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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Runtime.InteropServices;
29using System.Security;
30using System.Text;
31using OpenMetaverse;
32
33namespace OpenSim.Region.Physics.BulletSPlugin {
34
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
39public struct BulletSim
40{
41 public BulletSim(uint worldId, BSScene bss, IntPtr xx)
42 {
43 ptr = xx;
44 worldID = worldId;
45 physicsScene = bss;
46 }
47 public IntPtr ptr;
48 public uint worldID;
49 // The scene is only in here so very low level routines have a handle to print debug/error messages
50 public BSScene physicsScene;
51}
52
53// An allocated Bullet btRigidBody
54public struct BulletBody
55{
56 public BulletBody(uint id, IntPtr xx)
57 {
58 ID = id;
59 ptr = xx;
60 collisionFilter = 0;
61 collisionMask = 0;
62 }
63 public IntPtr ptr;
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=BSPhysicsShapeType.SHAPE_UNKNOWN;
92 shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
93 isNativeShape = false;
94 }
95 public BulletShape(IntPtr xx, BSPhysicsShapeType typ)
96 {
97 ptr = xx;
98 type = typ;
99 shapeKey = 0;
100 isNativeShape = false;
101 }
102 public IntPtr ptr;
103 public BSPhysicsShapeType type;
104 public System.UInt64 shapeKey;
105 public bool isNativeShape;
106 public override string ToString()
107 {
108 StringBuilder buff = new StringBuilder();
109 buff.Append("<p=");
110 buff.Append(ptr.ToString("X"));
111 buff.Append(",s=");
112 buff.Append(type.ToString());
113 buff.Append(",k=");
114 buff.Append(shapeKey.ToString("X"));
115 buff.Append(",n=");
116 buff.Append(isNativeShape.ToString());
117 buff.Append(">");
118 return buff.ToString();
119 }
120}
121
122 // Constraint type values as defined by Bullet
123public enum ConstraintType : int
124{
125 POINT2POINT_CONSTRAINT_TYPE = 3,
126 HINGE_CONSTRAINT_TYPE,
127 CONETWIST_CONSTRAINT_TYPE,
128 D6_CONSTRAINT_TYPE,
129 SLIDER_CONSTRAINT_TYPE,
130 CONTACT_CONSTRAINT_TYPE,
131 D6_SPRING_CONSTRAINT_TYPE,
132 MAX_CONSTRAINT_TYPE
133}
134
135// An allocated Bullet btConstraint
136public struct BulletConstraint
137{
138 public BulletConstraint(IntPtr xx)
139 {
140 ptr = xx;
141 }
142 public IntPtr ptr;
143}
144
145// An allocated HeightMapThing which holds various heightmap info.
146// Made a class rather than a struct so there would be only one
147// instance of this and C# will pass around pointers rather
148// than making copies.
149public class BulletHeightMapInfo
150{
151 public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
152 ID = id;
153 Ptr = xx;
154 heightMap = hm;
155 terrainRegionBase = Vector3.Zero;
156 minCoords = new Vector3(100f, 100f, 25f);
157 maxCoords = new Vector3(101f, 101f, 26f);
158 minZ = maxZ = 0f;
159 sizeX = sizeY = 256f;
160 }
161 public uint ID;
162 public IntPtr Ptr;
163 public float[] heightMap;
164 public Vector3 terrainRegionBase;
165 public Vector3 minCoords;
166 public Vector3 maxCoords;
167 public float sizeX, sizeY;
168 public float minZ, maxZ;
169 public BulletShape terrainShape;
170 public BulletBody terrainBody;
171}
172
173// ===============================================================================
174[StructLayout(LayoutKind.Sequential)]
175public struct ConvexHull
176{
177 Vector3 Offset;
178 int VertexCount;
179 Vector3[] Vertices;
180}
181public enum BSPhysicsShapeType
182{
183 SHAPE_UNKNOWN = 0,
184 SHAPE_CAPSULE = 1,
185 SHAPE_BOX = 2,
186 SHAPE_CONE = 3,
187 SHAPE_CYLINDER = 4,
188 SHAPE_SPHERE = 5,
189 SHAPE_MESH = 6,
190 SHAPE_HULL = 7,
191 // following defined by BulletSim
192 SHAPE_GROUNDPLANE = 20,
193 SHAPE_TERRAIN = 21,
194 SHAPE_COMPOUND = 22,
195 SHAPE_HEIGHTMAP = 23,
196};
197
198// The native shapes have predefined shape hash keys
199public enum FixedShapeKey : ulong
200{
201 KEY_NONE = 0,
202 KEY_BOX = 1,
203 KEY_SPHERE = 2,
204 KEY_CONE = 3,
205 KEY_CYLINDER = 4,
206 KEY_CAPSULE = 5,
207}
208
209[StructLayout(LayoutKind.Sequential)]
210public struct ShapeData
211{
212 public uint ID;
213 public BSPhysicsShapeType Type;
214 public Vector3 Position;
215 public Quaternion Rotation;
216 public Vector3 Velocity;
217 public Vector3 Scale;
218 public float Mass;
219 public float Buoyancy;
220 public System.UInt64 HullKey;
221 public System.UInt64 MeshKey;
222 public float Friction;
223 public float Restitution;
224 public float Collidable; // true of things bump into this
225 public float Static; // true if a static object. Otherwise gravity, etc.
