From 9fd0e1b0805ccc97b8e4f19727d98b26fb5fa89d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 29 Dec 2012 21:44:13 -0800
Subject: BulletSim: add  the implementation files for the two versions of
 Bullet: unmanaged (C++) and managed (C#).

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 1107 ++++++++++++++++++++
 1 file changed, 1107 insertions(+)
 create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
new file mode 100755
index 0000000..bbfc1f8
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -0,0 +1,1107 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Security;
+using System.Text;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public sealed class BSAPIUnman : BulletSimAPITemplate
+{
+    /*
+// Initialization and simulation
+public BulletWorld Initialize(Vector3 maxPosition, IntPtr parms,
+											int maxCollisions,  IntPtr collisionArray,
+											int maxUpdates, IntPtr updateArray
+                                            );
+
+public bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);
+
+public void SetHeightMap(BulletWorld world, float[] heightmap);
+
+public void Shutdown(BulletWorld sim);
+
+public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount,
+                        out IntPtr updatedEntitiesPtr,
+                        out int collidersCount,
+                        out IntPtr collidersPtr);
+
+public bool PushUpdate(BulletBody obj);
+     */
+
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+public override BulletShape CreateMeshShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices)
+{
+    return new BulletShape(
+                    BSAPI.CreateMeshShape2(world.ptr, indicesCount, indices, verticesCount, vertices),
+                    BSPhysicsShapeType.SHAPE_MESH);
+}
+
+public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
+{
+    return new BulletShape(
+                    BSAPI.CreateHullShape2(world.ptr, hullCount, hulls), 
+                    BSPhysicsShapeType.SHAPE_HULL);
+}
+
+public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+{
+    return new BulletShape(
+                    BSAPI.BuildHullShapeFromMesh2(world.ptr, meshShape.ptr),
+                    BSPhysicsShapeType.SHAPE_HULL);
+}
+
+public override BulletShape BuildNativeShape( BulletWorld world, ShapeData shapeData)
+{
+    return new BulletShape(
+                    BSAPI.BuildNativeShape2(world.ptr, shapeData), 
+                    shapeData.Type);
+}
+
+public override bool IsNativeShape(BulletShape shape)
+{
+    if (shape.HasPhysicalShape)
+        return BSAPI.IsNativeShape2(shape.ptr);
+    return false;
+}
+
+public override void SetShapeCollisionMargin(BulletShape shape, float margin)
+{
+    if (shape.HasPhysicalShape)
+        BSAPI.SetShapeCollisionMargin2(shape.ptr, margin);
+}
+
+public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
+{
+    return new BulletShape(
+                   BSAPI.BuildCapsuleShape2(world.ptr, radius, height, scale),
+                   BSPhysicsShapeType.SHAPE_CAPSULE);
+}
+
+public override BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree)
+{
+    return new BulletShape(
+                    BSAPI.CreateCompoundShape2(sim.ptr, enableDynamicAabbTree),
+                    BSPhysicsShapeType.SHAPE_COMPOUND);
+
+}
+
+public override int GetNumberOfCompoundChildren(BulletShape shape)
+{
+    if (shape.HasPhysicalShape)
+        return BSAPI.GetNumberOfCompoundChildren2(shape.ptr);
+    return 0;
+}
+
+public override void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot)
+{
+    BSAPI.AddChildShapeToCompoundShape2(cShape.ptr, addShape.ptr, pos, rot);
+}
+
+public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)
+{
+    return new BulletShape(BSAPI.GetChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));
+}
+
+public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)
+{
+    return new BulletShape(BSAPI.RemoveChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));
+}
+
+public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape)
+{
+    BSAPI.RemoveChildShapeFromCompoundShape2(cShape.ptr, removeShape.ptr);
+}
+
+public override void RecalculateCompoundShapeLocalAabb(BulletShape cShape)
+{
+    BSAPI.RecalculateCompoundShapeLocalAabb2(cShape.ptr);
+}
+
+public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id)
+{
+    return new BulletShape(BSAPI.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type);
+}
+
+public override BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo)
+{
+    return new BulletBody(id, BSAPI.CreateBodyFromShapeAndInfo2(sim.ptr, shape.ptr, id, constructionInfo));
+}
+
+public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
+{
+    return BSAPI.DeleteCollisionShape2(world.ptr, shape.ptr);
+}
+
+public override int GetBodyType(BulletBody obj)
+{
+    return BSAPI.GetBodyType2(obj.ptr);
+}
+
+public override BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    return new BulletBody(id, BSAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, id, pos, rot));
+}
+
+public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    return new BulletBody(id, BSAPI.CreateBodyWithDefaultMotionState2(shape.ptr, id, pos, rot));
+}
+
+public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    return new BulletBody(id, BSAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot));
+}
+
+public override IntPtr AllocateBodyInfo(BulletBody obj)
+{
+    return BSAPI.AllocateBodyInfo2(obj.ptr);
+}
+
+public override void ReleaseBodyInfo(IntPtr obj)
+{
+    BSAPI.ReleaseBodyInfo2(obj);
+}
+
+public override void DestroyObject(BulletWorld sim, BulletBody obj)
+{
+    BSAPI.DestroyObject2(sim.ptr, obj.ptr);
+}
+
+    /*
+// =====================================================================================
+// Terrain creation and helper routines
+public override IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,
+        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
+
+public override IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
+        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
+
+public override bool ReleaseHeightMapInfo(IntPtr heightMapInfo);
+
+public override BulletBody CreateGroundPlaneShape(uint id, float height, float collisionMargin);
+
+public override BulletBody CreateTerrainShape(IntPtr mapInfo);
+
+// =====================================================================================
+// Constraint creation and helper routines
+public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 pivotinA, Vector3 pivotinB,
+                    Vector3 axisInA, Vector3 axisInB,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
+
+public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
+
+public override bool SetFrames(BulletConstraint constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
+
+public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
+
+public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
+
+public override bool UseFrameOffset(BulletConstraint constrain, float enable);
+
+public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
+
+public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
+
+public override bool CalculateTransforms(BulletConstraint constrain);
+
+public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
+
+public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
+
+// =====================================================================================
+// btCollisionWorld entries
+public override void UpdateSingleAabb(BulletWorld world, BulletBody obj);
+
+public override void UpdateAabbs(BulletWorld world);
+
+public override bool GetForceUpdateAllAabbs(BulletWorld world);
+
+public override void SetForceUpdateAllAabbs(BulletWorld world, bool force);
+
+// =====================================================================================
+// btDynamicsWorld entries
+public override bool AddObjectToWorld(BulletWorld world, BulletBody obj);
+
+public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
+
+public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
+
+public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
+// =====================================================================================
+// btCollisionObject entries
+public override Vector3 GetAnisotripicFriction(BulletConstraint constrain);
+
+public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
+
+public override bool HasAnisotripicFriction(BulletConstraint constrain);
+
+public override void SetContactProcessingThreshold(BulletBody obj, float val);
+
+public override float GetContactProcessingThreshold(BulletBody obj);
+
+public override bool IsStaticObject(BulletBody obj);
+
+public override bool IsKinematicObject(BulletBody obj);
+
+public override bool IsStaticOrKinematicObject(BulletBody obj);
+
+public override bool HasContactResponse(BulletBody obj);
+
+public override void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletBody shape);
+
+public override BulletShape GetCollisionShape(BulletBody obj);
+
+public override int GetActivationState(BulletBody obj);
+
+public override void SetActivationState(BulletBody obj, int state);
+
+public override void SetDeactivationTime(BulletBody obj, float dtime);
+
+public override float GetDeactivationTime(BulletBody obj);
+
+public override void ForceActivationState(BulletBody obj, ActivationState state);
+
+public override void Activate(BulletBody obj, bool forceActivation);
+
+public override bool IsActive(BulletBody obj);
+
+public override void SetRestitution(BulletBody obj, float val);
+
+public override float GetRestitution(BulletBody obj);
+
+public override void SetFriction(BulletBody obj, float val);
+
+public override float GetFriction(BulletBody obj);
+
+public override Vector3 GetPosition(BulletBody obj);
+
+public override Quaternion GetOrientation(BulletBody obj);
+
+public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation);
+
+public override IntPtr GetBroadphaseHandle(BulletBody obj);
+
+public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle);
+
+public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel);
+
+public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel);
+
+public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel);
+
+public override float GetHitFraction(BulletBody obj);
+
+public override void SetHitFraction(BulletBody obj, float val);
+
+public override CollisionFlags GetCollisionFlags(BulletBody obj);
+
+public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags);
+
+public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags);
+
+public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags);
+
+public override float GetCcdMotionThreshold(BulletBody obj);
+
+public override void SetCcdMotionThreshold(BulletBody obj, float val);
+
+public override float GetCcdSweptSphereRadius(BulletBody obj);
+
+public override void SetCcdSweptSphereRadius(BulletBody obj, float val);
+
+public override IntPtr GetUserPointer(BulletBody obj);
+
+public override void SetUserPointer(BulletBody obj, IntPtr val);
+
+// =====================================================================================
+// btRigidBody entries
+public override void ApplyGravity(BulletBody obj);
+
+public override void SetGravity(BulletBody obj, Vector3 val);
+
+public override Vector3 GetGravity(BulletBody obj);
+
+public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping);
+
+public override void SetLinearDamping(BulletBody obj, float lin_damping);
+
+public override void SetAngularDamping(BulletBody obj, float ang_damping);
+
+public override float GetLinearDamping(BulletBody obj);
+
+public override float GetAngularDamping(BulletBody obj);
+
+public override float GetLinearSleepingThreshold(BulletBody obj);
+
+
+public override void ApplyDamping(BulletBody obj, float timeStep);
+
+public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia);
+
+public override Vector3 GetLinearFactor(BulletBody obj);
+
+public override void SetLinearFactor(BulletBody obj, Vector3 factor);
+
+public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot);
+
+// Add a force to the object as if its mass is one.
+public override void ApplyCentralForce(BulletBody obj, Vector3 force);
+
+// Set the force being applied to the object as if its mass is one.
+public override void SetObjectForce(BulletBody obj, Vector3 force);
+
+public override Vector3 GetTotalForce(BulletBody obj);
+
+public override Vector3 GetTotalTorque(BulletBody obj);
+
+public override Vector3 GetInvInertiaDiagLocal(BulletBody obj);
+
+public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);
+
+public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
+
+public override void ApplyTorque(BulletBody obj, Vector3 torque);
+
+// Apply force at the given point. Will add torque to the object.
+public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp);
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp);
+
+// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);
+
+public override void ClearForces(BulletBody obj);
+
+public override void ClearAllForces(BulletBody obj);
+
+public override void UpdateInertiaTensor(BulletBody obj);
+
+public override Vector3 GetLinearVelocity(BulletBody obj);
+
+public override Vector3 GetAngularVelocity(BulletBody obj);
+
+public override void SetLinearVelocity(BulletBody obj, Vector3 val);
+
+public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);
+
+public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);
+
+public override void Translate(BulletBody obj, Vector3 trans);
+
+public override void UpdateDeactivation(BulletBody obj, float timeStep);
+
+public override bool WantsSleeping(BulletBody obj);
+
+public override void SetAngularFactor(BulletBody obj, float factor);
+
+public override void SetAngularFactorV(BulletBody obj, Vector3 factor);
+
+public override Vector3 GetAngularFactor(BulletBody obj);
+
+public override bool IsInWorld(BulletBody obj);
+
+public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
+
+public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
+
+public override BulletConstraint GetConstraintRef(BulletBody obj, int index);
+
+public override int GetNumConstraintRefs(BulletBody obj);
+
+public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);
+
+// =====================================================================================
+// btCollisionShape entries
+
+public override float GetAngularMotionDisc(BulletShape shape);
+
+public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
+
+public override bool IsPolyhedral(BulletShape shape);
+
+public override bool IsConvex2d(BulletShape shape);
+
+public override bool IsConvex(BulletShape shape);
+
+public override bool IsNonMoving(BulletShape shape);
+
+public override bool IsConcave(BulletShape shape);
+
+public override bool IsCompound(BulletShape shape);
+
+public override bool IsSoftBody(BulletShape shape);
+
+public override bool IsInfinite(BulletShape shape);
+
+public override void SetLocalScaling(BulletShape shape, Vector3 scale);
+
+public override Vector3 GetLocalScaling(BulletShape shape);
+
+public override Vector3 CalculateLocalInertia(BulletShape shape, float mass);
+
+public override int GetShapeType(BulletShape shape);
+
+public override void SetMargin(BulletShape shape, float val);
+
+public override float GetMargin(BulletShape shape);
+    */
+
+static class BSAPI
+{
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateMeshShape2(IntPtr world,
+                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
+                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateHullShape2(IntPtr world,
+                int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsNativeShape2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetBodyType2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ReleaseBodyInfo2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
+
+}
+}
+
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+static class BulletSimAPI {
+// ===============================================================================
+// Link back to the managed code for outputting log messages
+[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
+
+// ===============================================================================
+// Initialization and simulation
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
+											int maxCollisions,  IntPtr collisionArray,
+											int maxUpdates, IntPtr updateArray,
+                                            DebugLogCallback logRoutine);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Shutdown2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount,
+                        out IntPtr updatedEntitiesPtr,
+                        out int collidersCount,
+                        out IntPtr collidersPtr);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool PushUpdate2(IntPtr obj);
+
+// =====================================================================================
+// Terrain creation and helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
+        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
+        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
+
+// =====================================================================================
+// Constraint creation and helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 pivotinA, Vector3 pivotinB,
+                    Vector3 axisInA, Vector3 axisInB,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetFrames2(IntPtr constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool CalculateTransforms2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
+
+// =====================================================================================
+// btCollisionWorld entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateAabbs2(IntPtr world);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
+
+// =====================================================================================
+// btDynamicsWorld entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
+// =====================================================================================
+// btCollisionObject entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HasAnisotripicFriction2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetContactProcessingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsStaticObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsKinematicObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HasContactResponse2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetCollisionShape2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetActivationState2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetActivationState2(IntPtr obj, int state);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetDeactivationTime2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Activate2(IntPtr obj, bool forceActivation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsActive2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetRestitution2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetRestitution2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetFriction2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetFriction2(IntPtr obj);
+
+    /* Haven't defined the type 'Transform'
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetWorldTransform2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void setWorldTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetPosition2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Quaternion GetOrientation2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetHitFraction2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetHitFraction2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetCcdMotionThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetUserPointer2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
+
+// =====================================================================================
+// btRigidBody entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyGravity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetGravity2(IntPtr obj, Vector3 val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetGravity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetLinearDamping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularDamping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetLinearSleepingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularSleepingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyDamping2(IntPtr obj, float timeStep);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLinearFactor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
+
+// Add a force to the object as if its mass is one.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
+
+// Set the force being applied to the object as if its mass is one.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetTotalForce2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetTotalTorque2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
+
+// Apply force at the given point. Will add torque to the object.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
+
+// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ClearForces2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ClearAllForces2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateInertiaTensor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLinearVelocity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAngularVelocity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Translate2(IntPtr obj, Vector3 trans);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool WantsSleeping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularFactor2(IntPtr obj, float factor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAngularFactor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsInWorld2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetNumConstraintRefs2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
+
+// =====================================================================================
+// btCollisionShape entries
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularMotionDisc2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsPolyhedral2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConvex2d2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConvex2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsNonMoving2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConcave2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsCompound2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsSoftBody2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsInfinite2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLocalScaling2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetShapeType2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetMargin2(IntPtr shape, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetMargin2(IntPtr shape);
+
+// =====================================================================================
+// Debugging
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpActivationInfo2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpAllInfo2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpPhysicsStatistics2(IntPtr sim);
+
+}
+}
-- 
cgit v1.1


