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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs723
1 files changed, 643 insertions, 80 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 504bd3c..1125d7e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -33,38 +33,154 @@ using OpenMetaverse;
33namespace OpenSim.Region.Physics.BulletSPlugin { 33namespace OpenSim.Region.Physics.BulletSPlugin {
34 34
35// Classes to allow some type checking for the API 35// Classes to allow some type checking for the API
36// These hold pointers to allocated objects in the unmanaged space.
37
38// The physics engine controller class created at initialization
36public struct BulletSim 39public struct BulletSim
37{ 40{
38 public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss; Ptr = xx; } 41 public BulletSim(uint worldId, BSScene bss, IntPtr xx)
39 public uint ID; 42 {
43 ptr = xx;
44 worldID = worldId;
45 physicsScene = bss;
46 }
47 public IntPtr ptr;
48 public uint worldID;
40 // The scene is only in here so very low level routines have a handle to print debug/error messages 49 // The scene is only in here so very low level routines have a handle to print debug/error messages
41 public BSScene scene; 50 public BSScene physicsScene;
42 public IntPtr Ptr;
43} 51}
44 52
53// An allocated Bullet btRigidBody
45public struct BulletBody 54public struct BulletBody
46{ 55{
47 public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } 56 public BulletBody(uint id, IntPtr xx)
48 public IntPtr Ptr; 57 {
58 ID = id;
59 ptr = xx;
60 collisionFilter = 0;
61 collisionMask = 0;
62 }
63 public IntPtr ptr;
49 public uint ID; 64 public uint ID;
65 public CollisionFilterGroups collisionFilter;
66 public CollisionFilterGroups collisionMask;
67 public override string ToString()
68 {
69 StringBuilder buff = new StringBuilder();
70 buff.Append("<id=");
71 buff.Append(ID.ToString());
72 buff.Append(",p=");
73 buff.Append(ptr.ToString("X"));
74 if (collisionFilter != 0 && collisionMask != 0)
75 {
76 buff.Append(",f=");
77 buff.Append(collisionFilter.ToString("X"));
78 buff.Append(",m=");
79 buff.Append(collisionMask.ToString("X"));
80 }
81 buff.Append(">");
82 return buff.ToString();
83 }
84}
85
86public struct BulletShape
87{
88 public BulletShape(IntPtr xx)
89 {
90 ptr = xx;
91 type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
92 shapeKey = 0;
93 isNativeShape = false;
94 }
95 public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ)
96 {
97 ptr = xx;
98 type = typ;
99 shapeKey = 0;
100 isNativeShape = false;
101 }
102 public IntPtr ptr;
103 public ShapeData.PhysicsShapeType type;
104 public ulong shapeKey;
105 public bool isNativeShape;
106 // Hulls have an underlying mesh. A pointer to it is hidden here.
107 public override string ToString()
108 {
109 StringBuilder buff = new StringBuilder();
110 buff.Append("<p=");
111 buff.Append(ptr.ToString("X"));
112 buff.Append(",s=");
113 buff.Append(type.ToString());
114 buff.Append(",k=");
115 buff.Append(shapeKey.ToString("X"));
116 buff.Append(",n=");
117 buff.Append(isNativeShape.ToString());
118 buff.Append(">");
119 return buff.ToString();
120 }
50} 121}
51 122
123 // Constraint type values as defined by Bullet
124public enum ConstraintType : int
125{
126 POINT2POINT_CONSTRAINT_TYPE = 3,
127 HINGE_CONSTRAINT_TYPE,
128 CONETWIST_CONSTRAINT_TYPE,
129 D6_CONSTRAINT_TYPE,
130 SLIDER_CONSTRAINT_TYPE,
131 CONTACT_CONSTRAINT_TYPE,
132 D6_SPRING_CONSTRAINT_TYPE,
133 MAX_CONSTRAINT_TYPE
134}
135
136// An allocated Bullet btConstraint
52public struct BulletConstraint 137public struct BulletConstraint
53{ 138{
54 public BulletConstraint(IntPtr xx) { Ptr = xx; } 139 public BulletConstraint(IntPtr xx)
140 {
141 ptr = xx;
142 }
143 public IntPtr ptr;
144}
145
146// An allocated HeightMapThing which holds various heightmap info.
