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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Runtime.InteropServices;
30using System.Security;
31using System.Text;
32using OpenMetaverse;
33
34namespace OpenSim.Region.Physics.BulletSPlugin {
35
36 // Constraint type values as defined by Bullet
37public enum ConstraintType : int
38{
39 POINT2POINT_CONSTRAINT_TYPE = 3,
40 HINGE_CONSTRAINT_TYPE,
41 CONETWIST_CONSTRAINT_TYPE,
42 D6_CONSTRAINT_TYPE,
43 SLIDER_CONSTRAINT_TYPE,
44 CONTACT_CONSTRAINT_TYPE,
45 D6_SPRING_CONSTRAINT_TYPE,
46 MAX_CONSTRAINT_TYPE
47}
48
49// ===============================================================================
50[StructLayout(LayoutKind.Sequential)]
51public struct ConvexHull
52{
53 Vector3 Offset;
54 int VertexCount;
55 Vector3[] Vertices;
56}
57public enum BSPhysicsShapeType
58{
59 SHAPE_UNKNOWN = 0,
60 SHAPE_CAPSULE = 1,
61 SHAPE_BOX = 2,
62 SHAPE_CONE = 3,
63 SHAPE_CYLINDER = 4,
64 SHAPE_SPHERE = 5,
65 SHAPE_MESH = 6,
66 SHAPE_HULL = 7,
67 // following defined by BulletSim
68 SHAPE_GROUNDPLANE = 20,
69 SHAPE_TERRAIN = 21,
70 SHAPE_COMPOUND = 22,
71 SHAPE_HEIGHTMAP = 23,
72 SHAPE_AVATAR = 24,
73};
74
75// The native shapes have predefined shape hash keys
76public enum FixedShapeKey : ulong
77{
78 KEY_NONE = 0,
79 KEY_BOX = 1,
80 KEY_SPHERE = 2,
81 KEY_CONE = 3,
82 KEY_CYLINDER = 4,
83 KEY_CAPSULE = 5,
84 KEY_AVATAR = 6,
85}
86
87[StructLayout(LayoutKind.Sequential)]
88public struct ShapeData
89{
90 public uint ID;
91 public BSPhysicsShapeType Type;
92 public Vector3 Position;
93 public Quaternion Rotation;
94 public Vector3 Velocity;
95 public Vector3 Scale;
96 public float Mass;
97 public float Buoyancy;
98 public System.UInt64 HullKey;
99 public System.UInt64 MeshKey;
100 public float Friction;
101 public float Restitution;
102 public float Collidable; // true of things bump into this
103 public float Static; // true if a static object. Otherwise gravity, etc.
104 public float Solid; // true if object cannot be passed through
105 public Vector3 Size;
106
107 // note that bools are passed as floats since bool size changes by language and architecture
108 public const float numericTrue = 1f;
109 public const float numericFalse = 0f;
110}
111[StructLayout(LayoutKind.Sequential)]
112public struct SweepHit
113{
114 public uint ID;
115 public float Fraction;
116 public Vector3 Normal;
117 public Vector3 Point;
118}
119[StructLayout(LayoutKind.Sequential)]
120public struct RaycastHit
121{
122 public uint ID;
123 public float Fraction;
124 public Vector3 Normal;
125}
126[StructLayout(LayoutKind.Sequential)]
127public struct CollisionDesc
128{
129 public uint aID;
130 public uint bID;
131 public Vector3 point;
132 public Vector3 normal;
133}
134[StructLayout(LayoutKind.Sequential)]
135public struct EntityProperties
136{
137 public uint ID;
138 public Vector3 Position;
139 public Quaternion Rotation;
140 public Vector3 Velocity;
141 public Vector3 Acceleration;
142 public Vector3 RotationalVelocity;
143}
144
145// Format of this structure must match the definition in the C++ code
146// NOTE: adding the X causes compile breaks if used. These are unused symbols
147// that can be removed from both here and the unmanaged definition of this structure.
