void RecalculateCompoundShapeLocalAabb(BulletShape cShape)
+{
+    BSAPICPP.RecalculateCompoundShapeLocalAabb2(cShape.ptr);
+}
+
+public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id)
+{
+    return new BulletShape(BSAPICPP.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type);
+}
+
+public override BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo)
+{
+    return new BulletBody(id, BSAPICPP.CreateBodyFromShapeAndInfo2(sim.ptr, shape.ptr, id, constructionInfo));
+}
+
+public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
+{
+    return BSAPICPP.DeleteCollisionShape2(world.ptr, shape.ptr);
+}
+
+public override int GetBodyType(BulletBody obj)
+{
+    return BSAPICPP.GetBodyType2(obj.ptr);
+}
+
+public override BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    return new BulletBody(id, BSAPICPP.CreateBodyFromShape2(sim.ptr, shape.ptr, id, pos, rot));
+}
+
+public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    return new BulletBody(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shape.ptr, id, pos, rot));
+}
+
+public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    return new BulletBody(id, BSAPICPP.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot));
+}
+
+public override IntPtr AllocateBodyInfo(BulletBody obj)
+{
+    return BSAPICPP.AllocateBodyInfo2(obj.ptr);
+}
+
+public override void ReleaseBodyInfo(IntPtr obj)
+{
+    BSAPICPP.ReleaseBodyInfo2(obj);
+}
+
+public override void DestroyObject(BulletWorld sim, BulletBody obj)
+{
+    BSAPICPP.DestroyObject2(sim.ptr, obj.ptr);
+}
+
+// =====================================================================================
+// Terrain creation and helper routines
+public override IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,
+        float[] heightMap, float collisionMargin)
+{
+    return BSAPICPP.CreateHeightMapInfo2(sim.ptr, id, minCoords, maxCoords, heightMap, collisionMargin);
+}
+
+public override IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
+        float[] heightMap, float collisionMargin)
+{
+    return BSAPICPP.FillHeightMapInfo2(sim.ptr, mapInfo, id, minCoords, maxCoords, heightMap, collisionMargin);
+}
+
+public override bool ReleaseHeightMapInfo(IntPtr heightMapInfo)
+{
+    return BSAPICPP.ReleaseHeightMapInfo2(heightMapInfo);
+}
+
+public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
+{
+    return new BulletShape(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
+}
+
+public override BulletShape CreateTerrainShape(IntPtr mapInfo)
+{
+    return new BulletShape(BSAPICPP.CreateTerrainShape2(mapInfo), BSPhysicsShapeType.SHAPE_TERRAIN);
+}
+
+// =====================================================================================
+// Constraint creation and helper routines
+public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    return new BulletConstraint(BSAPICPP.Create6DofConstraint2(world.ptr, obj1.ptr, obj2.ptr, frame1loc, frame1rot,
+                    frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    return new BulletConstraint(BSAPICPP.Create6DofConstraintToPoint2(world.ptr, obj1.ptr, obj2.ptr,
+                    joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 pivotinA, Vector3 pivotinB,
+                    Vector3 axisInA, Vector3 axisInB,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    return new BulletConstraint(BSAPICPP.CreateHingeConstraint2(world.ptr, obj1.ptr, obj2.ptr,
+                    pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse)
+{
+    BSAPICPP.SetConstraintEnable2(constrain.ptr, numericTrueFalse);
+}
+
+public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations)
+{
+    BSAPICPP.SetConstraintNumSolverIterations2(constrain.ptr, iterations);
+}
+
+public override bool SetFrames(BulletConstraint constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
+{
+    return BSAPICPP.SetFrames2(constrain.ptr, frameA, frameArot, frameB, frameBrot);
+}
+
+public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
+{
+    return BSAPICPP.SetLinearLimits2(constrain.ptr, low, hi);
+}
+
+public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
+{
+    return BSAPICPP.SetAngularLimits2(constrain.ptr, low, hi);
+}
+
+public override bool UseFrameOffset(BulletConstraint constrain, float enable)
+{
+    return BSAPICPP.UseFrameOffset2(constrain.ptr, enable);
+}
+
+public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce)
+{
+    return BSAPICPP.TranslationalLimitMotor2(constrain.ptr, enable, targetVel, maxMotorForce);
+}
+
+public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold)
+{
+    return BSAPICPP.SetBreakingImpulseThreshold2(constrain.ptr, threshold);
+}
+
+public override bool CalculateTransforms(BulletConstraint constrain)
+{
+    return BSAPICPP.CalculateTransforms2(constrain.ptr);
+}
+
+public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis)
+{
+    return BSAPICPP.SetConstraintParam2(constrain.ptr, paramIndex, value, axis);
+}
+
+public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain)
+{
+    return BSAPICPP.DestroyConstraint2(world.ptr, constrain.ptr);
+}
+
+// =====================================================================================
+// btCollisionWorld entries
+public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
+{
+    BSAPICPP.UpdateSingleAabb2(world.ptr, obj.ptr);
+}
+
+public override void UpdateAabbs(BulletWorld world)
+{
+    BSAPICPP.UpdateAabbs2(world.ptr);
+}
+
+public override bool GetForceUpdateAllAabbs(BulletWorld world)
+{
+    return BSAPICPP.GetForceUpdateAllAabbs2(world.ptr);
+}
+
+public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
+{
+    BSAPICPP.SetForceUpdateAllAabbs2(world.ptr, force);
+}
+
+// =====================================================================================
+// btDynamicsWorld entries
+public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
+{
+    return BSAPICPP.AddObjectToWorld2(world.ptr, obj.ptr);
+}
+
+public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
+{
+    return BSAPICPP.RemoveObjectFromWorld2(world.ptr, obj.ptr);
+}
+
+public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
+{
+    return BSAPICPP.AddConstraintToWorld2(world.ptr, constrain.ptr, disableCollisionsBetweenLinkedObjects);
+}
+
+public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
+{
+    return BSAPICPP.RemoveConstraintFromWorld2(world.ptr, constrain.ptr);
+}
+// =====================================================================================
+// btCollisionObject entries
+public override Vector3 GetAnisotripicFriction(BulletConstraint constrain)
+{
+    return BSAPICPP.GetAnisotripicFriction2(constrain.ptr);
+}
+
+public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict)
+{
+    return BSAPICPP.SetAnisotripicFriction2(constrain.ptr, frict);
+}
+
+public override bool HasAnisotripicFriction(BulletConstraint constrain)
+{
+    return BSAPICPP.HasAnisotripicFriction2(constrain.ptr);
+}
+
+public override void SetContactProcessingThreshold(BulletBody obj, float val)
+{
+    BSAPICPP.SetContactProcessingThreshold2(obj.ptr, val);
+}
+
+public override float GetContactProcessingThreshold(BulletBody obj)
+{
+    return BSAPICPP.GetContactProcessingThreshold2(obj.ptr);
+}
+
+public override bool IsStaticObject(BulletBody obj)
+{
+    return BSAPICPP.IsStaticObject2(obj.ptr);
+}
+
+public override bool IsKinematicObject(BulletBody obj)
+{
+    return BSAPICPP.IsKinematicObject2(obj.ptr);
+}
+
+public override bool IsStaticOrKinematicObject(BulletBody obj)
+{
+    return BSAPICPP.IsStaticOrKinematicObject2(obj.ptr);
+}
+
+public override bool HasContactResponse(BulletBody obj)