147// Made a class rather than a struct so there would be only one
148// instance of this and C# will pass around pointers rather
149// than making copies.
150public class BulletHeightMapInfo
151{
152 public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
153 ID = id;
154 Ptr = xx;
155 heightMap = hm;
156 terrainRegionBase = new Vector2(0f, 0f);
157 minCoords = new Vector3(100f, 100f, 25f);
158 maxCoords = new Vector3(101f, 101f, 26f);
159 minZ = maxZ = 0f;
160 sizeX = sizeY = 256f;
161 }
162 public uint ID;
55 public IntPtr Ptr; 163 public IntPtr Ptr;
164 public float[] heightMap;
165 public Vector2 terrainRegionBase;
166 public Vector3 minCoords;
167 public Vector3 maxCoords;
168 public float sizeX, sizeY;
169 public float minZ, maxZ;
170 public BulletShape terrainShape;
171 public BulletBody terrainBody;
56} 172}
57 173
58// =============================================================================== 174// ===============================================================================
59[StructLayout(LayoutKind.Sequential)] 175[StructLayout(LayoutKind.Sequential)]
60public struct ConvexHull 176public struct ConvexHull
61{ 177{
62 Vector3 Offset; 178 Vector3 Offset;
63 int VertexCount; 179 int VertexCount;
64 Vector3[] Vertices; 180 Vector3[] Vertices;
65} 181}
66[StructLayout(LayoutKind.Sequential)] 182[StructLayout(LayoutKind.Sequential)]
67public struct ShapeData 183public struct ShapeData
68{ 184{
69 public enum PhysicsShapeType 185 public enum PhysicsShapeType
70 { 186 {
@@ -75,7 +191,9 @@ public struct ShapeData
75 SHAPE_CYLINDER = 4, 191 SHAPE_CYLINDER = 4,
76 SHAPE_SPHERE = 5, 192 SHAPE_SPHERE = 5,
77 SHAPE_MESH = 6, 193 SHAPE_MESH = 6,
78 SHAPE_HULL = 7 194 SHAPE_HULL = 7,
195 SHAPE_GROUNDPLANE = 8,
196 SHAPE_TERRAIN = 9,
79 }; 197 };
80 public uint ID; 198 public uint ID;
81 public PhysicsShapeType Type; 199 public PhysicsShapeType Type;
@@ -91,13 +209,24 @@ public struct ShapeData
91 public float Restitution; 209 public float Restitution;
92 public float Collidable; // true of things bump into this 210 public float Collidable; // true of things bump into this
93 public float Static; // true if a static object. Otherwise gravity, etc. 211 public float Static; // true if a static object. Otherwise gravity, etc.
212 public float Solid; // true if object cannot be passed through
213 public Vector3 Size;
94 214
95 // note that bools are passed as floats since bool size changes by language and architecture 215 // note that bools are passed as floats since bool size changes by language and architecture
96 public const float numericTrue = 1f; 216 public const float numericTrue = 1f;
97 public const float numericFalse = 0f; 217 public const float numericFalse = 0f;
218
219 // The native shapes have predefined shape hash keys
220 public enum FixedShapeKey : ulong
221 {
222 KEY_BOX = 1,
223 KEY_SPHERE = 2,
224 KEY_CONE = 3,
225 KEY_CYLINDER = 4,
226 }
98} 227}
99[StructLayout(LayoutKind.Sequential)] 228[StructLayout(LayoutKind.Sequential)]
100public struct SweepHit 229public struct SweepHit
101{ 230{
102 public uint ID; 231 public uint ID;
103 public float Fraction; 232 public float Fraction;
@@ -174,12 +303,36 @@ public struct ConfigurationParameters
174 public float linkConstraintTransMotorMaxForce; 303 public float linkConstraintTransMotorMaxForce;
175 public float linkConstraintERP; 304 public float linkConstraintERP;
176 public float linkConstraintCFM; 305 public float linkConstraintCFM;
306 public float linkConstraintSolverIterations;
177 307
178 public const float numericTrue = 1f; 308 public const float numericTrue = 1f;
179 public const float numericFalse = 0f; 309 public const float numericFalse = 0f;
180} 310}
181 311
182// Values used by Bullet and BulletSim to control collisions 312
313// The states a bullet collision object can have
314public enum ActivationState : uint
315{
316 ACTIVE_TAG = 1,
317 ISLAND_SLEEPING,
318 WANTS_DEACTIVATION,
319 DISABLE_DEACTIVATION,
320 DISABLE_SIMULATION,
321}
322
323public enum CollisionObjectTypes : int
324{
325 CO_COLLISION_OBJECT = 1 << 0,
326 CO_RIGID_BODY = 1 << 1,
327 CO_GHOST_OBJECT = 1 << 2,
328 CO_SOFT_BODY = 1 << 3,
329 CO_HF_FLUID = 1 << 4,
330 CO_USER_TYPE = 1 << 5,
331}
332
333// Values used by Bullet and BulletSim to control object properties.