From 9218748321519ed04da5cdffa1f29e69030171b5 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 30 Dec 2012 10:21:47 -0800
Subject: BulletSim: another round of conversion: dynamics world and collision
 object functions.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 2425 +++++++++++---------
 1 file changed, 1318 insertions(+), 1107 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index bbfc1f8..9a8a2e8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -1,1107 +1,1318 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *     * Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *     * Redistributions in binary form must reproduce the above copyrightD
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the OpenSimulator Project nor the
- *       names of its contributors may be used to endorse or promote products
- *       derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.Runtime.InteropServices;
-using System.Security;
-using System.Text;
-
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
-public sealed class BSAPIUnman : BulletSimAPITemplate
-{
-    /*
-// Initialization and simulation
-public BulletWorld Initialize(Vector3 maxPosition, IntPtr parms,
-											int maxCollisions,  IntPtr collisionArray,
-											int maxUpdates, IntPtr updateArray
-                                            );
-
-public bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);
-
-public void SetHeightMap(BulletWorld world, float[] heightmap);
-
-public void Shutdown(BulletWorld sim);
-
-public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount,
-                        out IntPtr updatedEntitiesPtr,
-                        out int collidersCount,
-                        out IntPtr collidersPtr);
-
-public bool PushUpdate(BulletBody obj);
-     */
-
-// =====================================================================================
-// Mesh, hull, shape and body creation helper routines
-public override BulletShape CreateMeshShape(BulletWorld world,
-                int indicesCount, int[] indices,
-                int verticesCount, float[] vertices)
-{
-    return new BulletShape(
-                    BSAPI.CreateMeshShape2(world.ptr, indicesCount, indices, verticesCount, vertices),
-                    BSPhysicsShapeType.SHAPE_MESH);
-}
-
-public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
-{
-    return new BulletShape(
-                    BSAPI.CreateHullShape2(world.ptr, hullCount, hulls), 
-                    BSPhysicsShapeType.SHAPE_HULL);
-}
-
-public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
-{
-    return new BulletShape(
-                    BSAPI.BuildHullShapeFromMesh2(world.ptr, meshShape.ptr),
-                    BSPhysicsShapeType.SHAPE_HULL);
-}
-
-public override BulletShape BuildNativeShape( BulletWorld world, ShapeData shapeData)
-{
-    return new BulletShape(
-                    BSAPI.BuildNativeShape2(world.ptr, shapeData), 
-                    shapeData.Type);
-}
-
-public override bool IsNativeShape(BulletShape shape)
-{
-    if (shape.HasPhysicalShape)
-        return BSAPI.IsNativeShape2(shape.ptr);
-    return false;
-}
-
-public override void SetShapeCollisionMargin(BulletShape shape, float margin)
-{
-    if (shape.HasPhysicalShape)
-        BSAPI.SetShapeCollisionMargin2(shape.ptr, margin);
-}
-
-public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
-{
-    return new BulletShape(
-                   BSAPI.BuildCapsuleShape2(world.ptr, radius, height, scale),
-                   BSPhysicsShapeType.SHAPE_CAPSULE);
-}
-
-public override BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree)
-{
-    return new BulletShape(
-                    BSAPI.CreateCompoundShape2(sim.ptr, enableDynamicAabbTree),
-                    BSPhysicsShapeType.SHAPE_COMPOUND);
-
-}
-
-public override int GetNumberOfCompoundChildren(BulletShape shape)
-{
-    if (shape.HasPhysicalShape)
-        return BSAPI.GetNumberOfCompoundChildren2(shape.ptr);
-    return 0;
-}
-
-public override void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot)
-{
-    BSAPI.AddChildShapeToCompoundShape2(cShape.ptr, addShape.ptr, pos, rot);
-}
-
-public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)
-{
-    return new BulletShape(BSAPI.GetChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));
-}
-
-public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)
-{
-    return new BulletShape(BSAPI.RemoveChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));
-}
-
-public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape)
-{
-    BSAPI.RemoveChildShapeFromCompoundShape2(cShape.ptr, removeShape.ptr);
-}
-
-public override void RecalculateCompoundShapeLocalAabb(BulletShape cShape)
-{
-    BSAPI.RecalculateCompoundShapeLocalAabb2(cShape.ptr);
-}
-
-public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id)
-{
-    return new BulletShape(BSAPI.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type);
-}
-
-public override BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo)
-{
-    return new BulletBody(id, BSAPI.CreateBodyFromShapeAndInfo2(sim.ptr, shape.ptr, id, constructionInfo));
-}
-
-public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
-{
-    return BSAPI.DeleteCollisionShape2(world.ptr, shape.ptr);
-}
-
-public override int GetBodyType(BulletBody obj)
-{
-    return BSAPI.GetBodyType2(obj.ptr);
-}
-
-public override BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
-{
-    return new BulletBody(id, BSAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, id, pos, rot));
-}
-
-public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)
-{
-    return new BulletBody(id, BSAPI.CreateBodyWithDefaultMotionState2(shape.ptr, id, pos, rot));
-}
-
-public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
-{
-    return new BulletBody(id, BSAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot));
-}
-
-public override IntPtr AllocateBodyInfo(BulletBody obj)
-{
-    return BSAPI.AllocateBodyInfo2(obj.ptr);
-}
-
-public override void ReleaseBodyInfo(IntPtr obj)
-{
-    BSAPI.ReleaseBodyInfo2(obj);
-}
-
-public override void DestroyObject(BulletWorld sim, BulletBody obj)
-{
-    BSAPI.DestroyObject2(sim.ptr, obj.ptr);
-}
-
-    /*
-// =====================================================================================
-// Terrain creation and helper routines
-public override IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-public override IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-public override bool ReleaseHeightMapInfo(IntPtr heightMapInfo);
-
-public override BulletBody CreateGroundPlaneShape(uint id, float height, float collisionMargin);
-
-public override BulletBody CreateTerrainShape(IntPtr mapInfo);
-
-// =====================================================================================
-// Constraint creation and helper routines
-public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 frame1loc, Quaternion frame1rot,
-                    Vector3 frame2loc, Quaternion frame2rot,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 joinPoint,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
-                    Vector3 pivotinA, Vector3 pivotinB,
-                    Vector3 axisInA, Vector3 axisInB,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
-
-public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
-
-public override bool SetFrames(BulletConstraint constrain,
-                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
-
-public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
-
-public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
-
-public override bool UseFrameOffset(BulletConstraint constrain, float enable);
-
-public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
-
-public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
-
-public override bool CalculateTransforms(BulletConstraint constrain);
-
-public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
-
-public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
-
-// =====================================================================================
-// btCollisionWorld entries
-public override void UpdateSingleAabb(BulletWorld world, BulletBody obj);
-
-public override void UpdateAabbs(BulletWorld world);
-
-public override bool GetForceUpdateAllAabbs(BulletWorld world);
-
-public override void SetForceUpdateAllAabbs(BulletWorld world, bool force);
-
-// =====================================================================================
-// btDynamicsWorld entries
-public override bool AddObjectToWorld(BulletWorld world, BulletBody obj);
-
-public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
-
-public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
-
-public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
-// =====================================================================================
-// btCollisionObject entries
-public override Vector3 GetAnisotripicFriction(BulletConstraint constrain);
-
-public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
-
-public override bool HasAnisotripicFriction(BulletConstraint constrain);
-
-public override void SetContactProcessingThreshold(BulletBody obj, float val);
-
-public override float GetContactProcessingThreshold(BulletBody obj);
-
-public override bool IsStaticObject(BulletBody obj);
-
-public override bool IsKinematicObject(BulletBody obj);
-
-public override bool IsStaticOrKinematicObject(BulletBody obj);
-
-public override bool HasContactResponse(BulletBody obj);
-
-public override void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletBody shape);
-
-public override BulletShape GetCollisionShape(BulletBody obj);
-
-public override int GetActivationState(BulletBody obj);
-
-public override void SetActivationState(BulletBody obj, int state);
-
-public override void SetDeactivationTime(BulletBody obj, float dtime);
-
-public override float GetDeactivationTime(BulletBody obj);
-
-public override void ForceActivationState(BulletBody obj, ActivationState state);
-
-public override void Activate(BulletBody obj, bool forceActivation);
-
-public override bool IsActive(BulletBody obj);
-
-public override void SetRestitution(BulletBody obj, float val);
-
-public override float GetRestitution(BulletBody obj);
-
-public override void SetFriction(BulletBody obj, float val);
-
-public override float GetFriction(BulletBody obj);
-
-public override Vector3 GetPosition(BulletBody obj);
-
-public override Quaternion GetOrientation(BulletBody obj);
-
-public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation);
-
-public override IntPtr GetBroadphaseHandle(BulletBody obj);
-
-public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle);
-
-public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel);
-
-public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel);
-
-public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel);
-
-public override float GetHitFraction(BulletBody obj);
-
-public override void SetHitFraction(BulletBody obj, float val);
-
-public override CollisionFlags GetCollisionFlags(BulletBody obj);
-
-public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags);
-
-public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags);
-
-public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags);
-
-public override float GetCcdMotionThreshold(BulletBody obj);
-
-public override void SetCcdMotionThreshold(BulletBody obj, float val);
-
-public override float GetCcdSweptSphereRadius(BulletBody obj);
-
-public override void SetCcdSweptSphereRadius(BulletBody obj, float val);
-
-public override IntPtr GetUserPointer(BulletBody obj);
-
-public override void SetUserPointer(BulletBody obj, IntPtr val);
-
-// =====================================================================================
-// btRigidBody entries
-public override void ApplyGravity(BulletBody obj);
-
-public override void SetGravity(BulletBody obj, Vector3 val);
-
-public override Vector3 GetGravity(BulletBody obj);
-
-public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping);
-
-public override void SetLinearDamping(BulletBody obj, float lin_damping);
-
-public override void SetAngularDamping(BulletBody obj, float ang_damping);
-
-public override float GetLinearDamping(BulletBody obj);
-
-public override float GetAngularDamping(BulletBody obj);
-
-public override float GetLinearSleepingThreshold(BulletBody obj);
-
-
-public override void ApplyDamping(BulletBody obj, float timeStep);
-
-public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia);
-
-public override Vector3 GetLinearFactor(BulletBody obj);
-
-public override void SetLinearFactor(BulletBody obj, Vector3 factor);
-
-public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot);
-
-// Add a force to the object as if its mass is one.
-public override void ApplyCentralForce(BulletBody obj, Vector3 force);
-
-// Set the force being applied to the object as if its mass is one.
-public override void SetObjectForce(BulletBody obj, Vector3 force);
-
-public override Vector3 GetTotalForce(BulletBody obj);
-
-public override Vector3 GetTotalTorque(BulletBody obj);
-
-public override Vector3 GetInvInertiaDiagLocal(BulletBody obj);
-
-public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);
-
-public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
-
-public override void ApplyTorque(BulletBody obj, Vector3 torque);