148[StructLayout(LayoutKind.Sequential)]
149public struct ConfigurationParameters
150{
151 public float defaultFriction;
152 public float defaultDensity;
153 public float defaultRestitution;
154 public float collisionMargin;
155 public float gravity;
156
157 public float XlinearDamping;
158 public float XangularDamping;
159 public float XdeactivationTime;
160 public float XlinearSleepingThreshold;
161 public float XangularSleepingThreshold;
162 public float XccdMotionThreshold;
163 public float XccdSweptSphereRadius;
164 public float XcontactProcessingThreshold;
165
166 public float XterrainImplementation;
167 public float XterrainFriction;
168 public float XterrainHitFraction;
169 public float XterrainRestitution;
170 public float XterrainCollisionMargin;
171
172 public float XavatarFriction;
173 public float XavatarStandingFriction;
174 public float XavatarDensity;
175 public float XavatarRestitution;
176 public float XavatarCapsuleWidth;
177 public float XavatarCapsuleDepth;
178 public float XavatarCapsuleHeight;
179 public float XavatarContactProcessingThreshold;
180
181 public float XvehicleAngularDamping;
182
183 public float maxPersistantManifoldPoolSize;
184 public float maxCollisionAlgorithmPoolSize;
185 public float shouldDisableContactPoolDynamicAllocation;
186 public float shouldForceUpdateAllAabbs;
187 public float shouldRandomizeSolverOrder;
188 public float shouldSplitSimulationIslands;
189 public float shouldEnableFrictionCaching;
190 public float numberOfSolverIterations;
191
192 public float XlinksetImplementation;
193 public float XlinkConstraintUseFrameOffset;
194 public float XlinkConstraintEnableTransMotor;
195 public float XlinkConstraintTransMotorMaxVel;
196 public float XlinkConstraintTransMotorMaxForce;
197 public float XlinkConstraintERP;
198 public float XlinkConstraintCFM;
199 public float XlinkConstraintSolverIterations;
200
201 public float XphysicsLoggingFrames;
202
203 public const float numericTrue = 1f;
204 public const float numericFalse = 0f;
205}
206
207
208// The states a bullet collision object can have
209public enum ActivationState : uint
210{
211 ACTIVE_TAG = 1,
212 ISLAND_SLEEPING,
213 WANTS_DEACTIVATION,
214 DISABLE_DEACTIVATION,
215 DISABLE_SIMULATION,
216}
217
218public enum CollisionObjectTypes : int
219{
220 CO_COLLISION_OBJECT = 1 << 0,
221 CO_RIGID_BODY = 1 << 1,
222 CO_GHOST_OBJECT = 1 << 2,
223 CO_SOFT_BODY = 1 << 3,
224 CO_HF_FLUID = 1 << 4,
225 CO_USER_TYPE = 1 << 5,
226}
227
228// Values used by Bullet and BulletSim to control object properties.
229// Bullet's "CollisionFlags" has more to do with operations on the
230// object (if collisions happen, if gravity effects it, ...).
231public enum CollisionFlags : uint
232{
233 CF_STATIC_OBJECT = 1 << 0,
234 CF_KINEMATIC_OBJECT = 1 << 1,
235 CF_NO_CONTACT_RESPONSE = 1 << 2,
236 CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3,
237 CF_CHARACTER_OBJECT = 1 << 4,
238 CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
239 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
240 // Following used by BulletSim to control collisions and updates
241 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
242 BS_FLOATS_ON_WATER = 1 << 11,
243 BS_VEHICLE_COLLISIONS = 1 << 12,
244 BS_NONE = 0,
245 BS_ALL = 0xFFFFFFFF
246};
247
248// Values f collisions groups and masks
249public enum CollisionFilterGroups : uint
250{
251 // Don't use the bit definitions!! Define the use in a
252 // filter/mask definition below. This way collision interactions
253 // are more easily found and debugged.