334// Bullet's "CollisionFlags" has more to do with operations on the
335// object (if collisions happen, if gravity effects it, ...).
183public enum CollisionFlags : uint 336public enum CollisionFlags : uint
184{ 337{
185 CF_STATIC_OBJECT = 1 << 0, 338 CF_STATIC_OBJECT = 1 << 0,
@@ -191,11 +344,61 @@ public enum CollisionFlags : uint
191 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, 344 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
192 // Following used by BulletSim to control collisions 345 // Following used by BulletSim to control collisions
193 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, 346 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
194 BS_VOLUME_DETECT_OBJECT = 1 << 11, 347 // BS_VOLUME_DETECT_OBJECT = 1 << 11,
195 BS_PHANTOM_OBJECT = 1 << 12, 348 // BS_PHANTOM_OBJECT = 1 << 12,
196 BS_PHYSICAL_OBJECT = 1 << 13, 349 // BS_PHYSICAL_OBJECT = 1 << 13,
350 // BS_TERRAIN_OBJECT = 1 << 14,
351 BS_NONE = 0,
352 BS_ALL = 0xFFFFFFFF,
353
354 // These are the collision flags switched depending on physical state.
355 // The other flags are used for other things and should not be fooled with.
356 BS_ACTIVE = CF_STATIC_OBJECT
357 | CF_KINEMATIC_OBJECT
358 | CF_NO_CONTACT_RESPONSE
359 // | BS_VOLUME_DETECT_OBJECT
360 // | BS_PHANTOM_OBJECT
361 // | BS_PHYSICAL_OBJECT,
362};
363
364// Values for collisions groups and masks
365public enum CollisionFilterGroups : uint
366{
367 // Don't use the bit definitions!! Define the use in a
368 // filter/mask definition below. This way collision interactions
369 // are more easily debugged.
370 BNoneFilter = 0,
371 BDefaultFilter = 1 << 0,
372 BStaticFilter = 1 << 1,
373 BKinematicFilter = 1 << 2,
374 BDebrisFilter = 1 << 3,
375 BSensorTrigger = 1 << 4,
376 BCharacterFilter = 1 << 5,
377 BAllFilter = 0xFFFFFFFF,
378 // Filter groups defined by BulletSim
379 BGroundPlaneFilter = 1 << 10,
380 BTerrainFilter = 1 << 11,
381 BRaycastFilter = 1 << 12,
382 BSolidFilter = 1 << 13,
383
384 // The collsion filters and masked are defined in one place -- don't want them scattered
385 AvatarFilter = BCharacterFilter,
386 AvatarMask = BAllFilter,
387 ObjectFilter = BSolidFilter,
388 ObjectMask = BAllFilter,
389 StaticObjectFilter = BStaticFilter,
390 StaticObjectMask = BAllFilter,
391 VolumeDetectFilter = BSensorTrigger,
392 VolumeDetectMask = ~BSensorTrigger,
393 TerrainFilter = BTerrainFilter,
394 TerrainMask = BAllFilter & ~BStaticFilter,
395 GroundPlaneFilter = BAllFilter,
396 GroundPlaneMask = BAllFilter
397
197}; 398};
198 399
400
401
199// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 402// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
200// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. 403// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
201public enum ConstraintParams : int 404public enum ConstraintParams : int
@@ -221,14 +424,22 @@ public enum ConstraintParamAxis : int
221// =============================================================================== 424// ===============================================================================
222static class BulletSimAPI { 425static class BulletSimAPI {
223 426
427// Link back to the managed code for outputting log messages
428[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
429public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
430
224[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 431[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
225[return: MarshalAs(UnmanagedType.LPStr)] 432[return: MarshalAs(UnmanagedType.LPStr)]
226public static extern string GetVersion(); 433public static extern string GetVersion();
227 434
228[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 435[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
229public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, 436public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
230 int maxCollisions, IntPtr collisionArray, 437 int maxCollisions, IntPtr collisionArray,
231 int maxUpdates, IntPtr updateArray); 438 int maxUpdates, IntPtr updateArray,
439 DebugLogCallback logRoutine);
440
441[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
442public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
232 443
233[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 444[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
234public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); 445public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
@@ -242,19 +453,19 @@ public static extern bool UpdateParameter(uint worldID, uint localID,