-
-// Apply force at the given point. Will add torque to the object.
-public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);
-
-// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
-public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp);
-
-// Apply impulse to the object's torque. Force is scaled by object's mass.
-public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp);
-
-// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
-public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);
-
-public override void ClearForces(BulletBody obj);
-
-public override void ClearAllForces(BulletBody obj);
-
-public override void UpdateInertiaTensor(BulletBody obj);
-
-public override Vector3 GetLinearVelocity(BulletBody obj);
-
-public override Vector3 GetAngularVelocity(BulletBody obj);
-
-public override void SetLinearVelocity(BulletBody obj, Vector3 val);
-
-public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);
-
-public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);
-
-public override void Translate(BulletBody obj, Vector3 trans);
-
-public override void UpdateDeactivation(BulletBody obj, float timeStep);
-
-public override bool WantsSleeping(BulletBody obj);
-
-public override void SetAngularFactor(BulletBody obj, float factor);
-
-public override void SetAngularFactorV(BulletBody obj, Vector3 factor);
-
-public override Vector3 GetAngularFactor(BulletBody obj);
-
-public override bool IsInWorld(BulletBody obj);
-
-public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
-
-public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
-
-public override BulletConstraint GetConstraintRef(BulletBody obj, int index);
-
-public override int GetNumConstraintRefs(BulletBody obj);
-
-public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);
-
-// =====================================================================================
-// btCollisionShape entries
-
-public override float GetAngularMotionDisc(BulletShape shape);
-
-public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
-
-public override bool IsPolyhedral(BulletShape shape);
-
-public override bool IsConvex2d(BulletShape shape);
-
-public override bool IsConvex(BulletShape shape);
-
-public override bool IsNonMoving(BulletShape shape);
-
-public override bool IsConcave(BulletShape shape);
-
-public override bool IsCompound(BulletShape shape);
-
-public override bool IsSoftBody(BulletShape shape);
-
-public override bool IsInfinite(BulletShape shape);
-
-public override void SetLocalScaling(BulletShape shape, Vector3 scale);
-
-public override Vector3 GetLocalScaling(BulletShape shape);
-
-public override Vector3 CalculateLocalInertia(BulletShape shape, float mass);
-
-public override int GetShapeType(BulletShape shape);
-
-public override void SetMargin(BulletShape shape, float val);
-
-public override float GetMargin(BulletShape shape);
-    */
-
-static class BSAPI
-{
-// =====================================================================================
-// Mesh, hull, shape and body creation helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateMeshShape2(IntPtr world,
-                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
-                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHullShape2(IntPtr world,
-                int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsNativeShape2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetBodyType2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ReleaseBodyInfo2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
-
-}
-}
-
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-static class BulletSimAPI {
-// ===============================================================================
-// Link back to the managed code for outputting log messages
-[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
-
-// ===============================================================================
-// Initialization and simulation
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
-											int maxCollisions,  IntPtr collisionArray,
-											int maxUpdates, IntPtr updateArray,
-                                            DebugLogCallback logRoutine);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Shutdown2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount,
-                        out IntPtr updatedEntitiesPtr,
-                        out int collidersCount,
-                        out IntPtr collidersPtr);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool PushUpdate2(IntPtr obj);
-
-// =====================================================================================
-// Terrain creation and helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
-
-// =====================================================================================
-// Constraint creation and helper routines
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
-                    Vector3 frame1loc, Quaternion frame1rot,
-                    Vector3 frame2loc, Quaternion frame2rot,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
-                    Vector3 joinPoint,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
-                    Vector3 pivotinA, Vector3 pivotinB,
-                    Vector3 axisInA, Vector3 axisInB,
-                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetFrames2(IntPtr constrain,
-                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool CalculateTransforms2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
-
-// =====================================================================================
-// btCollisionWorld entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateAabbs2(IntPtr world);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
-
-// =====================================================================================
-// btDynamicsWorld entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
-// =====================================================================================
-// btCollisionObject entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool HasAnisotripicFriction2(IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetContactProcessingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsStaticObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsKinematicObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool HasContactResponse2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetCollisionShape2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetActivationState2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetActivationState2(IntPtr obj, int state);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetDeactivationTime2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Activate2(IntPtr obj, bool forceActivation);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsActive2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetRestitution2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetRestitution2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetFriction2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetFriction2(IntPtr obj);
-
-    /* Haven't defined the type 'Transform'
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetWorldTransform2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void setWorldTransform2(IntPtr obj, Transform trans);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetPosition2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Quaternion GetOrientation2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
-
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetHitFraction2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHitFraction2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetCcdMotionThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetUserPointer2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
-
-// =====================================================================================
-// btRigidBody entries
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyGravity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetGravity2(IntPtr obj, Vector3 val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetGravity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetLinearDamping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularDamping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetLinearSleepingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularSleepingThreshold2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyDamping2(IntPtr obj, float timeStep);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLinearFactor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
-
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
-
-// Add a force to the object as if its mass is one.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
-
-// Set the force being applied to the object as if its mass is one.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetTotalForce2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetTotalTorque2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
-
-// Apply force at the given point. Will add torque to the object.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
-
-// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
-
-// Apply impulse to the object's torque. Force is scaled by object's mass.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
-
-// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ClearForces2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ClearAllForces2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateInertiaTensor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
-
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
-     */
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLinearVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAngularVelocity2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Translate2(IntPtr obj, Vector3 trans);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool WantsSleeping2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularFactor2(IntPtr obj, float factor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetAngularFactor2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsInWorld2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetNumConstraintRefs2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
-
-// =====================================================================================
-// btCollisionShape entries
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetAngularMotionDisc2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsPolyhedral2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConvex2d2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConvex2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsNonMoving2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsConcave2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsCompound2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsSoftBody2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool IsInfinite2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 GetLocalScaling2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int GetShapeType2(IntPtr shape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetMargin2(IntPtr shape, float val);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern float GetMargin2(IntPtr shape);
-
-// =====================================================================================
-// Debugging
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpActivationInfo2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpAllInfo2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void DumpPhysicsStatistics2(IntPtr sim);
-
-}
-}
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Security;
+using System.Text;
+
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public sealed class BSAPIUnman : BulletSimAPITemplate
+{
+    /*
+// Initialization and simulation
+public BulletWorld Initialize(Vector3 maxPosition, IntPtr parms,
+											int maxCollisions,  IntPtr collisionArray,
+											int maxUpdates, IntPtr updateArray
+                                            );
+
+public bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);
+
+public void SetHeightMap(BulletWorld world, float[] heightmap);
+
+public void Shutdown(BulletWorld sim);
+
+public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount,
+                        out IntPtr updatedEntitiesPtr,
+                        out int collidersCount,
+                        out IntPtr collidersPtr);
+
+public bool PushUpdate(BulletBody obj);
+     */
+
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+public override BulletShape CreateMeshShape(BulletWorld world,
+                int indicesCount, int[] indices,
+                int verticesCount, float[] vertices)
+{
+    return new BulletShape(
+                    BSAPICPP.CreateMeshShape2(world.ptr, indicesCount, indices, verticesCount, vertices),
+                    BSPhysicsShapeType.SHAPE_MESH);
+}
+
+public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
+{
+    return new BulletShape(
+                    BSAPICPP.CreateHullShape2(world.ptr, hullCount, hulls), 
+                    BSPhysicsShapeType.SHAPE_HULL);
+}
+
+public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+{