+{
+    return BSAPICPP.HasContactResponse2(obj.ptr);
+}
+
+public override void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape)
+{
+    BSAPICPP.SetCollisionShape2(sim.ptr, obj.ptr, shape.ptr);
+}
+
+public override BulletShape GetCollisionShape(BulletBody obj)
+{
+    return new BulletShape(BSAPICPP.GetCollisionShape2(obj.ptr));
+}
+
+public override int GetActivationState(BulletBody obj)
+{
+    return BSAPICPP.GetActivationState2(obj.ptr);
+}
+
+public override void SetActivationState(BulletBody obj, int state)
+{
+    BSAPICPP.SetActivationState2(obj.ptr, state);
+}
+
+public override void SetDeactivationTime(BulletBody obj, float dtime)
+{
+    BSAPICPP.SetDeactivationTime2(obj.ptr, dtime);
+}
+
+public override float GetDeactivationTime(BulletBody obj)
+{
+    return BSAPICPP.GetDeactivationTime2(obj.ptr);
+}
+
+public override void ForceActivationState(BulletBody obj, ActivationState state)
+{
+    BSAPICPP.ForceActivationState2(obj.ptr, state);
+}
+
+public override void Activate(BulletBody obj, bool forceActivation)
+{
+    BSAPICPP.Activate2(obj.ptr, forceActivation);
+}
+
+public override bool IsActive(BulletBody obj)
+{
+    return BSAPICPP.IsActive2(obj.ptr);
+}
+
+public override void SetRestitution(BulletBody obj, float val)
+{
+    BSAPICPP.SetRestitution2(obj.ptr, val);
+}
+
+public override float GetRestitution(BulletBody obj)
+{
+    return BSAPICPP.GetRestitution2(obj.ptr);
+}
+
+public override void SetFriction(BulletBody obj, float val)
+{
+    BSAPICPP.SetFriction2(obj.ptr, val);
+}
+
+public override float GetFriction(BulletBody obj)
+{
+    return BSAPICPP.GetFriction2(obj.ptr);
+}
+
+public override Vector3 GetPosition(BulletBody obj)
+{
+    return BSAPICPP.GetPosition2(obj.ptr);
+}
+
+public override Quaternion GetOrientation(BulletBody obj)
+{
+    return BSAPICPP.GetOrientation2(obj.ptr);
+}
+
+public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation)
+{
+    BSAPICPP.SetTranslation2(obj.ptr, position, rotation);
+}
+
+public override IntPtr GetBroadphaseHandle(BulletBody obj)
+{
+    return BSAPICPP.GetBroadphaseHandle2(obj.ptr);
+}
+
+public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle)
+{
+    BSAPICPP.SetUserPointer2(obj.ptr, handle);
+}
+
+public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel)
+{
+    BSAPICPP.SetInterpolationLinearVelocity2(obj.ptr, vel);
+}
+
+public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel)
+{
+    BSAPICPP.SetInterpolationAngularVelocity2(obj.ptr, vel);
+}
+
+public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel)
+{
+    BSAPICPP.SetInterpolationVelocity2(obj.ptr, linearVel, angularVel);
+}
+
+public override float GetHitFraction(BulletBody obj)
+{
+    return BSAPICPP.GetHitFraction2(obj.ptr);
+}
+
+public override void SetHitFraction(BulletBody obj, float val)
+{
+    BSAPICPP.SetHitFraction2(obj.ptr, val);
+}
+
+public override CollisionFlags GetCollisionFlags(BulletBody obj)
+{
+    return BSAPICPP.GetCollisionFlags2(obj.ptr);
+}
+
+public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    return BSAPICPP.SetCollisionFlags2(obj.ptr, flags);
+}
+
+public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    return BSAPICPP.AddToCollisionFlags2(obj.ptr, flags);
+}
+
+public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    return BSAPICPP.RemoveFromCollisionFlags2(obj.ptr, flags);
+}
+
+public override float GetCcdMotionThreshold(BulletBody obj)
+{
+    return BSAPICPP.GetCcdMotionThreshold2(obj.ptr);
+}
+
+
+public override void SetCcdMotionThreshold(BulletBody obj, float val)
+{
+    BSAPICPP.SetCcdMotionThreshold2(obj.ptr, val);
+}
+
+public override float GetCcdSweptSphereRadius(BulletBody obj)
+{
+    return BSAPICPP.GetCcdSweptSphereRadius2(obj.ptr);
+}
+
+public override void SetCcdSweptSphereRadius(BulletBody obj, float val)
+{
+    BSAPICPP.SetCcdSweptSphereRadius2(obj.ptr, val);
+}
+
+public override IntPtr GetUserPointer(BulletBody obj)
+{
+    return BSAPICPP.GetUserPointer2(obj.ptr);
+}
+
+public override void SetUserPointer(BulletBody obj, IntPtr val)
+{
+    BSAPICPP.SetUserPointer2(obj.ptr, val);
+}
+
+    /*
+// =====================================================================================
+// btRigidBody entries
+public override void ApplyGravity(BulletBody obj);
+
+public override void SetGravity(BulletBody obj, Vector3 val);
+
+public override Vector3 GetGravity(BulletBody obj);
+
+public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping);
+
+public override void SetLinearDamping(BulletBody obj, float lin_damping);
+
+public override void SetAngularDamping(BulletBody obj, float ang_damping);
+
+public override float GetLinearDamping(BulletBody obj);
+
+public override float GetAngularDamping(BulletBody obj);
+
+public override float GetLinearSleepingThreshold(BulletBody obj);
+
+
+public override void ApplyDamping(BulletBody obj, float timeStep);
+
+public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia);
+
+public override Vector3 GetLinearFactor(BulletBody obj);
+
+public override void SetLinearFactor(BulletBody obj, Vector3 factor);
+
+public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot);
+
+// Add a force to the object as if its mass is one.
+public override void ApplyCentralForce(BulletBody obj, Vector3 force);
+
+// Set the force being applied to the object as if its mass is one.
+public override void SetObjectForce(BulletBody obj, Vector3 force);
+
+public override Vector3 GetTotalForce(BulletBody obj);
+
+public override Vector3 GetTotalTorque(BulletBody obj);
+
+public override Vector3 GetInvInertiaDiagLocal(BulletBody obj);
+
+public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);
+
+public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
+
+public override void ApplyTorque(BulletBody obj, Vector3 torque);
+
+// Apply force at the given point. Will add torque to the object.
+public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp);
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+public override 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.
+public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);
+
+public override void ClearForces(BulletBody obj);
+
+public override void ClearAllForces(BulletBody obj);
+
+public override void UpdateInertiaTensor(BulletBody obj);
+
+public override Vector3 GetLinearVelocity(BulletBody obj);
+
+public override Vector3 GetAngularVelocity(BulletBody obj);
+
+public override void SetLinearVelocity(BulletBody obj, Vector3 val);
+
+public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);
+
+public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);
+
+public override void Translate(BulletBody obj, Vector3 trans);
+
+public override void UpdateDeactivation(BulletBody obj, float timeStep);
+
+public override bool WantsSleeping(BulletBody obj);
+
+public override void SetAngularFactor(BulletBody obj, float factor);
+
+public override void SetAngularFactorV(BulletBody obj, Vector3 factor);
+
+public override Vector3 GetAngularFactor(BulletBody obj);
+
+public override bool IsInWorld(BulletBody obj);
+
+public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
+
+public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
+
+public override BulletConstraint GetConstraintRef(BulletBody obj, int index);
+
+public override int GetNumConstraintRefs(BulletBody obj);
+
+public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);
+
+// =====================================================================================
+// btCollisionShape entries
+
+public override float GetAngularMotionDisc(BulletShape shape);
+
