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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs717
1 files changed, 637 insertions, 80 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 504bd3c..a43880d 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 +344,55 @@ 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_FLOATS_ON_WATER = 1 << 11,
195 BS_PHANTOM_OBJECT = 1 << 12, 348 BS_NONE = 0,
196 BS_PHYSICAL_OBJECT = 1 << 13, 349 BS_ALL = 0xFFFFFFFF,
350
351 // These are the collision flags switched depending on physical state.
352 // The other flags are used for other things and should not be fooled with.
353 BS_ACTIVE = CF_STATIC_OBJECT
354 | CF_KINEMATIC_OBJECT
355 | CF_NO_CONTACT_RESPONSE
356};
357
358// Values for collisions groups and masks
359public enum CollisionFilterGroups : uint
360{
361 // Don't use the bit definitions!! Define the use in a
362 // filter/mask definition below. This way collision interactions
363 // are more easily debugged.
364 BNoneFilter = 0,
365 BDefaultFilter = 1 << 0,
366 BStaticFilter = 1 << 1,
367 BKinematicFilter = 1 << 2,
368 BDebrisFilter = 1 << 3,
369 BSensorTrigger = 1 << 4,
370 BCharacterFilter = 1 << 5,
371 BAllFilter = 0xFFFFFFFF,
372 // Filter groups defined by BulletSim
373 BGroundPlaneFilter = 1 << 10,
374 BTerrainFilter = 1 << 11,
375 BRaycastFilter = 1 << 12,
376 BSolidFilter = 1 << 13,
377
378 // The collsion filters and masked are defined in one place -- don't want them scattered
379 AvatarFilter = BCharacterFilter,
380 AvatarMask = BAllFilter,
381 ObjectFilter = BSolidFilter,
382 ObjectMask = BAllFilter,
383 StaticObjectFilter = BStaticFilter,
384 StaticObjectMask = BAllFilter,
385 VolumeDetectFilter = BSensorTrigger,
386 VolumeDetectMask = ~BSensorTrigger,
387 TerrainFilter = BTerrainFilter,
388 TerrainMask = BAllFilter & ~BStaticFilter,
389 GroundPlaneFilter = BAllFilter,
390 GroundPlaneMask = BAllFilter
391
197}; 392};
198 393
394
395
199// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 396// 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. 397// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
201public enum ConstraintParams : int 398public enum ConstraintParams : int
@@ -221,14 +418,22 @@ public enum ConstraintParamAxis : int
221// =============================================================================== 418// ===============================================================================
222static class BulletSimAPI { 419static class BulletSimAPI {
223 420
421// Link back to the managed code for outputting log messages
422[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
423public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
424
224[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 425[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
225[return: MarshalAs(UnmanagedType.LPStr)] 426[return: MarshalAs(UnmanagedType.LPStr)]
226public static extern string GetVersion(); 427public static extern string GetVersion();
227 428
228[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 429[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
229public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, 430public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
230 int maxCollisions, IntPtr collisionArray, 431 int maxCollisions, IntPtr collisionArray,
231 int maxUpdates, IntPtr updateArray); 432 int maxUpdates, IntPtr updateArray,
433 DebugLogCallback logRoutine);
434
435[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
436public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
232 437
233[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 438[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
234public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); 439public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
@@ -242,19 +447,19 @@ public static extern bool UpdateParameter(uint worldID, uint localID,
242 447
243// =============================================================================== 448// ===============================================================================
244[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 449[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
245public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, 450public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
246 out int updatedEntityCount, 451 out int updatedEntityCount,
247 out IntPtr updatedEntitiesPtr, 452 out IntPtr updatedEntitiesPtr,
248 out int collidersCount, 453 out int collidersCount,
249 out IntPtr collidersPtr); 454 out IntPtr collidersPtr);
250 455
251[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 456[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
252public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, 457public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
253 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls 458 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
254 ); 459 );
255 460
256[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 461[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
257public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, 462public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
258 int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, 463 int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
259 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices 464 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
260 ); 465 );
@@ -268,23 +473,6 @@ public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
268[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 473[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
269public static extern bool CreateObject(uint worldID, ShapeData shapeData); 474public static extern bool CreateObject(uint worldID, ShapeData shapeData);
270 475
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] 476[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
289public static extern Vector3 GetObjectPosition(uint WorldID, uint id); 477public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
290 478
@@ -300,6 +488,7 @@ public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 veloc
300[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 488[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
301public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity); 489public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
302 490
491// Set the current force acting on the object
303[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 492[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
304public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force); 493public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
305 494
@@ -342,8 +531,6 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
342public static extern void DumpBulletStatistics(); 531public static extern void DumpBulletStatistics();
343 532
344// Log a debug message 533// Log a debug message
345[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
346public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
347[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 534[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
348public static extern void SetDebugLogCallback(DebugLogCallback callback); 535public static extern void SetDebugLogCallback(DebugLogCallback callback);
349 536
@@ -358,6 +545,7 @@ 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 545// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt
359// and the old code is removed. 546// and the old code is removed.