242 453
243// =============================================================================== 454// ===============================================================================
244[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 455[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
245public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, 456public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
246 out int updatedEntityCount, 457 out int updatedEntityCount,
247 out IntPtr updatedEntitiesPtr, 458 out IntPtr updatedEntitiesPtr,
248 out int collidersCount, 459 out int collidersCount,
249 out IntPtr collidersPtr); 460 out IntPtr collidersPtr);
250 461
251[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 462[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
252public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, 463public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
253 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls 464 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
254 ); 465 );
255 466
256[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 467[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
257public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, 468public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
258 int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, 469 int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
259 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices 470 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
260 ); 471 );
@@ -268,23 +479,6 @@ public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
268[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 479[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
269public static extern bool CreateObject(uint worldID, ShapeData shapeData); 480public static extern bool CreateObject(uint worldID, ShapeData shapeData);
270 481
271/* Remove old functionality
272[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
273public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas);
274
275[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
276public static extern void AddConstraint(uint worldID, uint id1, uint id2,
277 Vector3 frame1, Quaternion frame1rot,
278 Vector3 frame2, Quaternion frame2rot,
279 Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
280
281[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
282public static extern bool RemoveConstraintByID(uint worldID, uint id1);
283
284[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
285public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
286 */
287
288[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 482[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
289public static extern Vector3 GetObjectPosition(uint WorldID, uint id); 483public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
290 484
@@ -300,6 +494,7 @@ public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 veloc
300[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 494[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
301public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity); 495public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
302 496
497// Set the current force acting on the object
303[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 498[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
304public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force); 499public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
305 500
@@ -342,8 +537,6 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
342public static extern void DumpBulletStatistics(); 537public static extern void DumpBulletStatistics();
343 538
344// Log a debug message 539// Log a debug message
345[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
346public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
347[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 540[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
348public static extern void SetDebugLogCallback(DebugLogCallback callback); 541public static extern void SetDebugLogCallback(DebugLogCallback callback);
349 542
@@ -358,6 +551,7 @@ public static extern void SetDebugLogCallback(DebugLogCallback callback);
358// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt 551// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt
359// and the old code is removed. 552// and the old code is removed.
360 553
554// Functions use while converting from API1 to API2. Can be removed when totally converted.