+public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
+
+public override bool IsPolyhedral(BulletShape shape);
+
+public override bool IsConvex2d(BulletShape shape);
+
+public override bool IsConvex(BulletShape shape);
+
+public override bool IsNonMoving(BulletShape shape);
+
+public override bool IsConcave(BulletShape shape);
+
+public override bool IsCompound(BulletShape shape);
+
+public override bool IsSoftBody(BulletShape shape);
+
+public override bool IsInfinite(BulletShape shape);
+
+public override void SetLocalScaling(BulletShape shape, Vector3 scale);
+
+public override Vector3 GetLocalScaling(BulletShape shape);
+
+public override Vector3 CalculateLocalInertia(BulletShape shape, float mass);
+
+public override int GetShapeType(BulletShape shape);
+
+public override void SetMargin(BulletShape shape, float val);
+
+public override float GetMargin(BulletShape shape);
+    */
+
+static class BSAPICPP
+{
+// =====================================================================================
+// 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 SetShapeCollisionMargin2(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);
+
+[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);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
+
+// =====================================================================================
+// Constraint creation and helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr 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,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr 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);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetFrames2(IntPtr 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);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool CalculateTransforms2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
+
+// =====================================================================================
+// btCollisionWorld entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateAabbs2(IntPtr world);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
+
+// =====================================================================================
+// btDynamicsWorld entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
+// =====================================================================================
+// btCollisionObject entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HasAnisotripicFriction2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetContactProcessingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsStaticObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsKinematicObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HasContactResponse2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetCollisionShape2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetActivationState2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetActivationState2(IntPtr obj, int state);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetDeactivationTime2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Activate2(IntPtr obj, bool forceActivation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsActive2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetRestitution2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetRestitution2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetFriction2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetFriction2(IntPtr obj);
+
+    /* Haven't defined the type 'Transform'
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetWorldTransform2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void setWorldTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetPosition2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Quaternion GetOrientation2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
+
+[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);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetHitFraction2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetHitFraction2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetCcdMotionThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
+
+[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);
+
+}
+}
+
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+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);
+
+// =====================================================================================
+// 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);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetGravity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetLinearDamping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularDamping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetLinearSleepingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularSleepingThreshold2(IntPtr 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);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLinearFactor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCenterOfMassByPosRot2(IntPtr 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);
+
+// 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);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetTotalForce2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetTotalTorque2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyTorque2(IntPtr 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);
+
+// 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);
+
+// 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);
+
+// 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);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ClearAllForces2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateInertiaTensor2(IntPtr 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);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLinearVelocity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAngularVelocity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Translate2(IntPtr obj, Vector3 trans);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool WantsSleeping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularFactor2(IntPtr obj, float factor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAngularFactor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsInWorld2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetNumConstraintRefs2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetCollisionGroupMask2(IntPtr 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);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsPolyhedral2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConvex2d2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConvex2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsNonMoving2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConcave2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsCompound2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsSoftBody2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsInfinite2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLocalScaling2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetShapeType2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetMargin2(IntPtr shape, float val);
+
+[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);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
+
+[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);
+
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index d5ab245..328164b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -137,7 +137,7 @@ public sealed class BSCharacter : BSPhysObject
 