+    return new BulletShape(
+                    BSAPICPP.BuildHullShapeFromMesh2(world.ptr, meshShape.ptr),
+                    BSPhysicsShapeType.SHAPE_HULL);
+}
+
+public override BulletShape BuildNativeShape( BulletWorld world, ShapeData shapeData)
+{
+    return new BulletShape(
+                    BSAPICPP.BuildNativeShape2(world.ptr, shapeData), 
+                    shapeData.Type);
+}
+
+public override bool IsNativeShape(BulletShape shape)
+{
+    if (shape.HasPhysicalShape)
+        return BSAPICPP.IsNativeShape2(shape.ptr);
+    return false;
+}
+
+public override void SetShapeCollisionMargin(BulletShape shape, float margin)
+{
+    if (shape.HasPhysicalShape)
+        BSAPICPP.SetShapeCollisionMargin2(shape.ptr, margin);
+}
+
+public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
+{
+    return new BulletShape(
+                   BSAPICPP.BuildCapsuleShape2(world.ptr, radius, height, scale),
+                   BSPhysicsShapeType.SHAPE_CAPSULE);
+}
+
+public override BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree)
+{
+    return new BulletShape(
+                    BSAPICPP.CreateCompoundShape2(sim.ptr, enableDynamicAabbTree),
+                    BSPhysicsShapeType.SHAPE_COMPOUND);
+
+}
+
+public override int GetNumberOfCompoundChildren(BulletShape shape)
+{
+    if (shape.HasPhysicalShape)
+        return BSAPICPP.GetNumberOfCompoundChildren2(shape.ptr);
+    return 0;
+}
+
+public override void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot)
+{
+    BSAPICPP.AddChildShapeToCompoundShape2(cShape.ptr, addShape.ptr, pos, rot);
+}
+
+public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)
+{
+    return new BulletShape(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));
+}
+
+public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)
+{
+    return new BulletShape(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));
+}
+
+public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape)
+{
+    BSAPICPP.RemoveChildShapeFromCompoundShape2(cShape.ptr, removeShape.ptr);
+}
+
+public override void RecalculateCompoundShapeLocalAabb(BulletShape cShape)
+{
+    BSAPICPP.RecalculateCompoundShapeLocalAabb2(cShape.ptr);
+}
+
+public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id)
+{
+    return new BulletShape(BSAPICPP.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type);
+}
+
+public override BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo)
+{
+    return new BulletBody(id, BSAPICPP.CreateBodyFromShapeAndInfo2(sim.ptr, shape.ptr, id, constructionInfo));
+}
+
+public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
+{
+    return BSAPICPP.DeleteCollisionShape2(world.ptr, shape.ptr);
+}
+
+public override int GetBodyType(BulletBody obj)
+{
+    return BSAPICPP.GetBodyType2(obj.ptr);
+}
+
+public override BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    return new BulletBody(id, BSAPICPP.CreateBodyFromShape2(sim.ptr, shape.ptr, id, pos, rot));
+}
+
+public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    return new BulletBody(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shape.ptr, id, pos, rot));
+}
+
+public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+{
+    return new BulletBody(id, BSAPICPP.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot));
+}
+
+public override IntPtr AllocateBodyInfo(BulletBody obj)
+{
+    return BSAPICPP.AllocateBodyInfo2(obj.ptr);
+}
+
+public override void ReleaseBodyInfo(IntPtr obj)
+{
+    BSAPICPP.ReleaseBodyInfo2(obj);
+}
+
+public override void DestroyObject(BulletWorld sim, BulletBody obj)
+{
+    BSAPICPP.DestroyObject2(sim.ptr, obj.ptr);
+}
+
+// =====================================================================================
+// Terrain creation and helper routines
+public override IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,
+        float[] heightMap, float collisionMargin)
+{
+    return BSAPICPP.CreateHeightMapInfo2(sim.ptr, id, minCoords, maxCoords, heightMap, collisionMargin);
+}
+
+public override IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
+        float[] heightMap, float collisionMargin)
+{
+    return BSAPICPP.FillHeightMapInfo2(sim.ptr, mapInfo, id, minCoords, maxCoords, heightMap, collisionMargin);
+}
+
+public override bool ReleaseHeightMapInfo(IntPtr heightMapInfo)
+{
+    return BSAPICPP.ReleaseHeightMapInfo2(heightMapInfo);
+}
+
+public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
+{
+    return new BulletShape(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
+}
+
+public override BulletShape CreateTerrainShape(IntPtr mapInfo)
+{
+    return new BulletShape(BSAPICPP.CreateTerrainShape2(mapInfo), BSPhysicsShapeType.SHAPE_TERRAIN);
+}
+
+// =====================================================================================
+// Constraint creation and helper routines
+public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    return new BulletConstraint(BSAPICPP.Create6DofConstraint2(world.ptr, obj1.ptr, obj2.ptr, frame1loc, frame1rot,
+                    frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    return new BulletConstraint(BSAPICPP.Create6DofConstraintToPoint2(world.ptr, obj1.ptr, obj2.ptr,
+                    joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 pivotinA, Vector3 pivotinB,
+                    Vector3 axisInA, Vector3 axisInB,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    return new BulletConstraint(BSAPICPP.CreateHingeConstraint2(world.ptr, obj1.ptr, obj2.ptr,
+                    pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse)
+{
+    BSAPICPP.SetConstraintEnable2(constrain.ptr, numericTrueFalse);
+}
+
+public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations)
+{
+    BSAPICPP.SetConstraintNumSolverIterations2(constrain.ptr, iterations);
+}
+
+public override bool SetFrames(BulletConstraint constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
+{
+    return BSAPICPP.SetFrames2(constrain.ptr, frameA, frameArot, frameB, frameBrot);
+}
+
+public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
+{
+    return BSAPICPP.SetLinearLimits2(constrain.ptr, low, hi);
+}
+
+public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
+{
+    return BSAPICPP.SetAngularLimits2(constrain.ptr, low, hi);
+}
+
+public override bool UseFrameOffset(BulletConstraint constrain, float enable)
+{
+    return BSAPICPP.UseFrameOffset2(constrain.ptr, enable);
+}
+
+public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce)
+{
+    return BSAPICPP.TranslationalLimitMotor2(constrain.ptr, enable, targetVel, maxMotorForce);
+}
+
+public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold)
+{
+    return BSAPICPP.SetBreakingImpulseThreshold2(constrain.ptr, threshold);
+}
+
+public override bool CalculateTransforms(BulletConstraint constrain)
+{
+    return BSAPICPP.CalculateTransforms2(constrain.ptr);
+}
+
+public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis)
+{
+    return BSAPICPP.SetConstraintParam2(constrain.ptr, paramIndex, value, axis);
+}
+
+public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain)
+{
+    return BSAPICPP.DestroyConstraint2(world.ptr, constrain.ptr);
+}
+
+// =====================================================================================
+// btCollisionWorld entries
+public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
+{
+    BSAPICPP.UpdateSingleAabb2(world.ptr, obj.ptr);
+}
+
+public override void UpdateAabbs(BulletWorld world)
+{
+    BSAPICPP.UpdateAabbs2(world.ptr);
+}
+
+public override bool GetForceUpdateAllAabbs(BulletWorld world)
+{
+    return BSAPICPP.GetForceUpdateAllAabbs2(world.ptr);
+}
+
+public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
+{
+    BSAPICPP.SetForceUpdateAllAabbs2(world.ptr, force);
+}
+
+// =====================================================================================
+// btDynamicsWorld entries
+public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
+{
+    return BSAPICPP.AddObjectToWorld2(world.ptr, obj.ptr);
+}
+
+public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
+{
+    return BSAPICPP.RemoveObjectFromWorld2(world.ptr, obj.ptr);
+}
+
+public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
+{
+    return BSAPICPP.AddConstraintToWorld2(world.ptr, constrain.ptr, disableCollisionsBetweenLinkedObjects);
+}
+
+public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
+{
+    return BSAPICPP.RemoveConstraintFromWorld2(world.ptr, constrain.ptr);
+}
+// =====================================================================================
+// btCollisionObject entries
+public override Vector3 GetAnisotripicFriction(BulletConstraint constrain)
+{
+    return BSAPICPP.GetAnisotripicFriction2(constrain.ptr);
+}
+
+public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict)
+{
+    return BSAPICPP.SetAnisotripicFriction2(constrain.ptr, frict);
+}
+
+public override bool HasAnisotripicFriction(BulletConstraint constrain)
+{
+    return BSAPICPP.HasAnisotripicFriction2(constrain.ptr);
+}
+
+public override void SetContactProcessingThreshold(BulletBody obj, float val)
+{
+    BSAPICPP.SetContactProcessingThreshold2(obj.ptr, val);
+}
+
+public override float GetContactProcessingThreshold(BulletBody obj)
+{
+    return BSAPICPP.GetContactProcessingThreshold2(obj.ptr);
+}
+
+public override bool IsStaticObject(BulletBody obj)
+{
+    return BSAPICPP.IsStaticObject2(obj.ptr);
+}
+
+public override bool IsKinematicObject(BulletBody obj)
+{
+    return BSAPICPP.IsKinematicObject2(obj.ptr);
+}
+
+public override bool IsStaticOrKinematicObject(BulletBody obj)
+{
+    return BSAPICPP.IsStaticOrKinematicObject2(obj.ptr);
+}
+
+public override bool HasContactResponse(BulletBody obj)
+{
+    return BSAPICPP.HasContactResponse2(obj.ptr);
+}
+
+public override void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape)
+{
+    BSAPICPP.SetCollisionShape2(sim.ptr, obj.ptr, shape.ptr);
+}
+
+public override BulletShape GetCollisionShape(BulletBody obj)
+{
+    return new BulletShape(BSAPICPP.GetCollisionShape2(obj.ptr));
+}
+
+public override int GetActivationState(BulletBody obj)
+{
+    return BSAPICPP.GetActivationState2(obj.ptr);
+}
+
+public override void SetActivationState(BulletBody obj, int state)
+{
+    BSAPICPP.SetActivationState2(obj.ptr, state);
+}
+
+public override void SetDeactivationTime(BulletBody obj, float dtime)
+{
+    BSAPICPP.SetDeactivationTime2(obj.ptr, dtime);
+}
+
+public override float GetDeactivationTime(BulletBody obj)
+{
+    return BSAPICPP.GetDeactivationTime2(obj.ptr);
+}
+
+public override void ForceActivationState(BulletBody obj, ActivationState state)
+{
+    BSAPICPP.ForceActivationState2(obj.ptr, state);
+}
+
+public override void Activate(BulletBody obj, bool forceActivation)
+{
+    BSAPICPP.Activate2(obj.ptr, forceActivation);
+}
+
+public override bool IsActive(BulletBody obj)
+{
+    return BSAPICPP.IsActive2(obj.ptr);
+}
+
+public override void SetRestitution(BulletBody obj, float val)
+{
+    BSAPICPP.SetRestitution2(obj.ptr, val);
+}
+
+public override float GetRestitution(BulletBody obj)
+{
+    return BSAPICPP.GetRestitution2(obj.ptr);
+}
+
+public override void SetFriction(BulletBody obj, float val)
+{
+    BSAPICPP.SetFriction2(obj.ptr, val);
+}
+
+public override float GetFriction(BulletBody obj)
+{
+    return BSAPICPP.GetFriction2(obj.ptr);
+}
+
+public override Vector3 GetPosition(BulletBody obj)
+{
+    return BSAPICPP.GetPosition2(obj.ptr);
+}
+
+public override Quaternion GetOrientation(BulletBody obj)
+{
+    return BSAPICPP.GetOrientation2(obj.ptr);
+}
+
+public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation)
+{
+    BSAPICPP.SetTranslation2(obj.ptr, position, rotation);
+}
+
+public override IntPtr GetBroadphaseHandle(BulletBody obj)
+{
+    return BSAPICPP.GetBroadphaseHandle2(obj.ptr);
+}
+
+public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle)
+{
+    BSAPICPP.SetUserPointer2(obj.ptr, handle);
+}
+
+public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel)
+{
+    BSAPICPP.SetInterpolationLinearVelocity2(obj.ptr, vel);
+}
+
+public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel)
+{
+    BSAPICPP.SetInterpolationAngularVelocity2(obj.ptr, vel);
+}
+
+public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel)
+{
+    BSAPICPP.SetInterpolationVelocity2(obj.ptr, linearVel, angularVel);
+}
+
+public override float GetHitFraction(BulletBody obj)
+{
+    return BSAPICPP.GetHitFraction2(obj.ptr);
+}
+
+public override void SetHitFraction(BulletBody obj, float val)
+{
+    BSAPICPP.SetHitFraction2(obj.ptr, val);
+}
+
+public override CollisionFlags GetCollisionFlags(BulletBody obj)
+{
+    return BSAPICPP.GetCollisionFlags2(obj.ptr);
+}
+
+public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    return BSAPICPP.SetCollisionFlags2(obj.ptr, flags);
+}
+
+public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    return BSAPICPP.AddToCollisionFlags2(obj.ptr, flags);
+}
+
+public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags)
+{
+    return BSAPICPP.RemoveFromCollisionFlags2(obj.ptr, flags);
+}
+
+public override float GetCcdMotionThreshold(BulletBody obj)
+{
+    return BSAPICPP.GetCcdMotionThreshold2(obj.ptr);
+}
+
+
+public override void SetCcdMotionThreshold(BulletBody obj, float val)
+{
+    BSAPICPP.SetCcdMotionThreshold2(obj.ptr, val);
+}
+
+public override float GetCcdSweptSphereRadius(BulletBody obj)
+{