361[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 555[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
362public static extern IntPtr GetSimHandle2(uint worldID); 556public static extern IntPtr GetSimHandle2(uint worldID);
363 557
@@ -368,6 +562,7 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
368public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); 562public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
369 563
370// =============================================================================== 564// ===============================================================================
565// Initialization and simulation
371[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 566[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
372public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, 567public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
373 int maxCollisions, IntPtr collisionArray, 568 int maxCollisions, IntPtr collisionArray,
@@ -377,14 +572,14 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
377public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); 572public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
378 573
379[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 574[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
380public static extern void SetHeightmap2(IntPtr world, float[] heightmap); 575public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
381 576
382[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 577[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
383public static extern void Shutdown2(IntPtr sim); 578public static extern void Shutdown2(IntPtr sim);
384 579
385[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 580[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
386public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, 581public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
387 out int updatedEntityCount, 582 out int updatedEntityCount,
388 out IntPtr updatedEntitiesPtr, 583 out IntPtr updatedEntitiesPtr,
389 out int collidersCount, 584 out int collidersCount,
390 out IntPtr collidersPtr); 585 out IntPtr collidersPtr);
@@ -392,24 +587,87 @@ public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSt
392[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 587[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
393public static extern bool PushUpdate2(IntPtr obj); 588public static extern bool PushUpdate2(IntPtr obj);
394 589
395/* 590// =====================================================================================
591// Mesh, hull, shape and body creation helper routines
396[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 592[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
397public static extern IntPtr CreateMesh2(IntPtr world, int indicesCount, int* indices, int verticesCount, float* vertices ); 593public static extern IntPtr CreateMeshShape2(IntPtr world,
594 int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
595 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
398 596
399[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 597[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
400public static extern bool BuildHull2(IntPtr world, IntPtr mesh); 598public static extern IntPtr CreateHullShape2(IntPtr world,
599 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
401 600
402[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 601[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
403public static extern bool ReleaseHull2(IntPtr world, IntPtr mesh); 602public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
404 603
405[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 604[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
406public static extern bool DestroyMesh2(IntPtr world, IntPtr mesh); 605public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
407 606
408[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 607[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
409public static extern IntPtr CreateObject2(IntPtr world, ShapeData shapeData); 608public static extern bool IsNativeShape2(IntPtr shape);
410*/
411 609
412[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 610[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
611public static extern IntPtr CreateCompoundShape2(IntPtr sim);
612
613[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
614public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
615
616[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
617public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
618
619[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
620public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
621
622[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
623public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
624
625[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
626public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
627
628[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
629public static extern int GetBodyType2(IntPtr obj);
630
631[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
632public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
633
634[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
635public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
636
637[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
638public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
639
640[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
641public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
642
643[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
644public static extern void ReleaseBodyInfo2(IntPtr obj);
645
646[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
647public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
648
649// =====================================================================================
650// Terrain creation and helper routines
651[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
652public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
653 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
654
655[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
656public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
657 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
658
659[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
660public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
661
662[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
663public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
664
665[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
666public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
667
668// =====================================================================================
669// Constraint creation and helper routines
670[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
413public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, 671public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
414 Vector3 frame1loc, Quaternion frame1rot, 672 Vector3 frame1loc, Quaternion frame1rot,
415 Vector3 frame2loc, Quaternion frame2rot, 673 Vector3 frame2loc, Quaternion frame2rot,
@@ -433,7 +691,7 @@ public static extern void SetConstraintEnable2(IntPtr constrain, float numericTr
433public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); 691public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
434 692
435[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 693[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
436public static extern bool SetFrames2(IntPtr constrain, 694public static extern bool SetFrames2(IntPtr constrain,
437 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); 695 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
438 696
439[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 697[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -460,11 +718,108 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams
460[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 718[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
461public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); 719public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
462 720
721// =====================================================================================
722// btCollisionWorld entries
723[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
724public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
725
726[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
727public static extern void UpdateAabbs2(IntPtr world);
728
729[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
730public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
731
732[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
733public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
734
735// =====================================================================================
736// btDynamicsWorld entries
463[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 737[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
464public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj); 738public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
465 739
466[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 740[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
467public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj); 741public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
742
743[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
744public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
745
746[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
747public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
748// =====================================================================================
749// btCollisionObject entries
750[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
751public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
752
753[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
754public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
755
756[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
757public static extern bool HasAnisotripicFriction2(IntPtr constrain);
758
759[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
760public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
761
762[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
763public static extern float GetContactProcessingThreshold2(IntPtr obj);
764