226 public float Solid; // true if object cannot be passed through
227 public Vector3 Size;
228
229 // note that bools are passed as floats since bool size changes by language and architecture
230 public const float numericTrue = 1f;
231 public const float numericFalse = 0f;
232}
233[StructLayout(LayoutKind.Sequential)]
234public struct SweepHit
235{
236 public uint ID;
237 public float Fraction;
238 public Vector3 Normal;
239 public Vector3 Point;
240}
241[StructLayout(LayoutKind.Sequential)]
242public struct RaycastHit
243{
244 public uint ID;
245 public float Fraction;
246 public Vector3 Normal;
247}
248[StructLayout(LayoutKind.Sequential)]
249public struct CollisionDesc
250{
251 public uint aID;
252 public uint bID;
253 public Vector3 point;
254 public Vector3 normal;
255}
256[StructLayout(LayoutKind.Sequential)]
257public struct EntityProperties
258{
259 public uint ID;
260 public Vector3 Position;
261 public Quaternion Rotation;
262 public Vector3 Velocity;
263 public Vector3 Acceleration;
264 public Vector3 RotationalVelocity;
265}
266
267// Format of this structure must match the definition in the C++ code
268[StructLayout(LayoutKind.Sequential)]
269public struct ConfigurationParameters
270{
271 public float defaultFriction;
272 public float defaultDensity;
273 public float defaultRestitution;
274 public float collisionMargin;
275 public float gravity;
276
277 public float linearDamping;
278 public float angularDamping;
279 public float deactivationTime;
280 public float linearSleepingThreshold;
281 public float angularSleepingThreshold;
282 public float ccdMotionThreshold;
283 public float ccdSweptSphereRadius;
284 public float contactProcessingThreshold;
285
286 public float terrainImplementation;
287 public float terrainFriction;
288 public float terrainHitFraction;
289 public float terrainRestitution;
290 public float avatarFriction;
291 public float avatarStandingFriction;
292 public float avatarDensity;
293 public float avatarRestitution;
294 public float avatarCapsuleWidth;
295 public float avatarCapsuleDepth;
296 public float avatarCapsuleHeight;
297 public float avatarContactProcessingThreshold;
298
299 public float maxPersistantManifoldPoolSize;
300 public float maxCollisionAlgorithmPoolSize;
301 public float shouldDisableContactPoolDynamicAllocation;
302 public float shouldForceUpdateAllAabbs;
303 public float shouldRandomizeSolverOrder;
304 public float shouldSplitSimulationIslands;
305 public float shouldEnableFrictionCaching;
306 public float numberOfSolverIterations;
307
308 public float linksetImplementation;
309 public float linkConstraintUseFrameOffset;
310 public float linkConstraintEnableTransMotor;
311 public float linkConstraintTransMotorMaxVel;
312 public float linkConstraintTransMotorMaxForce;
313 public float linkConstraintERP;
314 public float linkConstraintCFM;
315 public float linkConstraintSolverIterations;
316
317 public float physicsLoggingFrames;
318
319 public const float numericTrue = 1f;
320 public const float numericFalse = 0f;
321}
322
323
324// The states a bullet collision object can have
325public enum ActivationState : uint
326{
327 ACTIVE_TAG = 1,
328 ISLAND_SLEEPING,
329 WANTS_DEACTIVATION,
330 DISABLE_DEACTIVATION,
331 DISABLE_SIMULATION,
332}
333
334public enum CollisionObjectTypes : int
335{
336 CO_COLLISION_OBJECT = 1 << 0,
337 CO_RIGID_BODY = 1 << 1,
338 CO_GHOST_OBJECT = 1 << 2,
339 CO_SOFT_BODY = 1 << 3,
340 CO_HF_FLUID = 1 << 4,
341 CO_USER_TYPE = 1 << 5,
342}
343
344// Values used by Bullet and BulletSim to control object properties.