     private void SetPhysicalProperties()
     {
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
 
         ZeroMotion(true);
         ForcePosition = _position;
@@ -152,14 +152,14 @@ public sealed class BSCharacter : BSPhysObject
         // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
         Flying = _flying;
 
-        BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution);
+        PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution);
         BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
         BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
-        BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
+        PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
         if (BSParam.CcdMotionThreshold > 0f)
         {
-            BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
-            BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
+            PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+            PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
         }
 
         UpdatePhysicalMassProperties(RawMass, false);
@@ -167,13 +167,13 @@ public sealed class BSCharacter : BSPhysObject
         // Make so capsule does not fall over
         BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
 
-        BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
+        PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
 
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
 
-        // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
-        BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
+        // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);

+        PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
 
         // Do this after the object has been added to the world
         PhysBody.collisionType = CollisionType.Avatar;
@@ -320,7 +320,7 @@ public sealed class BSCharacter : BSPhysObject
         {
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
+                PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero);
                 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
                 // The next also get rid of applied linear force but the linear velocity is untouched.
                 BulletSimAPI.ClearForces2(PhysBody.ptr);
@@ -350,19 +350,19 @@ public sealed class BSCharacter : BSPhysObject
             {
                 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
             });
         }
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+            _position = PhysicsScene.PE.GetPosition(PhysBody);
             return _position;
         }
         set {
             _position = value;
             PositionSanityCheck();
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
         }
     }
 
@@ -418,7 +418,7 @@ public sealed class BSCharacter : BSPhysObject
             {
                 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
                 if (PhysBody.HasPhysicalBody)
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
             });
             ret = true;
         }
@@ -520,7 +520,7 @@ public sealed class BSCharacter : BSPhysObject
                 {
                     _currentFriction = BSParam.AvatarStandingFriction;
                     if (PhysBody.HasPhysicalBody)
-                        BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
+                        PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
                 }
             }
             else
@@ -529,12 +529,12 @@ public sealed class BSCharacter : BSPhysObject
                 {
                     _currentFriction = BSParam.AvatarFriction;
                     if (PhysBody.HasPhysicalBody)
-                        BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
+                        PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
                 }
             }
 
             BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
-            BulletSimAPI.Activate2(PhysBody.ptr, true);
+            PhysicsScene.PE.Activate(PhysBody, true);
         }
     }
     public override OMV.Vector3 Torque {
@@ -576,7 +576,7 @@ public sealed class BSCharacter : BSPhysObject
     {
         get
         {
-            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+            _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
             return _orientation;
         }
         set
@@ -584,8 +584,8 @@ public sealed class BSCharacter : BSPhysObject
             _orientation = value;
             if (PhysBody.HasPhysicalBody)
             {
-                // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                // _position = PhysicsScene.PE.GetPosition(BSBody);
+                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
             }
         }
     }
@@ -636,9 +636,9 @@ public sealed class BSCharacter : BSPhysObject
                 if (PhysBody.HasPhysicalBody)
                 {
                     if (_floatOnWater)
-                        CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                        CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                     else
-                        CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                        CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                 }
             });
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index 59584b2..c9c7c2e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -37,6 +37,7 @@ public abstract class BSConstraint : IDisposable
     private static string LogHeader = "[BULLETSIM CONSTRAINT]";
 
     protected BulletWorld m_world;
+    protected BSScene PhysicsScene;
     protected BulletBody m_body1;
     protected BulletBody m_body2;
     protected BulletConstraint m_constraint;
@@ -48,8 +49,10 @@ public abstract class BSConstraint : IDisposable
     public abstract ConstraintType Type { get; }
     public bool IsEnabled { get { return m_enabled; } }
 
-    public BSConstraint()
+    public BSConstraint(BulletWorld world)
     {
+        m_world = world;
+        PhysicsScene = m_world.physicsScene;
     }
 
     public virtual void Dispose()
@@ -59,7 +62,7 @@ public abstract class BSConstraint : IDisposable
             m_enabled = false;
             if (m_constraint.HasPhysicalConstraint)
             {
-                bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
+                bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint);
                 m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
                                     BSScene.DetailLogZero,
                                     m_body1.ID, m_body1.ptr.ToString("X"),
@@ -74,7 +77,7 @@ public abstract class BSConstraint : IDisposable
     {
         bool ret = false;
         if (m_enabled)
-            ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
+            ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high);
         return ret;
     }
 
@@ -82,7 +85,7 @@ public abstract class BSConstraint : IDisposable
     {
         bool ret = false;
         if (m_enabled)
-            ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
+            ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high);
         return ret;
     }
 
@@ -91,7 +94,7 @@ public abstract class BSConstraint : IDisposable
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
+            PhysicsScene.PE.SetConstraintNumSolverIterations(m_constraint, cnt);
             ret = true;
         }
         return ret;
@@ -103,7 +106,7 @@ public abstract class BSConstraint : IDisposable
         if (m_enabled)
         {
             // Recompute the internal transforms
-            BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
+            PhysicsScene.PE.CalculateTransforms(m_constraint);
             ret = true;
         }
         return ret;
@@ -122,7 +125,7 @@ public abstract class BSConstraint : IDisposable
                 // Setting an object's mass to zero (making it static like when it's selected)
                 //     automatically disables the constraints.
                 // If the link is enabled, be sure to set the constraint itself to enabled.
-                BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true));
+                PhysicsScene.PE.SetConstraintEnable(m_constraint, BSParam.NumericBool(true));
             }
             else
             {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
index b946870..aee93c9 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
@@ -43,15 +43,14 @@ public sealed class BSConstraint6Dof : BSConstraint
                     Vector3 frame1, Quaternion frame1rot,
                     Vector3 frame2, Quaternion frame2rot,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
     {
-        m_world = world;
         m_body1 = obj1;
         m_body2 = obj2;
-        m_constraint = new BulletConstraint(
-                            BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
+        m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2,
                                 frame1, frame1rot,
                                 frame2, frame2rot,
-                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
         m_enabled = true;
         world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                             BSScene.DetailLogZero, world.worldID,
@@ -61,8 +60,8 @@ public sealed class BSConstraint6Dof : BSConstraint
     public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 joinPoint,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
     {
-        m_world = world;
         m_body1 = obj1;
         m_body2 = obj2;
         if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
@@ -76,11 +75,10 @@ public sealed class BSConstraint6Dof : BSConstraint
         }
         else
         {
-            m_constraint = new BulletConstraint(
-                                BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
+            m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
                                     joinPoint,
-                                    useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
-            world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
+                                    useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
+            PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
                                 BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"),
                                 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
             if (!m_constraint.HasPhysicalConstraint)
@@ -101,7 +99,7 @@ public sealed class BSConstraint6Dof : BSConstraint
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
+            PhysicsScene.PE.SetFrames(m_constraint, frameA, frameArot, frameB, frameBrot);
             ret = true;
         }
         return ret;
@@ -112,9 +110,9 @@ public sealed class BSConstraint6Dof : BSConstraint
         bool ret = false;
         if (m_enabled)
         {
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
-            BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+            PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
+            PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
+            PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
             ret = true;
         }
         return ret;
@@ -125,7 +123,7 @@ public sealed class BSConstraint6Dof : BSConstraint
         bool ret = false;
         float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
         if (m_enabled)
-            ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
+            ret = PhysicsScene.PE.UseFrameOffset(m_constraint, onOff);
         return ret;
     }
 