360 547
548// Functions use while converting from API1 to API2. Can be removed when totally converted.
361[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 549[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
362public static extern IntPtr GetSimHandle2(uint worldID); 550public static extern IntPtr GetSimHandle2(uint worldID);
363 551
@@ -368,6 +556,7 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
368public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); 556public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
369 557
370// =============================================================================== 558// ===============================================================================
559// Initialization and simulation
371[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 560[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
372public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, 561public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
373 int maxCollisions, IntPtr collisionArray, 562 int maxCollisions, IntPtr collisionArray,
@@ -377,14 +566,14 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
377public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); 566public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
378 567
379[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 568[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
380public static extern void SetHeightmap2(IntPtr world, float[] heightmap); 569public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
381 570
382[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 571[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
383public static extern void Shutdown2(IntPtr sim); 572public static extern void Shutdown2(IntPtr sim);
384 573
385[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 574[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
386public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, 575public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
387 out int updatedEntityCount, 576 out int updatedEntityCount,
388 out IntPtr updatedEntitiesPtr, 577 out IntPtr updatedEntitiesPtr,
389 out int collidersCount, 578 out int collidersCount,
390 out IntPtr collidersPtr); 579 out IntPtr collidersPtr);
@@ -392,24 +581,87 @@ public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSt
392[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 581[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
393public static extern bool PushUpdate2(IntPtr obj); 582public static extern bool PushUpdate2(IntPtr obj);
394 583
395/* 584// =====================================================================================
585// Mesh, hull, shape and body creation helper routines
396[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 586[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
397public static extern IntPtr CreateMesh2(IntPtr world, int indicesCount, int* indices, int verticesCount, float* vertices ); 587public static extern IntPtr CreateMeshShape2(IntPtr world,
588 int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
589 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
398 590
399[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 591[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
400public static extern bool BuildHull2(IntPtr world, IntPtr mesh); 592public static extern IntPtr CreateHullShape2(IntPtr world,
593 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
401 594
402[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 595[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
403public static extern bool ReleaseHull2(IntPtr world, IntPtr mesh); 596public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
404 597
405[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 598[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
406public static extern bool DestroyMesh2(IntPtr world, IntPtr mesh); 599public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
407 600
408[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 601[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
409public static extern IntPtr CreateObject2(IntPtr world, ShapeData shapeData); 602public static extern bool IsNativeShape2(IntPtr shape);
410*/
411 603
412[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 604[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
605public static extern IntPtr CreateCompoundShape2(IntPtr sim);
606
607[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
608public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
609
610[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
611public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
612
613[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
614public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
615
616[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
617public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
618
619[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
620public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
621
622[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
623public static extern int GetBodyType2(IntPtr obj);
624
625[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
626public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
627
628[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
629public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
630
631[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
632public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
633
634[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
635public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
636
637[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
638public static extern void ReleaseBodyInfo2(IntPtr obj);
639
640[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
641public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
642
643// =====================================================================================
644// Terrain creation and helper routines
645[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
646public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
647 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
648
649[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
650public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
651 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
652
653[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
654public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
655
656[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
657public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
658
659[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
660public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
661
662// =====================================================================================
663// Constraint creation and helper routines
664[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
413public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, 665public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
414 Vector3 frame1loc, Quaternion frame1rot, 666 Vector3 frame1loc, Quaternion frame1rot,
415 Vector3 frame2loc, Quaternion frame2rot, 667 Vector3 frame2loc, Quaternion frame2rot,
@@ -433,7 +685,7 @@ public static extern void SetConstraintEnable2(IntPtr constrain, float numericTr
433public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); 685public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
434 686
435[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 687[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
436public static extern bool SetFrames2(IntPtr constrain, 688public static extern bool SetFrames2(IntPtr constrain,
437 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); 689 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
438 690
439[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 691[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -460,11 +712,108 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams
460[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 712[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
461public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); 713public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
462 714
715// =====================================================================================
716// btCollisionWorld entries
717[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
718public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
719
720[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
721public static extern void UpdateAabbs2(IntPtr world);
722
723[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
724public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
725
726[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
727public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
728
729// =====================================================================================
730// btDynamicsWorld entries
463[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 731[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
464public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj); 732public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
465 733
466[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 734[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
467public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj); 735public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
736
737[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
738public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
739
740[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
741public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
742// =====================================================================================
743// btCollisionObject entries
744[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