765[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
766public static extern bool IsStaticObject2(IntPtr obj);
767
768[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
769public static extern bool IsKinematicObject2(IntPtr obj);
770
771[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
772public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
773
774[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
775public static extern bool HasContactResponse2(IntPtr obj);
776
777[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
778public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
779
780[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
781public static extern IntPtr GetCollisionShape2(IntPtr obj);
782
783[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
784public static extern int GetActivationState2(IntPtr obj);
785
786[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
787public static extern void SetActivationState2(IntPtr obj, int state);
788
789[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
790public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
791
792[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
793public static extern float GetDeactivationTime2(IntPtr obj);
794
795[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
796public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
797
798[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
799public static extern void Activate2(IntPtr obj, bool forceActivation);
800
801[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
802public static extern bool IsActive2(IntPtr obj);
803
804[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
805public static extern void SetRestitution2(IntPtr obj, float val);
806
807[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
808public static extern float GetRestitution2(IntPtr obj);
809
810[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
811public static extern void SetFriction2(IntPtr obj, float val);
812
813[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
814public static extern float GetFriction2(IntPtr obj);
815
816 /* Haven't defined the type 'Transform'
817[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
818public static extern Transform GetWorldTransform2(IntPtr obj);
819
820[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
821public static extern void setWorldTransform2(IntPtr obj, Transform trans);
822 */
468 823
469[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 824[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
470public static extern Vector3 GetPosition2(IntPtr obj); 825public static extern Vector3 GetPosition2(IntPtr obj);
@@ -473,85 +828,293 @@ public static extern Vector3 GetPosition2(IntPtr obj);
473public static extern Quaternion GetOrientation2(IntPtr obj); 828public static extern Quaternion GetOrientation2(IntPtr obj);
474 829
475[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 830[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
476public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); 831public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
477 832
478[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 833[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
479public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity); 834public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
480 835
481[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 836[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
482public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); 837public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
483 838
839 /*
484[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 840[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
485public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); 841public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
486 842
487[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 843[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
488public static extern bool AddObjectForce2(IntPtr obj, Vector3 force); 844public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
845 */
489 846
490[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 847[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
491public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); 848public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
492 849
493[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 850[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
494public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val); 851public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
495 852
496[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 853[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
497public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping); 854public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
498 855
499[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 856[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
500public static extern bool SetDeactivationTime2(IntPtr obj, float val); 857public static extern float GetHitFraction2(IntPtr obj);
501 858
502[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 859[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
503public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); 860public static extern void SetHitFraction2(IntPtr obj, float val);
504 861
505[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 862[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
506public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); 863public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
507 864
508[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 865[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
509public static extern bool SetFriction2(IntPtr obj, float val); 866public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
510 867
511[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 868[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
512public static extern bool SetRestitution2(IntPtr obj, float val); 869public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
513 870
514[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 871[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
515public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); 872public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
516 873
517[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 874[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
518public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); 875public static extern float GetCcdMotionThreshold2(IntPtr obj);
519 876
520[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 877[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
521public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); 878public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
879
880[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
881public static extern float GetCcdSweepSphereRadius2(IntPtr obj);
882
883[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
884public static extern void SetCcdSweepSphereRadius2(IntPtr obj, float val);
885
886[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
887public static extern IntPtr GetUserPointer2(IntPtr obj);
888
889[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
890public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
891
892// =====================================================================================
893// btRigidBody entries
894[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
895public static extern void ApplyGravity2(IntPtr obj);
896
897[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
898public static extern void SetGravity2(IntPtr obj, Vector3 val);
899
900[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
901public static extern Vector3 GetGravity2(IntPtr obj);
902
903[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
904public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
905
906[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
907public static extern float GetLinearDamping2(IntPtr obj);
908
909[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
910public static extern float GetAngularDamping2(IntPtr obj);
911
912[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
913public static extern float GetLinearSleepingThreshold2(IntPtr obj);
914
915[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
916public static extern float GetAngularSleepingThreshold2(IntPtr obj);
917
918[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
919public static extern void ApplyDamping2(IntPtr obj, float timeStep);
920
921[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
922public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
923
924[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
925public static extern Vector3 GetLinearFactor2(IntPtr obj);
926
927[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
928public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
929
930 /*
931[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
932public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
933 */
934
935[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
936public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
937
938// Add a force to the object as if its mass is one.
939[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
940public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
941
942// Set the force being applied to the object as if its mass is one.
943[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
944public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
945
946[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
947public static extern Vector3 GetTotalForce2(IntPtr obj);
948
949[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
950public static extern Vector3 GetTotalTorque2(IntPtr obj);
951
952[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
953public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
954
955[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
956public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
957
958[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
959public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
960
961[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
962public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
963
964// Apply force at the given point. Will add torque to the object.