@@ -135,7 +133,7 @@ public sealed class BSConstraint6Dof : BSConstraint
         float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
         if (m_enabled)
         {
-            ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
+            ret = PhysicsScene.PE.TranslationalLimitMotor(m_constraint, onOff, targetVelocity, maxMotorForce);
             m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
                             BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
         }
@@ -146,7 +144,7 @@ public sealed class BSConstraint6Dof : BSConstraint
     {
         bool ret = false;
         if (m_enabled)
-            ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
+            ret = PhysicsScene.PE.SetBreakingImpulseThreshold(m_constraint, threshold);
         return ret;
     }
 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
index a5378b9..7714a03 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs
@@ -40,15 +40,13 @@ public sealed class BSConstraintHinge : BSConstraint
                     Vector3 pivotInA, Vector3 pivotInB,
                     Vector3 axisInA, Vector3 axisInB,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+        : base(world)
     {
-        m_world = world;
         m_body1 = obj1;
         m_body2 = obj2;
-        m_constraint = new BulletConstraint(
-                            BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
-                                pivotInA, pivotInB,
-                                axisInA, axisInB,
-                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+        m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
+                                pivotInA, pivotInB, axisInA, axisInB, 
+                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
         m_enabled = true;
     }
 
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 0bdfbe3..5d70ef7 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -558,7 +558,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                 // Friction affects are handled by this vehicle code
                 float friction = 0f;
-                BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction);
+                PhysicsScene.PE.SetFriction(Prim.PhysBody, friction);
 
                 // Moderate angular movement introduced by Bullet.
                 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
@@ -567,7 +567,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
 
                 // Vehicles report collision events so we know when it's on the ground
-                BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS);
+                PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
 
                 Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass);
                 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
@@ -581,7 +581,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             }
             else
             {
-                BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS);
+                PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
             }
         }
 
@@ -651,7 +651,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 if ((m_knownChanged & m_knownChangedVelocity) != 0)
                 {
                     Prim.ForceVelocity = m_knownVelocity;
-                    BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity);
+                    PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, VehicleVelocity);
                 }
 
                 if ((m_knownChanged & m_knownChangedForce) != 0)
@@ -661,7 +661,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 {
                     Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
                     // Fake out Bullet by making it think the velocity is the same as last time.
-                    BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity);
+                    PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
                 }
 
                 if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 9bb951c..3c99ca7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -131,10 +131,10 @@ public sealed class BSLinksetCompound : BSLinkset
         {
             // The origional prims are removed from the world as the shape of the root compound
             //     shape takes over.
-            BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-            BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            PhysicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            PhysicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION);
             // We don't want collisions from the old linkset children.
-            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
 
             child.PhysBody.collisionType = CollisionType.LinksetChild;
 
@@ -159,12 +159,12 @@ public sealed class BSLinksetCompound : BSLinkset
         else
         {
             // The non-physical children can come back to life.
-            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
 
             child.PhysBody.collisionType = CollisionType.LinksetChild;
 
             // Don't force activation so setting of DISABLE_SIMULATION can stay if used.
-            BulletSimAPI.Activate2(child.PhysBody.ptr, false);
+            PhysicsScene.PE.Activate(child.PhysBody, false);
             ret = true;
         }
         return ret;
@@ -371,7 +371,7 @@ public sealed class BSLinksetCompound : BSLinkset
                             PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
                                                 LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
                         }
-                        PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);

+                        PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);
                     }
                 }
                 return false;   // 'false' says to move onto the next child in the list
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 5c8553a..c6c2946 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -300,7 +300,7 @@ public static class BSParam
             (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); },
             (s) => { return DeactivationTime; },
             (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
+            (s,o,v) => { s.PE.SetDeactivationTime(o.PhysBody, v); } ),
         new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
             0.8f,
             (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); },
@@ -318,19 +318,19 @@ public static class BSParam
             (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); },
             (s) => { return CcdMotionThreshold; },
             (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ),
+            (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ),
         new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
             0f,
             (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
             (s) => { return CcdSweptSphereRadius; },
             (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ),
+            (s,o,v) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, v); } ),
         new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
             0.1f,
             (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); },
             (s) => { return ContactProcessingThreshold; },
             (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); },
-            (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
+            (s,o,v) => { s.PE.SetContactProcessingThreshold(o.PhysBody, v); } ),
 
             new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
             (float)BSTerrainPhys.TerrainImplementation.Mesh,
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index b093890..e7cb3e0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -308,7 +308,7 @@ public abstract class BSPhysObject : PhysicsActor
             PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
             {
                 if (PhysBody.HasPhysicalBody)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
             });
         }
         else
@@ -324,7 +324,7 @@ public abstract class BSPhysObject : PhysicsActor
         {
             // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
             if (PhysBody.HasPhysicalBody)
-                CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+                CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         });
     }
     // Return 'true' if the simulator wants collision events
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index cf09be2..613606f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -120,7 +120,7 @@ public sealed class BSPrim : BSPhysObject
         {
             CreateGeomAndObject(true);
 
-            CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr);
+            CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody);
         });
     }
 
@@ -265,7 +265,7 @@ public sealed class BSPrim : BSPhysObject
             // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
+                PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
                 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
             }
         });
@@ -318,14 +318,14 @@ public sealed class BSPrim : BSPhysObject
     }
     public override OMV.Vector3 ForcePosition {
         get {
-            _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
+            _position = PhysicsScene.PE.GetPosition(PhysBody);
             return _position;
         }
         set {
             _position = value;
             if (PhysBody.HasPhysicalBody)
             {
-                BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
                 ActivateIfPhysical(false);
             }
         }
@@ -419,7 +419,7 @@ public sealed class BSPrim : BSPhysObject
                     // Changing interesting properties doesn't change proxy and collision cache
                     //    information. The Bullet solution is to re-add the object to the world
                     //    after parameters are changed.
-                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+                    PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
                 }
 