254 BNoneGroup = 0,
255 BDefaultGroup = 1 << 0, // 0001
256 BStaticGroup = 1 << 1, // 0002
257 BKinematicGroup = 1 << 2, // 0004
258 BDebrisGroup = 1 << 3, // 0008
259 BSensorTrigger = 1 << 4, // 0010
260 BCharacterGroup = 1 << 5, // 0020
261 BAllGroup = 0x000FFFFF,
262 // Filter groups defined by BulletSim
263 BGroundPlaneGroup = 1 << 10, // 0400
264 BTerrainGroup = 1 << 11, // 0800
265 BRaycastGroup = 1 << 12, // 1000
266 BSolidGroup = 1 << 13, // 2000
267 // BLinksetGroup = xx // a linkset proper is either static or dynamic
268 BLinksetChildGroup = 1 << 14, // 4000
269};
270
271// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
272// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
273public enum ConstraintParams : int
274{
275 BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730
276 BT_CONSTRAINT_STOP_ERP,
277 BT_CONSTRAINT_CFM,
278 BT_CONSTRAINT_STOP_CFM,
279};
280public enum ConstraintParamAxis : int
281{
282 AXIS_LINEAR_X = 0,
283 AXIS_LINEAR_Y,
284 AXIS_LINEAR_Z,
285 AXIS_ANGULAR_X,
286 AXIS_ANGULAR_Y,
287 AXIS_ANGULAR_Z,
288 AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls
289 AXIS_ANGULAR_ALL,
290 AXIS_ALL
291};
292
293public abstract class BSAPITemplate
294{
295// Returns the name of the underlying Bullet engine
296public abstract string BulletEngineName { get; }
297public abstract string BulletEngineVersion { get; protected set;}
298
299// Initialization and simulation
300public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
301 int maxCollisions, ref CollisionDesc[] collisionArray,
302 int maxUpdates, ref EntityProperties[] updateArray
303 );
304
305public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
306 out int updatedEntityCount, out int collidersCount);
307
308public abstract bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);
309
310public abstract void Shutdown(BulletWorld sim);
311
312public abstract bool PushUpdate(BulletBody obj);
313
314// =====================================================================================
315// Mesh, hull, shape and body creation helper routines
316public abstract BulletShape CreateMeshShape(BulletWorld world,
317 int indicesCount, int[] indices,
318 int verticesCount, float[] vertices );
319
320public abstract BulletShape CreateHullShape(BulletWorld world,
321 int hullCount, float[] hulls);
322
323public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
324
325public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData);
326
327public abstract bool IsNativeShape(BulletShape shape);
328
329public abstract void SetShapeCollisionMargin(BulletShape shape, float margin);
330
331public abstract BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale);
332
333public abstract BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree);
334
335public abstract int GetNumberOfCompoundChildren(BulletShape cShape);
336
337public abstract void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot);
338
339public abstract BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
340
341public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
342
343public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape);
344
345public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
346
347public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id);
348
349public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape);
350
351public abstract CollisionObjectTypes GetBodyType(BulletBody obj);
352
353public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
354
355public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot);
356
357public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
358
359public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
360
361// =====================================================================================
362public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin);
363
364public abstract BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
365 float scaleFactor, float collisionMargin);
366
367// =====================================================================================
368// Constraint creation and helper routines
369public abstract BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
370 Vector3 frame1loc, Quaternion frame1rot,
371 Vector3 frame2loc, Quaternion frame2rot,
372 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
373
374public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
375 Vector3 joinPoint,
376 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
377
378public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
379 Vector3 pivotinA, Vector3 pivotinB,
380 Vector3 axisInA, Vector3 axisInB,
381 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
382
383public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
384
385public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
386
387public abstract bool SetFrames(BulletConstraint constrain,
388 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
389
390public abstract bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
391
392public abstract bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
393
394public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
395
396public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
397
398public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
399
400public abstract bool CalculateTransforms(BulletConstraint constrain);