965[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
966public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
967
968// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
969[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
970public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
971
972// Apply impulse to the object's torque. Force is scaled by object's mass.
973[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
974public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
975
976// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
977[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
978public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
979
980[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
981public static extern void ClearForces2(IntPtr obj);
982
983[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
984public static extern void ClearAllForces2(IntPtr obj);
985
986[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
987public static extern void UpdateInertiaTensor2(IntPtr obj);
988
989[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
990public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
991
992 /*
993[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
994public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
995 */
996
997[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
998public static extern Vector3 GetLinearVelocity2(IntPtr obj);
999
1000[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1001public static extern Vector3 GetAngularVelocity2(IntPtr obj);
1002
1003[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1004public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
1005
1006[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1007public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
1008
1009[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1010public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
1011
1012[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1013public static extern void Translate2(IntPtr obj, Vector3 trans);
1014
1015[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1016public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
1017
1018[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1019public static extern bool WantsSleeping2(IntPtr obj);
1020
1021[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1022public static extern void SetAngularFactor2(IntPtr obj, float factor);
1023
1024[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1025public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
1026
1027[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1028public static extern Vector3 GetAngularFactor2(IntPtr obj);
1029
1030[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1031public static extern bool IsInWorld2(IntPtr obj);
1032
1033[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1034public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
1035
1036[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1037public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
1038
1039[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1040public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
1041
1042[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1043public static extern int GetNumConstraintRefs2(IntPtr obj);
1044
1045[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1046public static extern Vector3 GetDeltaLinearVelocity2(IntPtr obj);
1047
1048[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1049public static extern Vector3 GetDeltaAngularVelocity2(IntPtr obj);
1050
1051[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1052public static extern Vector3 GetPushVelocity2(IntPtr obj);
1053
1054[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1055public static extern Vector3 GetTurnVelocity2(IntPtr obj);
1056
1057[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1058public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
1059
1060// =====================================================================================
1061// btCollisionShape entries
1062
1063[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1064public static extern float GetAngularMotionDisc2(IntPtr shape);
1065
1066[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1067public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
1068
1069[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1070public static extern bool IsPolyhedral2(IntPtr shape);
1071
1072[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1073public static extern bool IsConvex2d2(IntPtr shape);
1074
1075[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1076public static extern bool IsConvex2(IntPtr shape);
1077
1078[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1079public static extern bool IsNonMoving2(IntPtr shape);
1080
1081[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1082public static extern bool IsConcave2(IntPtr shape);
522 1083
523[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1084[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
524public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags); 1085public static extern bool IsCompound2(IntPtr shape);
525 1086
526[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1087[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
527public static extern IntPtr AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); 1088public static extern bool IsSoftBody2(IntPtr shape);
528 1089
529[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1090[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
530public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); 1091public static extern bool IsInfinite2(IntPtr shape);
531 1092
532[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1093[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
533public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); 1094public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
534 1095
535[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1096[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
536public static extern bool UpdateInertiaTensor2(IntPtr obj); 1097public static extern Vector3 GetLocalScaling2(IntPtr shape);
537 1098
538[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1099[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
539public static extern bool SetGravity2(IntPtr obj, Vector3 val); 1100public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
540 1101
541[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1102[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
542public static extern IntPtr ClearForces2(IntPtr obj); 1103public static extern int GetShapeType2(IntPtr shape);
543 1104
544[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1105[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
545public static extern IntPtr ClearAllForces2(IntPtr obj); 1106public static extern void SetMargin2(IntPtr shape, float val);
546 1107
547[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1108[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
548public static extern bool SetMargin2(IntPtr obj, float val); 1109public static extern float GetMargin2(IntPtr shape);
549 1110
1111// =====================================================================================
1112// Debugging
550[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1113[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
551public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); 1114public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
552 1115
553[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1116[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
554public static extern bool DestroyObject2(IntPtr world, uint id); 1117public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
555 1118
556[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1119[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
557public static extern void DumpPhysicsStatistics2(IntPtr sim); 1120public static extern void DumpPhysicsStatistics2(IntPtr sim);
generated by cgit v1.1 at 2025-01-06 19:30:29 +0000