345// Bullet's "CollisionFlags" has more to do with operations on the
346// object (if collisions happen, if gravity effects it, ...).
347public enum CollisionFlags : uint
348{
349 CF_STATIC_OBJECT = 1 << 0,
350 CF_KINEMATIC_OBJECT = 1 << 1,
351 CF_NO_CONTACT_RESPONSE = 1 << 2,
352 CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3,
353 CF_CHARACTER_OBJECT = 1 << 4,
354 CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
355 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
356 // Following used by BulletSim to control collisions
357 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
358 BS_FLOATS_ON_WATER = 1 << 11,
359 BS_NONE = 0,
360 BS_ALL = 0xFFFFFFFF,
361
362 // These are the collision flags switched depending on physical state.
363 // The other flags are used for other things and should not be fooled with.
364 BS_ACTIVE = CF_STATIC_OBJECT
365 | CF_KINEMATIC_OBJECT
366 | CF_NO_CONTACT_RESPONSE
367};
368
369// Values for collisions groups and masks
370public enum CollisionFilterGroups : uint
371{
372 // Don't use the bit definitions!! Define the use in a
373 // filter/mask definition below. This way collision interactions
374 // are more easily debugged.
375 BNoneFilter = 0,
376 BDefaultFilter = 1 << 0,
377 BStaticFilter = 1 << 1,
378 BKinematicFilter = 1 << 2,
379 BDebrisFilter = 1 << 3,
380 BSensorTrigger = 1 << 4,
381 BCharacterFilter = 1 << 5,
382 BAllFilter = 0xFFFFFFFF,
383 // Filter groups defined by BulletSim
384 BGroundPlaneFilter = 1 << 10,
385 BTerrainFilter = 1 << 11,
386 BRaycastFilter = 1 << 12,
387 BSolidFilter = 1 << 13,
388 BLinksetFilter = 1 << 14,
389
390 // The collsion filters and masked are defined in one place -- don't want them scattered
391 AvatarFilter = BCharacterFilter,
392 AvatarMask = BAllFilter,
393 ObjectFilter = BSolidFilter,
394 ObjectMask = BAllFilter,
395 StaticObjectFilter = BStaticFilter,
396 StaticObjectMask = BAllFilter & ~BStaticFilter, // static objects don't collide with each other
397 LinksetFilter = BLinksetFilter,
398 LinksetMask = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other
399 VolumeDetectFilter = BSensorTrigger,
400 VolumeDetectMask = ~BSensorTrigger,
401 TerrainFilter = BTerrainFilter,
402 TerrainMask = BAllFilter & ~BStaticFilter, // static objects on the ground don't collide
403 GroundPlaneFilter = BGroundPlaneFilter,
404 GroundPlaneMask = BAllFilter
405
406};
407
408// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
409// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
410public enum ConstraintParams : int
411{
412 BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730
413 BT_CONSTRAINT_STOP_ERP,
414 BT_CONSTRAINT_CFM,
415 BT_CONSTRAINT_STOP_CFM,
416};
417public enum ConstraintParamAxis : int
418{
419 AXIS_LINEAR_X = 0,
420 AXIS_LINEAR_Y,
421 AXIS_LINEAR_Z,
422 AXIS_ANGULAR_X,
423 AXIS_ANGULAR_Y,
424 AXIS_ANGULAR_Z,
425 AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls
426 AXIS_ANGULAR_ALL,
427 AXIS_ALL
428};
429
430// ===============================================================================
431static class BulletSimAPI {
432
433// Link back to the managed code for outputting log messages
434[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
435public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
436
437// ===============================================================================
438// Initialization and simulation
439[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
440public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
441 int maxCollisions, IntPtr collisionArray,
442 int maxUpdates, IntPtr updateArray,
443 DebugLogCallback logRoutine);
444
445[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
446public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
447
448[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
449public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
450
451[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
452public static extern void Shutdown2(IntPtr sim);
453
454[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
455public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
456 out int updatedEntityCount,
457 out IntPtr updatedEntitiesPtr,
458 out int collidersCount,
459 out IntPtr collidersPtr);
460
461[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
462public static extern bool PushUpdate2(IntPtr obj);
463
464// =====================================================================================
465// Mesh, hull, shape and body creation helper routines
466[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
467public static extern IntPtr CreateMeshShape2(IntPtr world,
468 int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
469 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
470
471[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
472public static extern IntPtr CreateHullShape2(IntPtr world,
473 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
474
475[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
476public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
477
478[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
479public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
480
481[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
482public static extern bool IsNativeShape2(IntPtr shape);
483
484[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
485public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
486
487[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
488public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
489
490[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
491public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
492
493[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
494public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
495
496[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
497public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
498
499[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
500public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
501
502[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
503public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
504
505[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
506public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
507
508[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
509public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
510
511[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
512public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
513
514[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
515public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
516
517[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
518public static extern int GetBodyType2(IntPtr obj);
519
520[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
521public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
522
523[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
524public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
525
526[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
527public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
528
529[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
530public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
531
532[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
533public static extern void ReleaseBodyInfo2(IntPtr obj);
534
535[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
536public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
537
538// =====================================================================================
539// Terrain creation and helper routines
540[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
541public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
542 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
543
544[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
545public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
546 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
547
548[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
549public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
550
551[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
552public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
553
554[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
555public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
556
557// =====================================================================================
558// Constraint creation and helper routines
559[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
560public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
561 Vector3 frame1loc, Quaternion frame1rot,
562 Vector3 frame2loc, Quaternion frame2rot,
563 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
564
565[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
566public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
567 Vector3 joinPoint,
568 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
569
570[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
571public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
572 Vector3 pivotinA, Vector3 pivotinB,
573 Vector3 axisInA, Vector3 axisInB,
574 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
575
576[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
577public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
578
579[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
580public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
581
582[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
583public static extern bool SetFrames2(IntPtr constrain,
584 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
585
586[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
587public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
588
589[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
590public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
591
592[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