745public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
746
747[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
748public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
749
750[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
751public static extern bool HasAnisotripicFriction2(IntPtr constrain);
752
753[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
754public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
755
756[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
757public static extern float GetContactProcessingThreshold2(IntPtr obj);
758
759[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
760public static extern bool IsStaticObject2(IntPtr obj);
761
762[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
763public static extern bool IsKinematicObject2(IntPtr obj);
764
765[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
766public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
767
768[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
769public static extern bool HasContactResponse2(IntPtr obj);
770
771[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
772public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
773
774[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
775public static extern IntPtr GetCollisionShape2(IntPtr obj);
776
777[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
778public static extern int GetActivationState2(IntPtr obj);
779
780[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
781public static extern void SetActivationState2(IntPtr obj, int state);
782
783[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
784public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
785
786[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
787public static extern float GetDeactivationTime2(IntPtr obj);
788
789[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
790public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
791
792[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
793public static extern void Activate2(IntPtr obj, bool forceActivation);
794
795[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
796public static extern bool IsActive2(IntPtr obj);
797
798[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
799public static extern void SetRestitution2(IntPtr obj, float val);
800
801[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
802public static extern float GetRestitution2(IntPtr obj);
803
804[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
805public static extern void SetFriction2(IntPtr obj, float val);
806
807[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
808public static extern float GetFriction2(IntPtr obj);
809
810 /* Haven't defined the type 'Transform'
811[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
812public static extern Transform GetWorldTransform2(IntPtr obj);
813
814[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
815public static extern void setWorldTransform2(IntPtr obj, Transform trans);
816 */
468 817
469[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 818[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
470public static extern Vector3 GetPosition2(IntPtr obj); 819public static extern Vector3 GetPosition2(IntPtr obj);
@@ -473,85 +822,293 @@ public static extern Vector3 GetPosition2(IntPtr obj);
473public static extern Quaternion GetOrientation2(IntPtr obj); 822public static extern Quaternion GetOrientation2(IntPtr obj);
474 823
475[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 824[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
476public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); 825public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
477 826
478[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 827[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
479public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity); 828public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
480 829
481[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 830[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
482public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); 831public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
483 832
833 /*
484[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 834[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
485public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); 835public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
486 836
487[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 837[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
488public static extern bool AddObjectForce2(IntPtr obj, Vector3 force); 838public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
839 */
489 840
490[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 841[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
491public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); 842public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
492 843
493[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 844[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
494public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val); 845public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
495 846
496[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 847[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
497public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping); 848public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
498 849
499[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 850[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
500public static extern bool SetDeactivationTime2(IntPtr obj, float val); 851public static extern float GetHitFraction2(IntPtr obj);
501 852
502[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 853[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
503public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); 854public static extern void SetHitFraction2(IntPtr obj, float val);
504 855
505[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 856[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
506public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); 857public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
507 858
508[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 859[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
509public static extern bool SetFriction2(IntPtr obj, float val); 860public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
510 861
511[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 862[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
512public static extern bool SetRestitution2(IntPtr obj, float val); 863public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
513 864
514[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 865[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
515public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); 866public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
516 867
517[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 868[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
518public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); 869public static extern float GetCcdMotionThreshold2(IntPtr obj);
519 870
520[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 871[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
521public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); 872public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
873
874[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
875public static extern float GetCcdSweepSphereRadius2(IntPtr obj);
876
877[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
878public static extern void SetCcdSweepSphereRadius2(IntPtr obj, float val);
879
880[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
881public static extern IntPtr GetUserPointer2(IntPtr obj);
882
883[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
884public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
885
886// =====================================================================================
887// btRigidBody entries
888[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
889public static extern void ApplyGravity2(IntPtr obj);
890
891[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
892public static extern void SetGravity2(IntPtr obj, Vector3 val);
893
894[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
895public static extern Vector3 GetGravity2(IntPtr obj);
896
897[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
898public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
899
900[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
901public static extern float GetLinearDamping2(IntPtr obj);
902
903[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
904public static extern float GetAngularDamping2(IntPtr obj);
905
906[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
907public static extern float GetLinearSleepingThreshold2(IntPtr obj);
908
909[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
910public static extern float GetAngularSleepingThreshold2(IntPtr obj);
911
912[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
913public static extern void ApplyDamping2(IntPtr obj, float timeStep);
914
915[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
916public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
917
918[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
919public static extern Vector3 GetLinearFactor2(IntPtr obj);
920
921[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
922public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
923
924 /*
925[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
926public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
927 */
928
929[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
930public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
931
932// Add a force to the object as if its mass is one.