+    return BSAPICPP.GetCcdSweptSphereRadius2(obj.ptr);
+}
+
+public override void SetCcdSweptSphereRadius(BulletBody obj, float val)
+{
+    BSAPICPP.SetCcdSweptSphereRadius2(obj.ptr, val);
+}
+
+public override IntPtr GetUserPointer(BulletBody obj)
+{
+    return BSAPICPP.GetUserPointer2(obj.ptr);
+}
+
+public override void SetUserPointer(BulletBody obj, IntPtr val)
+{
+    BSAPICPP.SetUserPointer2(obj.ptr, val);
+}
+
+    /*
+// =====================================================================================
+// btRigidBody entries
+public override void ApplyGravity(BulletBody obj);
+
+public override void SetGravity(BulletBody obj, Vector3 val);
+
+public override Vector3 GetGravity(BulletBody obj);
+
+public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping);
+
+public override void SetLinearDamping(BulletBody obj, float lin_damping);
+
+public override void SetAngularDamping(BulletBody obj, float ang_damping);
+
+public override float GetLinearDamping(BulletBody obj);
+
+public override float GetAngularDamping(BulletBody obj);
+
+public override float GetLinearSleepingThreshold(BulletBody obj);
+
+
+public override void ApplyDamping(BulletBody obj, float timeStep);
+
+public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia);
+
+public override Vector3 GetLinearFactor(BulletBody obj);
+
+public override void SetLinearFactor(BulletBody obj, Vector3 factor);
+
+public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot);
+
+// Add a force to the object as if its mass is one.
+public override void ApplyCentralForce(BulletBody obj, Vector3 force);
+
+// Set the force being applied to the object as if its mass is one.
+public override void SetObjectForce(BulletBody obj, Vector3 force);
+
+public override Vector3 GetTotalForce(BulletBody obj);
+
+public override Vector3 GetTotalTorque(BulletBody obj);
+
+public override Vector3 GetInvInertiaDiagLocal(BulletBody obj);
+
+public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);
+
+public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
+
+public override void ApplyTorque(BulletBody obj, Vector3 torque);
+
+// Apply force at the given point. Will add torque to the object.
+public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp);
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp);
+
+// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);
+
+public override void ClearForces(BulletBody obj);
+
+public override void ClearAllForces(BulletBody obj);
+
+public override void UpdateInertiaTensor(BulletBody obj);
+
+public override Vector3 GetLinearVelocity(BulletBody obj);
+
+public override Vector3 GetAngularVelocity(BulletBody obj);
+
+public override void SetLinearVelocity(BulletBody obj, Vector3 val);
+
+public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);
+
+public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);
+
+public override void Translate(BulletBody obj, Vector3 trans);
+
+public override void UpdateDeactivation(BulletBody obj, float timeStep);
+
+public override bool WantsSleeping(BulletBody obj);
+
+public override void SetAngularFactor(BulletBody obj, float factor);
+
+public override void SetAngularFactorV(BulletBody obj, Vector3 factor);
+
+public override Vector3 GetAngularFactor(BulletBody obj);
+
+public override bool IsInWorld(BulletBody obj);
+
+public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
+
+public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
+
+public override BulletConstraint GetConstraintRef(BulletBody obj, int index);
+
+public override int GetNumConstraintRefs(BulletBody obj);
+
+public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);
+
+// =====================================================================================
+// btCollisionShape entries
+
+public override float GetAngularMotionDisc(BulletShape shape);
+
+public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
+
+public override bool IsPolyhedral(BulletShape shape);
+
+public override bool IsConvex2d(BulletShape shape);
+
+public override bool IsConvex(BulletShape shape);
+
+public override bool IsNonMoving(BulletShape shape);
+
+public override bool IsConcave(BulletShape shape);
+
+public override bool IsCompound(BulletShape shape);
+
+public override bool IsSoftBody(BulletShape shape);
+
+public override bool IsInfinite(BulletShape shape);
+
+public override void SetLocalScaling(BulletShape shape, Vector3 scale);
+
+public override Vector3 GetLocalScaling(BulletShape shape);
+
+public override Vector3 CalculateLocalInertia(BulletShape shape, float mass);
+
+public override int GetShapeType(BulletShape shape);
+
+public override void SetMargin(BulletShape shape, float val);
+
+public override float GetMargin(BulletShape shape);
+    */
+
+static class BSAPICPP
+{
+// =====================================================================================
+// Mesh, hull, shape and body creation helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateMeshShape2(IntPtr world,
+                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
+                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateHullShape2(IntPtr world,
+                int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsNativeShape2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetBodyType2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ReleaseBodyInfo2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
+
+// =====================================================================================
+// Terrain creation and helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
+        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
+        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
+
+// =====================================================================================
+// Constraint creation and helper routines
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 joinPoint,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 pivotinA, Vector3 pivotinB,
+                    Vector3 axisInA, Vector3 axisInB,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetFrames2(IntPtr constrain,
+                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool CalculateTransforms2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
+
+// =====================================================================================
+// btCollisionWorld entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateAabbs2(IntPtr world);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
+
+// =====================================================================================
+// btDynamicsWorld entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
+// =====================================================================================
+// btCollisionObject entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HasAnisotripicFriction2(IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetContactProcessingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsStaticObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsKinematicObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool HasContactResponse2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetCollisionShape2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetActivationState2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetActivationState2(IntPtr obj, int state);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetDeactivationTime2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Activate2(IntPtr obj, bool forceActivation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsActive2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetRestitution2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetRestitution2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetFriction2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetFriction2(IntPtr obj);
+
+    /* Haven't defined the type 'Transform'
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetWorldTransform2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void setWorldTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetPosition2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Quaternion GetOrientation2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetHitFraction2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetHitFraction2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetCcdMotionThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetUserPointer2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
+
+}
+}
+
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+static class BulletSimAPI {
+// ===============================================================================
+// Link back to the managed code for outputting log messages
+[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
+
+// ===============================================================================
+// Initialization and simulation
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
+											int maxCollisions,  IntPtr collisionArray,
+											int maxUpdates, IntPtr updateArray,
+                                            DebugLogCallback logRoutine);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Shutdown2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount,
+                        out IntPtr updatedEntitiesPtr,
+                        out int collidersCount,
+                        out IntPtr collidersPtr);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool PushUpdate2(IntPtr obj);
+
+// =====================================================================================
+// btRigidBody entries
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyGravity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetGravity2(IntPtr obj, Vector3 val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetGravity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetLinearDamping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularDamping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetLinearSleepingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularSleepingThreshold2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyDamping2(IntPtr obj, float timeStep);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLinearFactor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
+
+// Add a force to the object as if its mass is one.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
+
+// Set the force being applied to the object as if its mass is one.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetTotalForce2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetTotalTorque2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
+
+// Apply force at the given point. Will add torque to the object.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
+
+// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
+
+// Apply impulse to the object's torque. Force is scaled by object's mass.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
+
+// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ClearForces2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ClearAllForces2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateInertiaTensor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
+
+    /*
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
+     */
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLinearVelocity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAngularVelocity2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Translate2(IntPtr obj, Vector3 trans);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool WantsSleeping2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularFactor2(IntPtr obj, float factor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetAngularFactor2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsInWorld2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetNumConstraintRefs2(IntPtr obj);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
+
+// =====================================================================================
+// btCollisionShape entries
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetAngularMotionDisc2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsPolyhedral2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConvex2d2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConvex2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsNonMoving2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsConcave2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsCompound2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsSoftBody2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool IsInfinite2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 GetLocalScaling2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int GetShapeType2(IntPtr shape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetMargin2(IntPtr shape, float val);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern float GetMargin2(IntPtr shape);
+
+// =====================================================================================
+// Debugging
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpActivationInfo2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpAllInfo2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void DumpPhysicsStatistics2(IntPtr sim);
+
+}
+}
-- 
cgit v1.1