401
402public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
403
404public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
405
406// =====================================================================================
407// btCollisionWorld entries
408public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);
409
410public abstract void UpdateAabbs(BulletWorld world);
411
412public abstract bool GetForceUpdateAllAabbs(BulletWorld world);
413
414public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force);
415
416// =====================================================================================
417// btDynamicsWorld entries
418// public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj, Vector3 pos, Quaternion rot);
419public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
420
421public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
422
423public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
424
425public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
426// =====================================================================================
427// btCollisionObject entries
428public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
429
430public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
431
432public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
433
434public abstract void SetContactProcessingThreshold(BulletBody obj, float val);
435
436public abstract float GetContactProcessingThreshold(BulletBody obj);
437
438public abstract bool IsStaticObject(BulletBody obj);
439
440public abstract bool IsKinematicObject(BulletBody obj);
441
442public abstract bool IsStaticOrKinematicObject(BulletBody obj);
443
444public abstract bool HasContactResponse(BulletBody obj);
445
446public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
447
448public abstract BulletShape GetCollisionShape(BulletBody obj);
449
450public abstract int GetActivationState(BulletBody obj);
451
452public abstract void SetActivationState(BulletBody obj, int state);
453
454public abstract void SetDeactivationTime(BulletBody obj, float dtime);
455
456public abstract float GetDeactivationTime(BulletBody obj);
457
458public abstract void ForceActivationState(BulletBody obj, ActivationState state);
459
460public abstract void Activate(BulletBody obj, bool forceActivation);
461
462public abstract bool IsActive(BulletBody obj);
463
464public abstract void SetRestitution(BulletBody obj, float val);
465
466public abstract float GetRestitution(BulletBody obj);
467
468public abstract void SetFriction(BulletBody obj, float val);
469
470public abstract float GetFriction(BulletBody obj);
471
472public abstract Vector3 GetPosition(BulletBody obj);
473
474public abstract Quaternion GetOrientation(BulletBody obj);
475
476public abstract void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation);
477
478// public abstract IntPtr GetBroadphaseHandle(BulletBody obj);
479
480// public abstract void SetBroadphaseHandle(BulletBody obj, IntPtr handle);
481
482public abstract void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel);
483
484public abstract void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel);
485
486public abstract void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel);
487
488public abstract float GetHitFraction(BulletBody obj);
489
490public abstract void SetHitFraction(BulletBody obj, float val);
491
492public abstract CollisionFlags GetCollisionFlags(BulletBody obj);
493
494public abstract CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags);
495
496public abstract CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags);
497
498public abstract CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags);
499
500public abstract float GetCcdMotionThreshold(BulletBody obj);
501
502public abstract void SetCcdMotionThreshold(BulletBody obj, float val);
503
504public abstract float GetCcdSweptSphereRadius(BulletBody obj);
505
506public abstract void SetCcdSweptSphereRadius(BulletBody obj, float val);
507
508public abstract IntPtr GetUserPointer(BulletBody obj);
509
510public abstract void SetUserPointer(BulletBody obj, IntPtr val);
511
512// =====================================================================================
513// btRigidBody entries
514public abstract void ApplyGravity(BulletBody obj);
515
516public abstract void SetGravity(BulletBody obj, Vector3 val);
517
518public abstract Vector3 GetGravity(BulletBody obj);
519
520public abstract void SetDamping(BulletBody obj, float lin_damping, float ang_damping);
521
522public abstract void SetLinearDamping(BulletBody obj, float lin_damping);
523
524public abstract void SetAngularDamping(BulletBody obj, float ang_damping);
525
526public abstract float GetLinearDamping(BulletBody obj);
527
528public abstract float GetAngularDamping(BulletBody obj);
529
530public abstract float GetLinearSleepingThreshold(BulletBody obj);
531
532public abstract void ApplyDamping(BulletBody obj, float timeStep);
533
534public abstract void SetMassProps(BulletBody obj, float mass, Vector3 inertia);
535
536public abstract Vector3 GetLinearFactor(BulletBody obj);
537
538public abstract void SetLinearFactor(BulletBody obj, Vector3 factor);
539
540public abstract void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot);
541
542// Add a force to the object as if its mass is one.