933[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
934public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
935
936// Set the force being applied to the object as if its mass is one.
937[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
938public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
939
940[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
941public static extern Vector3 GetTotalForce2(IntPtr obj);
942
943[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
944public static extern Vector3 GetTotalTorque2(IntPtr obj);
945
946[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
947public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
948
949[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
950public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
951
952[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
953public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
954
955[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
956public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
957
958// Apply force at the given point. Will add torque to the object.
959[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
960public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
961
962// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
963[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
964public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
965
966// Apply impulse to the object's torque. Force is scaled by object's mass.
967[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
968public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
969
970// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
971[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
972public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
973
974[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
975public static extern void ClearForces2(IntPtr obj);
976
977[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
978public static extern void ClearAllForces2(IntPtr obj);
979
980[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
981public static extern void UpdateInertiaTensor2(IntPtr obj);
982
983[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
984public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
985
986 /*
987[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
988public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
989 */
990
991[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
992public static extern Vector3 GetLinearVelocity2(IntPtr obj);
993
994[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
995public static extern Vector3 GetAngularVelocity2(IntPtr obj);
996
997[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
998public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
999
1000[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1001public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
1002
1003[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1004public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
1005
1006[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1007public static extern void Translate2(IntPtr obj, Vector3 trans);
1008
1009[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1010public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
1011
1012[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1013public static extern bool WantsSleeping2(IntPtr obj);
1014
1015[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1016public static extern void SetAngularFactor2(IntPtr obj, float factor);
1017
1018[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1019public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
1020
1021[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1022public static extern Vector3 GetAngularFactor2(IntPtr obj);
1023
1024[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1025public static extern bool IsInWorld2(IntPtr obj);
1026
1027[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1028public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
1029
1030[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1031public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
1032
1033[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1034public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
1035
1036[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1037public static extern int GetNumConstraintRefs2(IntPtr obj);
1038
1039[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1040public static extern Vector3 GetDeltaLinearVelocity2(IntPtr obj);
1041
1042[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1043public static extern Vector3 GetDeltaAngularVelocity2(IntPtr obj);
1044
1045[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1046public static extern Vector3 GetPushVelocity2(IntPtr obj);
1047
1048[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1049public static extern Vector3 GetTurnVelocity2(IntPtr obj);
1050
1051[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1052public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
1053
1054// =====================================================================================
1055// btCollisionShape entries
1056
1057[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1058public static extern float GetAngularMotionDisc2(IntPtr shape);
1059
1060[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1061public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
1062
1063[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1064public static extern bool IsPolyhedral2(IntPtr shape);
1065
1066[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1067public static extern bool IsConvex2d2(IntPtr shape);
1068
1069[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1070public static extern bool IsConvex2(IntPtr shape);
1071
1072[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1073public static extern bool IsNonMoving2(IntPtr shape);
1074
1075[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1076public static extern bool IsConcave2(IntPtr shape);
522 1077
523[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1078[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
524public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags); 1079public static extern bool IsCompound2(IntPtr shape);
525 1080
526[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1081[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
527public static extern IntPtr AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); 1082public static extern bool IsSoftBody2(IntPtr shape);
528 1083
529[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1084[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
530public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); 1085public static extern bool IsInfinite2(IntPtr shape);
531 1086
532[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1087[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
533public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); 1088public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
534 1089
535[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1090[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
536public static extern bool UpdateInertiaTensor2(IntPtr obj); 1091public static extern Vector3 GetLocalScaling2(IntPtr shape);
537 1092
538[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1093[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
539public static extern bool SetGravity2(IntPtr obj, Vector3 val); 1094public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
540 1095
541[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1096[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
542public static extern IntPtr ClearForces2(IntPtr obj); 1097public static extern int GetShapeType2(IntPtr shape);
543 1098
544[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1099[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
545public static extern IntPtr ClearAllForces2(IntPtr obj); 1100public static extern void SetMargin2(IntPtr shape, float val);
546 1101
547[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1102[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
548public static extern bool SetMargin2(IntPtr obj, float val); 1103public static extern float GetMargin2(IntPtr shape);
549 1104
1105// =====================================================================================
1106// Debugging
550[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1107[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
551public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); 1108public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
552 1109
553[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1110[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
554public static extern bool DestroyObject2(IntPtr world, uint id); 1111public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
555 1112
556[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 1113[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
557public static extern void DumpPhysicsStatistics2(IntPtr sim); 1114public static extern void DumpPhysicsStatistics2(IntPtr sim);
generated by cgit v1.1 at 2024-11-19 18:30:58 +0000