From c2a7af18b639646b647eb4cdff4168a2b9746ee4 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 30 Dec 2012 14:26:57 -0800
Subject: BulletSim: nearly complete in conversion from BulletSimAPI to
 BSAPITemplate. Only initialization and debug fuctions left.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 418 +++++++++++++++------
 1 file changed, 302 insertions(+), 116 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 9a8a2e8..6e68053 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -34,7 +34,7 @@ using OpenMetaverse;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
-public sealed class BSAPIUnman : BulletSimAPITemplate
+public sealed class BSAPIUnman : BSAPITemplate
 {
     /*
 // Initialization and simulation
@@ -55,8 +55,11 @@ public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float
                         out int collidersCount,
                         out IntPtr collidersPtr);
 
-public bool PushUpdate(BulletBody obj);
      */
+public override bool PushUpdate(BulletBody obj)
+{
+    return BSAPICPP.PushUpdate2(obj.ptr);
+}
 
 // =====================================================================================
 // Mesh, hull, shape and body creation helper routines
@@ -569,146 +572,332 @@ public override void SetUserPointer(BulletBody obj, IntPtr val)
     BSAPICPP.SetUserPointer2(obj.ptr, val);
 }
 
-    /*
 // =====================================================================================
 // btRigidBody entries
-public override void ApplyGravity(BulletBody obj);
-
-public override void SetGravity(BulletBody obj, Vector3 val);
+public override void ApplyGravity(BulletBody obj)
+{
+    BSAPICPP.ApplyGravity2(obj.ptr);
+}
 