543public abstract void ApplyCentralForce(BulletBody obj, Vector3 force);
544
545// Set the force being applied to the object as if its mass is one.
546public abstract void SetObjectForce(BulletBody obj, Vector3 force);
547
548public abstract Vector3 GetTotalForce(BulletBody obj);
549
550public abstract Vector3 GetTotalTorque(BulletBody obj);
551
552public abstract Vector3 GetInvInertiaDiagLocal(BulletBody obj);
553
554public abstract void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);
555
556public abstract void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
557
558public abstract void ApplyTorque(BulletBody obj, Vector3 torque);
559
560// Apply force at the given point. Will add torque to the object.
561public abstract void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);
562
563// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
564public abstract void ApplyCentralImpulse(BulletBody obj, Vector3 imp);
565
566// Apply impulse to the object's torque. Force is scaled by object's mass.
567public abstract void ApplyTorqueImpulse(BulletBody obj, Vector3 imp);
568
569// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
570public abstract void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);
571
572public abstract void ClearForces(BulletBody obj);
573
574public abstract void ClearAllForces(BulletBody obj);
575
576public abstract void UpdateInertiaTensor(BulletBody obj);
577
578public abstract Vector3 GetLinearVelocity(BulletBody obj);
579
580public abstract Vector3 GetAngularVelocity(BulletBody obj);
581
582public abstract void SetLinearVelocity(BulletBody obj, Vector3 val);
583
584public abstract void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);
585
586public abstract Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);
587
588public abstract void Translate(BulletBody obj, Vector3 trans);
589
590public abstract void UpdateDeactivation(BulletBody obj, float timeStep);
591
592public abstract bool WantsSleeping(BulletBody obj);
593
594public abstract void SetAngularFactor(BulletBody obj, float factor);
595
596public abstract void SetAngularFactorV(BulletBody obj, Vector3 factor);
597
598public abstract Vector3 GetAngularFactor(BulletBody obj);
599
600public abstract bool IsInWorld(BulletWorld world, BulletBody obj);
601
602public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
603
604public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
605
606public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index);
607
608public abstract int GetNumConstraintRefs(BulletBody obj);
609
610public abstract bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);
611
612// =====================================================================================
613// btCollisionShape entries
614
615public abstract float GetAngularMotionDisc(BulletShape shape);
616
617public abstract float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
618
619public abstract bool IsPolyhedral(BulletShape shape);
620
621public abstract bool IsConvex2d(BulletShape shape);
622
623public abstract bool IsConvex(BulletShape shape);
624
625public abstract bool IsNonMoving(BulletShape shape);
626
627public abstract bool IsConcave(BulletShape shape);
628
629public abstract bool IsCompound(BulletShape shape);
630
631public abstract bool IsSoftBody(BulletShape shape);
632
633public abstract bool IsInfinite(BulletShape shape);
634
635public abstract void SetLocalScaling(BulletShape shape, Vector3 scale);
636
637public abstract Vector3 GetLocalScaling(BulletShape shape);
638
639public abstract Vector3 CalculateLocalInertia(BulletShape shape, float mass);
640
641public abstract int GetShapeType(BulletShape shape);
642
643public abstract void SetMargin(BulletShape shape, float val);
644
645public abstract float GetMargin(BulletShape shape);
646
647// =====================================================================================
648// Debugging
649public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) { }
650
651public virtual void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape) { }
652
653public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain) { }
654
655public virtual void DumpActivationInfo(BulletWorld sim) { }
656
657public virtual void DumpAllInfo(BulletWorld sim) { }
658
659public virtual void DumpPhysicsStatistics(BulletWorld sim) { }
660
661public virtual void ResetBroadphasePool(BulletWorld sim) { }
662
663public virtual void ResetConstraintSolver(BulletWorld sim) { }
664
665};
666}
generated by cgit v1.1 at 2024-12-21 11:55:24 +0000