                 // The computation of mass props requires gravity to be set on the object.
@@ -649,9 +649,9 @@ public sealed class BSPrim : BSPhysObject
             {
                 if (PhysBody.HasPhysicalBody)
                 {
-                    // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
+                    // _position = PhysicsScene.PE.GetObjectPosition(PhysicsScene.World, BSBody);
                     // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
-                    BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+                    PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
                 }
             });
         }
@@ -661,13 +661,13 @@ public sealed class BSPrim : BSPhysObject
     {
         get
         {
-            _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
+            _orientation = PhysicsScene.PE.GetOrientation(PhysBody);
             return _orientation;
         }
         set
         {
             _orientation = value;
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
         }
     }
     public override int PhysicsActorType {
@@ -723,7 +723,7 @@ public sealed class BSPrim : BSPhysObject
 
         // Mangling all the physical properties requires the object not be in the physical world.
         // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
-        BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody);
 
         // Set up the object physicalness (does gravity and collisions move this object)
         MakeDynamic(IsStatic);
@@ -740,7 +740,7 @@ public sealed class BSPrim : BSPhysObject
         AddObjectToPhysicalWorld();
 
         // Rebuild its shape
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
 
         // Recompute any linkset parameters.
         // When going from non-physical to physical, this re-enables the constraints that
@@ -762,28 +762,28 @@ public sealed class BSPrim : BSPhysObject
         if (makeStatic)
         {
             // Become a Bullet 'static' object type
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
             // Stop all movement
             ZeroMotion(true);
 
             // Set various physical properties so other object interact properly
             MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
-            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
+            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
+            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
 
             // Mass is zero which disables a bunch of physics stuff in Bullet
             UpdatePhysicalMassProperties(0f, false);
             // Set collision detection parameters
             if (BSParam.CcdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
+                PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+                PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
             }
 
             // The activation state is 'disabled' so Bullet will not try to act on it.
-            // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
+            // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION);
             // Start it out sleeping and physical actions could wake it up.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
+            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING);
 
             // This collides like a static object
             PhysBody.collisionType = CollisionType.Static;
@@ -794,22 +794,22 @@ public sealed class BSPrim : BSPhysObject
         else
         {
             // Not a Bullet static object
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT);
 
             // Set various physical properties so other object interact properly
             MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
-            BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
-            BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
+            PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
+            PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
 
             // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
             // Since this can be called multiple times, only zero forces when becoming physical
-            // BulletSimAPI.ClearAllForces2(BSBody.ptr);
+            // PhysicsScene.PE.ClearAllForces(BSBody);
 
             // For good measure, make sure the transform is set through to the motion state
-            BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
+            PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
 
             // Center of mass is at the center of the object
-            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
+            // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody, _position, _orientation);
 
             // A dynamic object has mass
             UpdatePhysicalMassProperties(RawMass, false);
@@ -817,22 +817,22 @@ public sealed class BSPrim : BSPhysObject
             // Set collision detection parameters
             if (BSParam.CcdMotionThreshold > 0f)
             {
-                BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
-                BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
+                PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold);
+                PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius);
             }
 
             // Various values for simulation limits
             BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping);
-            BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime);
+            PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
             BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
-            BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
+            PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
 
             // This collides like an object.
             PhysBody.collisionType = CollisionType.Dynamic;
 
             // Force activation of the object so Bullet will act on it.
             // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
-            BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
+            PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
 
             // There might be special things needed for implementing linksets.
             Linkset.MakeDynamic(this);
@@ -853,7 +853,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
         }
         else
         {
@@ -861,7 +861,7 @@ public sealed class BSPrim : BSPhysObject
             {
                 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
             }
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
+            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
 
             // Change collision info from a static object to a ghosty collision object
             PhysBody.collisionType = CollisionType.VolumeDetect;
@@ -874,7 +874,7 @@ public sealed class BSPrim : BSPhysObject
     private void ActivateIfPhysical(bool forceIt)
     {
         if (IsPhysical && PhysBody.HasPhysicalBody)
-            BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
+            PhysicsScene.PE.Activate(PhysBody, forceIt);
     }
 
     // Turn on or off the flag controlling whether collision events are returned to the simulator.
@@ -882,11 +882,11 @@ public sealed class BSPrim : BSPhysObject
     {
         if (wantsCollisionEvents)
         {
-            CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
         else
         {
-            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
+            CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
         }
     }
 
@@ -897,7 +897,7 @@ public sealed class BSPrim : BSPhysObject
     {
         if (PhysBody.HasPhysicalBody)
         {
-            BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
+            PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
 
             // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
             // Replace this when the new AddObjectToWorld function is complete.
@@ -941,9 +941,9 @@ public sealed class BSPrim : BSPhysObject
             PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
             {
                 if (_floatOnWater)
-                    CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
                 else
-                    CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
+                    CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER);
             });
         }
     }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index e7d8d14..6f819d8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -143,7 +143,7 @@ public sealed class BSShapeCollection : IDisposable
             {
                 if (!BulletSimAPI.IsInWorld2(body.ptr))
                 {
-                    BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
+                    PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body);
                     if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
                 }
             });
@@ -168,12 +168,12 @@ public sealed class BSShapeCollection : IDisposable
 
                 if (BulletSimAPI.IsInWorld2(body.ptr))
                 {
-                    BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
+                    PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body);
                     if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
                 }
 