-public override Vector3 GetGravity(BulletBody obj);
+public override void SetGravity(BulletBody obj, Vector3 val)
+{
+    BSAPICPP.SetGravity2(obj.ptr, val);
+}
 
-public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping);
+public override Vector3 GetGravity(BulletBody obj)
+{
+    return BSAPICPP.GetGravity2(obj.ptr);
+}
 
-public override void SetLinearDamping(BulletBody obj, float lin_damping);
+public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping)
+{
+    BSAPICPP.SetDamping2(obj.ptr, lin_damping, ang_damping);
+}
 
-public override void SetAngularDamping(BulletBody obj, float ang_damping);
+public override void SetLinearDamping(BulletBody obj, float lin_damping)
+{
+    BSAPICPP.SetLinearDamping2(obj.ptr, lin_damping);
+}
 
-public override float GetLinearDamping(BulletBody obj);
+public override void SetAngularDamping(BulletBody obj, float ang_damping)
+{
+    BSAPICPP.SetAngularDamping2(obj.ptr, ang_damping);
+}
 
-public override float GetAngularDamping(BulletBody obj);
+public override float GetLinearDamping(BulletBody obj)
+{
+    return BSAPICPP.GetLinearDamping2(obj.ptr);
+}
 
-public override float GetLinearSleepingThreshold(BulletBody obj);
+public override float GetAngularDamping(BulletBody obj)
+{
+    return BSAPICPP.GetAngularDamping2(obj.ptr);
+}
 
+public override float GetLinearSleepingThreshold(BulletBody obj)
+{
+    return BSAPICPP.GetLinearSleepingThreshold2(obj.ptr);
+}
 
-public override void ApplyDamping(BulletBody obj, float timeStep);
+public override void ApplyDamping(BulletBody obj, float timeStep)
+{
+    BSAPICPP.ApplyDamping2(obj.ptr, timeStep);
+}
 
-public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia);
+public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia)
+{
+    BSAPICPP.SetMassProps2(obj.ptr, mass, inertia);
+}
 
-public override Vector3 GetLinearFactor(BulletBody obj);
+public override Vector3 GetLinearFactor(BulletBody obj)
+{
+    return BSAPICPP.GetLinearFactor2(obj.ptr);
+}
 
-public override void SetLinearFactor(BulletBody obj, Vector3 factor);
+public override void SetLinearFactor(BulletBody obj, Vector3 factor)
+{
+    BSAPICPP.SetLinearFactor2(obj.ptr, factor);
+}
 
-public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot);
+public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot)
+{
+    BSAPICPP.SetCenterOfMassByPosRot2(obj.ptr, pos, rot);
+}
 
 // Add a force to the object as if its mass is one.
-public override void ApplyCentralForce(BulletBody obj, Vector3 force);
+public override void ApplyCentralForce(BulletBody obj, Vector3 force)
+{
+    BSAPICPP.ApplyCentralForce2(obj.ptr, force);
+}
 
 // Set the force being applied to the object as if its mass is one.
-public override void SetObjectForce(BulletBody obj, Vector3 force);
+public override void SetObjectForce(BulletBody obj, Vector3 force)
+{
+    BSAPICPP.SetObjectForce2(obj.ptr, force);
+}
 
-public override Vector3 GetTotalForce(BulletBody obj);
+public override Vector3 GetTotalForce(BulletBody obj)
+{
+    return BSAPICPP.GetTotalForce2(obj.ptr);
+}
 
-public override Vector3 GetTotalTorque(BulletBody obj);
+public override Vector3 GetTotalTorque(BulletBody obj)
+{
+    return BSAPICPP.GetTotalTorque2(obj.ptr);
+}
 
-public override Vector3 GetInvInertiaDiagLocal(BulletBody obj);
+public override Vector3 GetInvInertiaDiagLocal(BulletBody obj)
+{
+    return BSAPICPP.GetInvInertiaDiagLocal2(obj.ptr);
+}
 
-public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);
+public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert)
+{
+    BSAPICPP.SetInvInertiaDiagLocal2(obj.ptr, inert);
+}
 
-public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
+public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold)
+{
+    BSAPICPP.SetSleepingThresholds2(obj.ptr, lin_threshold, ang_threshold);
+}
 
-public override void ApplyTorque(BulletBody obj, Vector3 torque);
+public override void ApplyTorque(BulletBody obj, Vector3 torque)
+{
+    BSAPICPP.ApplyTorque2(obj.ptr, torque);
+}
 
 // Apply force at the given point. Will add torque to the object.
-public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);
+public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
+{
+    BSAPICPP.ApplyForce2(obj.ptr, force, pos);
+}
 
 // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
-public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp);
+public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
+{
+    BSAPICPP.ApplyCentralImpulse2(obj.ptr, imp);
+}
 
 // Apply impulse to the object's torque. Force is scaled by object's mass.
-public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp);
+public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
+{
+    BSAPICPP.ApplyTorqueImpulse2(obj.ptr, imp);
+}
 
 // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
-public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);
+public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos)
+{
+    BSAPICPP.ApplyImpulse2(obj.ptr, imp, pos);
+}
 
-public override void ClearForces(BulletBody obj);
+public override void ClearForces(BulletBody obj)
+{
+    BSAPICPP.ClearForces2(obj.ptr);
+}
 
-public override void ClearAllForces(BulletBody obj);
+public override void ClearAllForces(BulletBody obj)
+{
+    BSAPICPP.ClearAllForces2(obj.ptr);
+}
 
-public override void UpdateInertiaTensor(BulletBody obj);
+public override void UpdateInertiaTensor(BulletBody obj)
+{
+    BSAPICPP.UpdateInertiaTensor2(obj.ptr);
+}
 
-public override Vector3 GetLinearVelocity(BulletBody obj);
+public override Vector3 GetLinearVelocity(BulletBody obj)
+{
+    return BSAPICPP.GetLinearVelocity2(obj.ptr);
+}
 
-public override Vector3 GetAngularVelocity(BulletBody obj);
+public override Vector3 GetAngularVelocity(BulletBody obj)
+{
+    return BSAPICPP.GetAngularVelocity2(obj.ptr);
+}
 
-public override void SetLinearVelocity(BulletBody obj, Vector3 val);
+public override void SetLinearVelocity(BulletBody obj, Vector3 vel)
+{
+    BSAPICPP.SetLinearVelocity2(obj.ptr, vel);
+}
 
-public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);
+public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity)
+{
+    BSAPICPP.SetAngularVelocity2(obj.ptr, angularVelocity);
+}
 
-public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);
+public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos)
+{
+    return BSAPICPP.GetVelocityInLocalPoint2(obj.ptr, pos);
+}
 
-public override void Translate(BulletBody obj, Vector3 trans);
+public override void Translate(BulletBody obj, Vector3 trans)
+{
+    BSAPICPP.Translate2(obj.ptr, trans);
+}
 
-public override void UpdateDeactivation(BulletBody obj, float timeStep);
+public override void UpdateDeactivation(BulletBody obj, float timeStep)
+{
+    BSAPICPP.UpdateDeactivation2(obj.ptr, timeStep);
+}
 
-public override bool WantsSleeping(BulletBody obj);
+public override bool WantsSleeping(BulletBody obj)
+{
+    return BSAPICPP.WantsSleeping2(obj.ptr);
+}
 
-public override void SetAngularFactor(BulletBody obj, float factor);
+public override void SetAngularFactor(BulletBody obj, float factor)
+{
+    BSAPICPP.SetAngularFactor2(obj.ptr, factor);
+}
 
-public override void SetAngularFactorV(BulletBody obj, Vector3 factor);
+public override void SetAngularFactorV(BulletBody obj, Vector3 factor)
+{
+    BSAPICPP.SetAngularFactorV2(obj.ptr, factor);
+}
 
-public override Vector3 GetAngularFactor(BulletBody obj);
+public override Vector3 GetAngularFactor(BulletBody obj)
+{
+    return BSAPICPP.GetAngularFactor2(obj.ptr);
+}
 
-public override bool IsInWorld(BulletBody obj);
+public override bool IsInWorld(BulletBody obj)
+{
+    return BSAPICPP.IsInWorld2(obj.ptr);
+}
 