593public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
594
595[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
596public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
597
598[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
599public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
600
601[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
602public static extern bool CalculateTransforms2(IntPtr constrain);
603
604[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
605public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
606
607[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
608public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
609
610// =====================================================================================
611// btCollisionWorld entries
612[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
613public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
614
615[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
616public static extern void UpdateAabbs2(IntPtr world);
617
618[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
619public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
620
621[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
622public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
623
624// =====================================================================================
625// btDynamicsWorld entries
626[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
627public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
628
629[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
630public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
631
632[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
633public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
634
635[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
636public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
637// =====================================================================================
638// btCollisionObject entries
639[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
640public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
641
642[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
643public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
644
645[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
646public static extern bool HasAnisotripicFriction2(IntPtr constrain);
647
648[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
649public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
650
651[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
652public static extern float GetContactProcessingThreshold2(IntPtr obj);
653
654[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
655public static extern bool IsStaticObject2(IntPtr obj);
656
657[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
658public static extern bool IsKinematicObject2(IntPtr obj);
659
660[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
661public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
662
663[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
664public static extern bool HasContactResponse2(IntPtr obj);
665
666[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
667public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
668
669[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
670public static extern IntPtr GetCollisionShape2(IntPtr obj);
671
672[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
673public static extern int GetActivationState2(IntPtr obj);
674
675[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
676public static extern void SetActivationState2(IntPtr obj, int state);
677
678[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
679public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
680
681[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
682public static extern float GetDeactivationTime2(IntPtr obj);
683
684[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
685public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
686
687[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
688public static extern void Activate2(IntPtr obj, bool forceActivation);
689
690[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
691public static extern bool IsActive2(IntPtr obj);
692
693[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
694public static extern void SetRestitution2(IntPtr obj, float val);
695
696[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
697public static extern float GetRestitution2(IntPtr obj);
698
699[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
700public static extern void SetFriction2(IntPtr obj, float val);
701
702[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
703public static extern float GetFriction2(IntPtr obj);
704
705 /* Haven't defined the type 'Transform'
706[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
707public static extern Transform GetWorldTransform2(IntPtr obj);
708
709[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
710public static extern void setWorldTransform2(IntPtr obj, Transform trans);
711 */
712
713[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
714public static extern Vector3 GetPosition2(IntPtr obj);
715
716[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
717public static extern Quaternion GetOrientation2(IntPtr obj);
718
719[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
720public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
721
722[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
723public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
724
725[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
726public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
727
728 /*
729[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
730public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
731
732[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
733public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
734 */
735
736[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
737public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
738
739[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
740public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
741
742[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
743public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
744
745[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
746public static extern float GetHitFraction2(IntPtr obj);
747
748[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
749public static extern void SetHitFraction2(IntPtr obj, float val);
750
751[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
752public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
753
754[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
755public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
756
757[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
758public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
759
760[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
761public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
762
763[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
764public static extern float GetCcdMotionThreshold2(IntPtr obj);
765
766[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
767public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
768
769[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
770public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
771
772[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
773public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
774
775[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
776public static extern IntPtr GetUserPointer2(IntPtr obj);
777
778[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
779public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
780
781// =====================================================================================
782// btRigidBody entries
783[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
784public static extern void ApplyGravity2(IntPtr obj);
785
786[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
787public static extern void SetGravity2(IntPtr obj, Vector3 val);
788
789[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
790public static extern Vector3 GetGravity2(IntPtr obj);
791
792[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
793public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
794
795[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
796public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
797
798[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
799public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
800
801[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
802public static extern float GetLinearDamping2(IntPtr obj);
803
804[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
805public static extern float GetAngularDamping2(IntPtr obj);
806
807[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
808public static extern float GetLinearSleepingThreshold2(IntPtr obj);
809
810[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
811public static extern float GetAngularSleepingThreshold2(IntPtr obj);
812
813[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
814public static extern void ApplyDamping2(IntPtr obj, float timeStep);
815
816[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
817public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
818
819[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
820public static extern Vector3 GetLinearFactor2(IntPtr obj);
821
822[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
823public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
824
825 /*
826[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
827public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
828 */
829
830[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
831public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
832
833// Add a force to the object as if its mass is one.