                 // Zero any reference to the shape so it is not freed when the body is deleted.
-                BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
+                PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, new BulletShape());
                 PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
             });
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index a2c085e..01966c0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -91,13 +91,12 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
     // Using the information in m_mapInfo, create the physical representation of the heightmap.
     private void BuildHeightmapTerrain()
     {
-        m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
+        m_mapInfo.Ptr = PhysicsScene.PE.CreateHeightMapInfo(PhysicsScene.World, m_mapInfo.ID,
                                 m_mapInfo.minCoords, m_mapInfo.maxCoords, 
                                 m_mapInfo.heightMap, BSParam.TerrainCollisionMargin);
 
         // Create the terrain shape from the mapInfo
-        m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
-                                                    BSPhysicsShapeType.SHAPE_TERRAIN);
+        m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape(m_mapInfo.Ptr);
 
         // The terrain object initial position is at the center of the object
         Vector3 centerPos;
@@ -109,22 +108,22 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
                                 m_mapInfo.ID, centerPos, Quaternion.Identity);
 
         // Set current terrain attributes
-        BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction);
-        BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction);
-        BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution);
-        BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+        PhysicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction);
+        PhysicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction);
+        PhysicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution);
+        PhysicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT);
 
         // Return the new terrain to the world of physical objects
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_mapInfo.terrainBody);
 
         // redo its bounding box now that it is in the world
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody);
 
         m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
         m_mapInfo.terrainBody.ApplyCollisionMask();
 
         // Make it so the terrain will not move or be considered for movement.
-        BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+        PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION);
 
         return;
     }
@@ -136,10 +135,10 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
         {
             if (m_mapInfo.terrainBody.HasPhysicalBody)
             {
-                BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
+                PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody);
                 // Frees both the body and the shape.
                 PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody);
-                BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
+                PhysicsScene.PE.ReleaseHeightMapInfo(m_mapInfo.Ptr);
             }
         }
         m_mapInfo = null;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index d99a50f..590c687 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -133,17 +133,14 @@ public sealed class BSTerrainManager : IDisposable
     public void CreateInitialGroundPlaneAndTerrain()
     {
         // The ground plane is here to catch things that are trying to drop to negative infinity
-        BulletShape groundPlaneShape = new BulletShape(
-                    BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, 
-                                    BSParam.TerrainCollisionMargin),
-                    BSPhysicsShapeType.SHAPE_GROUNDPLANE);
+        BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
         m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, 
                                         BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity);
 
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_groundPlane);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_groundPlane);
         // Ground plane does not move
-        BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
+        PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);
         // Everything collides with the ground plane.
         m_groundPlane.collisionType = CollisionType.Groundplane;
         m_groundPlane.ApplyCollisionMask();
@@ -158,7 +155,7 @@ public sealed class BSTerrainManager : IDisposable
     {
         if (m_groundPlane.HasPhysicalBody)
         {
-            if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
+            if (PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_groundPlane))
             {
                 PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_groundPlane);
             }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
index d8c4972..2f55fc3 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
@@ -114,32 +114,32 @@ public sealed class BSTerrainMesh : BSTerrainPhys
         }
 
         // Set current terrain attributes
-        BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction);
-        BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction);
-        BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution);
-        BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
+        PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
+        PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
+        PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
+        PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
 
         // Static objects are not very massive.
         BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
 
         // Put the new terrain to the world of physical objects
-        BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody);
 
         // Redo its bounding box now that it is in the world
-        BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody);
 
         m_terrainBody.collisionType = CollisionType.Terrain;
         m_terrainBody.ApplyCollisionMask();
 
         // Make it so the terrain will not move or be considered for movement.
-        BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
+        PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
     }
 
     public override void Dispose()
     {
         if (m_terrainBody.HasPhysicalBody)
         {
-            BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
+            PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_terrainBody);
             // Frees both the body and the shape.
             PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody);
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 6b76151..b119f22 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -367,7 +367,6 @@ public abstract void ReleaseBodyInfo(IntPtr obj);
 
 public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
 
-    /*
 // =====================================================================================
 // Terrain creation and helper routines
 public abstract IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,
@@ -378,9 +377,9 @@ public abstract IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint i
 
 public abstract bool ReleaseHeightMapInfo(IntPtr heightMapInfo);
 
-public abstract BulletBody CreateGroundPlaneShape(uint id, float height, float collisionMargin);
+public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin);
 
-public abstract BulletBody CreateTerrainShape(IntPtr mapInfo);
+public abstract BulletShape CreateTerrainShape(IntPtr mapInfo);
 
 // =====================================================================================
 // Constraint creation and helper routines
@@ -460,7 +459,7 @@ public abstract bool IsStaticOrKinematicObject(BulletBody obj);
 
 public abstract bool HasContactResponse(BulletBody obj);
 
-public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletBody shape);
+public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
 
 public abstract BulletShape GetCollisionShape(BulletBody obj);
 
@@ -526,6 +525,7 @@ public abstract IntPtr GetUserPointer(BulletBody obj);
 
 public abstract void SetUserPointer(BulletBody obj, IntPtr val);
 
+    /*
 // =====================================================================================
 // btRigidBody entries
 public abstract void ApplyGravity(BulletBody obj);