834[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
835public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
836
837// Set the force being applied to the object as if its mass is one.
838[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
839public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
840
841[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
842public static extern Vector3 GetTotalForce2(IntPtr obj);
843
844[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
845public static extern Vector3 GetTotalTorque2(IntPtr obj);
846
847[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
848public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
849
850[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
851public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
852
853[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
854public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
855
856[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
857public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
858
859// Apply force at the given point. Will add torque to the object.
860[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
861public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
862
863// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
864[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
865public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
866
867// Apply impulse to the object's torque. Force is scaled by object's mass.
868[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
869public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
870
871// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
872[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
873public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
874
875[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
876public static extern void ClearForces2(IntPtr obj);
877
878[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
879public static extern void ClearAllForces2(IntPtr obj);
880
881[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
882public static extern void UpdateInertiaTensor2(IntPtr obj);
883
884[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
885public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
886
887 /*
888[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
889public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
890 */
891
892[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
893public static extern Vector3 GetLinearVelocity2(IntPtr obj);
894
895[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
896public static extern Vector3 GetAngularVelocity2(IntPtr obj);
897
898[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
899public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
900
901[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
902public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
903
904[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
905public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
906
907[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
908public static extern void Translate2(IntPtr obj, Vector3 trans);
909
910[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
911public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
912
913[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
914public static extern bool WantsSleeping2(IntPtr obj);
915
916[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
917public static extern void SetAngularFactor2(IntPtr obj, float factor);
918
919[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
920public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
921
922[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
923public static extern Vector3 GetAngularFactor2(IntPtr obj);
924
925[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
926public static extern bool IsInWorld2(IntPtr obj);
927
928[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
929public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
930
931[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
932public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
933
934[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
935public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
936
937[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
938public static extern int GetNumConstraintRefs2(IntPtr obj);
939
940[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
941public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
942
943// =====================================================================================
944// btCollisionShape entries
945
946[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
947public static extern float GetAngularMotionDisc2(IntPtr shape);
948
949[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
950public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
951
952[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
953public static extern bool IsPolyhedral2(IntPtr shape);
954
955[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
956public static extern bool IsConvex2d2(IntPtr shape);
957
958[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
959public static extern bool IsConvex2(IntPtr shape);
960
961[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
962public static extern bool IsNonMoving2(IntPtr shape);
963
964[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
965public static extern bool IsConcave2(IntPtr shape);
966
967[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
968public static extern bool IsCompound2(IntPtr shape);
969
970[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
971public static extern bool IsSoftBody2(IntPtr shape);
972
973[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
974public static extern bool IsInfinite2(IntPtr shape);
975
976[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
977public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
978
979[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
980public static extern Vector3 GetLocalScaling2(IntPtr shape);
981
982[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
983public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
984
985[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
986public static extern int GetShapeType2(IntPtr shape);
987
988[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
989public static extern void SetMargin2(IntPtr shape, float val);
990
991[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
992public static extern float GetMargin2(IntPtr shape);
993
994// =====================================================================================
995// Debugging
996[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
997public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
998
999[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1000public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
1001
1002[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1003public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
1004
1005[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1006public static extern void DumpAllInfo2(IntPtr sim);
1007
1008[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1009public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
1010
1011[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1012public static extern void DumpPhysicsStatistics2(IntPtr sim);
1013
1014}
1015}
generated by cgit v1.1 at 2024-11-19 22:37:14 +0000