-public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
+public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain)
+{
+    BSAPICPP.AddConstraintRef2(obj.ptr, constrain.ptr);
+}
 
-public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
+public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain)
+{
+    BSAPICPP.RemoveConstraintRef2(obj.ptr, constrain.ptr);
+}
 
-public override BulletConstraint GetConstraintRef(BulletBody obj, int index);
+public override BulletConstraint GetConstraintRef(BulletBody obj, int index)
+{
+    return new BulletConstraint(BSAPICPP.GetConstraintRef2(obj.ptr, index));
+}
 
-public override int GetNumConstraintRefs(BulletBody obj);
+public override int GetNumConstraintRefs(BulletBody obj)
+{
+    return BSAPICPP.GetNumConstraintRefs2(obj.ptr);
+}
 
-public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask);
+public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask)
+{
+    return BSAPICPP.SetCollisionGroupMask2(body.ptr, filter, mask);
+}
 
 // =====================================================================================
 // btCollisionShape entries
 
-public override float GetAngularMotionDisc(BulletShape shape);
+public override float GetAngularMotionDisc(BulletShape shape)
+{
+    return BSAPICPP.GetAngularMotionDisc2(shape.ptr);
+}
 
-public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
+public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor)
+{
+    return BSAPICPP.GetContactBreakingThreshold2(shape.ptr, defaultFactor);
+}
 
-public override bool IsPolyhedral(BulletShape shape);
+public override bool IsPolyhedral(BulletShape shape)
+{
+    return BSAPICPP.IsPolyhedral2(shape.ptr);
+}
 
-public override bool IsConvex2d(BulletShape shape);
+public override bool IsConvex2d(BulletShape shape)
+{
+    return BSAPICPP.IsConvex2d2(shape.ptr);
+}
 
-public override bool IsConvex(BulletShape shape);
+public override bool IsConvex(BulletShape shape)
+{
+    return BSAPICPP.IsConvex2(shape.ptr);
+}
 
-public override bool IsNonMoving(BulletShape shape);
+public override bool IsNonMoving(BulletShape shape)
+{
+    return BSAPICPP.IsNonMoving2(shape.ptr);
+}
 
-public override bool IsConcave(BulletShape shape);
+public override bool IsConcave(BulletShape shape)
+{
+    return BSAPICPP.IsConcave2(shape.ptr);
+}
 
-public override bool IsCompound(BulletShape shape);
+public override bool IsCompound(BulletShape shape)
+{
+    return BSAPICPP.IsCompound2(shape.ptr);
+}
 
-public override bool IsSoftBody(BulletShape shape);
+public override bool IsSoftBody(BulletShape shape)
+{
+    return BSAPICPP.IsSoftBody2(shape.ptr);
+}
 
-public override bool IsInfinite(BulletShape shape);
+public override bool IsInfinite(BulletShape shape)
+{
+    return BSAPICPP.IsInfinite2(shape.ptr);
+}
 
-public override void SetLocalScaling(BulletShape shape, Vector3 scale);
+public override void SetLocalScaling(BulletShape shape, Vector3 scale)
+{
+    BSAPICPP.SetLocalScaling2(shape.ptr, scale);
+}
 
-public override Vector3 GetLocalScaling(BulletShape shape);
+public override Vector3 GetLocalScaling(BulletShape shape)
+{
+    return BSAPICPP.GetLocalScaling2(shape.ptr);
+}
 
-public override Vector3 CalculateLocalInertia(BulletShape shape, float mass);
+public override Vector3 CalculateLocalInertia(BulletShape shape, float mass)
+{
+    return BSAPICPP.CalculateLocalInertia2(shape.ptr, mass);
+}
 
-public override int GetShapeType(BulletShape shape);
+public override int GetShapeType(BulletShape shape)
+{
+    return BSAPICPP.GetShapeType2(shape.ptr);
+}
 
-public override void SetMargin(BulletShape shape, float val);
+public override void SetMargin(BulletShape shape, float val)
+{
+    BSAPICPP.SetMargin2(shape.ptr, val);
+}
 
-public override float GetMargin(BulletShape shape);
-    */
+public override float GetMargin(BulletShape shape)
+{
+    return BSAPICPP.GetMargin2(shape.ptr);
+}
 
 static class BSAPICPP
 {
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool PushUpdate2(IntPtr obj);
+
 // =====================================================================================
 // Mesh, hull, shape and body creation helper routines
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1029,55 +1218,6 @@ public static extern IntPtr GetUserPointer2(IntPtr obj);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
 
-}
-}
-
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-static class BulletSimAPI {
-// ===============================================================================
-// Link back to the managed code for outputting log messages
-[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
-
-// ===============================================================================
-// Initialization and simulation
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
-											int maxCollisions,  IntPtr collisionArray,
-											int maxUpdates, IntPtr updateArray,
-                                            DebugLogCallback logRoutine);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Shutdown2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount,
-                        out IntPtr updatedEntitiesPtr,
-                        out int collidersCount,
-                        out IntPtr collidersPtr);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool PushUpdate2(IntPtr obj);
-
 // =====================================================================================
 // btRigidBody entries
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1291,6 +1431,52 @@ public static extern void SetMargin2(IntPtr shape, float val);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern float GetMargin2(IntPtr shape);
 
+}
+}
+
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+// ===============================================================================
+static class BulletSimAPI {
+// ===============================================================================
+// Link back to the managed code for outputting log messages
+[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
+
+// ===============================================================================
+// Initialization and simulation
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
+											int maxCollisions,  IntPtr collisionArray,
+											int maxUpdates, IntPtr updateArray,
+                                            DebugLogCallback logRoutine);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Shutdown2(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount,
+                        out IntPtr updatedEntitiesPtr,
+                        out int collidersCount,
+                        out IntPtr collidersPtr);
+
 // =====================================================================================
 // Debugging
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-- 
cgit v1.1


From 3d0fc708647ceb734385f90e2f22be9774e2171e Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 31 Dec 2012 16:22:45 -0800
Subject: BulletSim: complete movement of BulletSimAPI functions to
 BSAPITemplate. Update BulletSim DLLs and SOs with simplier step function
 interface.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 217 +++++++++++++++------
 1 file changed, 158 insertions(+), 59 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 6e68053..0355b94 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -26,6 +26,7 @@
  */
 using System;
 using System.Collections.Generic;
+using System.Reflection;
 using System.Runtime.InteropServices;
 using System.Security;
 using System.Text;
@@ -36,31 +37,102 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public sealed class BSAPIUnman : BSAPITemplate
 {
-    /*
+
+// We pin the memory passed between the managed and unmanaged code.
+GCHandle m_paramsHandle;
+private GCHandle m_collisionArrayPinnedHandle;
+private GCHandle m_updateArrayPinnedHandle;
+
+// Handle to the callback used by the unmanaged code to call into the managed code.
+// Used for debug logging.
+// Need to store the handle in a persistant variable so it won't be freed.
+private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle;
+
+private BSScene PhysicsScene { get; set; }
+
+public override string BulletEngineName { get { return "BulletUnmanaged"; } }
+public override string BulletEngineVersion { get; protected set; }
+
+public BSAPIUnman(string paramName, BSScene physScene)
+{
+    PhysicsScene = physScene;
+    // Do something fancy with the paramName to get the right DLL implementation
+    //     like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc.
+}
+
 // Initialization and simulation
-public BulletWorld Initialize(Vector3 maxPosition, IntPtr parms,
-											int maxCollisions,  IntPtr collisionArray,
-											int maxUpdates, IntPtr updateArray
-                                            );
+public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
+											int maxCollisions,  ref CollisionDesc[] collisionArray,
+											int maxUpdates, ref EntityProperties[] updateArray
+                                            )
+{
+    // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
+    m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
+    m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
+    m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
 
-public bool UpdateParameter(BulletWorld world, uint localID, String parm, float value);
+    // If Debug logging level, enable logging from the unmanaged code
+    m_DebugLogCallbackHandle = null;
+    if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled)
+    {
+        BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
+        if (PhysicsScene.PhysicsLogging.Enabled)
+            // The handle is saved in a variable to make sure it doesn't get freed after this call
+            m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
+        else
+            m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
+    }
 
-public void SetHeightMap(BulletWorld world, float[] heightmap);
+    // Get the version of the DLL
+    // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
+    // BulletEngineVersion = BulletSimAPI.GetVersion2();
+    BulletEngineVersion = "";
+
+    // Call the unmanaged code with the buffers and other information
+    return new BulletWorld(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
+                                    maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
+                                    maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
+                                    m_DebugLogCallbackHandle));
 
-public void Shutdown(BulletWorld sim);
+}
 
-public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount,
-                        out IntPtr updatedEntitiesPtr,
-                        out int collidersCount,
-                        out IntPtr collidersPtr);
+// Called directly from unmanaged code so don't do much
+private void BulletLogger(string msg)
+{
+    BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg);
+}
+
+// Called directly from unmanaged code so don't do much
+private void BulletLoggerPhysLog(string msg)
+{
+    PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg);
+}
+
+    /*
+public void SetHeightMap(BulletWorld world, float[] heightmap);
 
      */
+public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount, out int collidersCount)
+{
+    return BSAPICPP.PhysicsStep2(world.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
+}
+
+public override void Shutdown(BulletWorld sim)
+{
+    BSAPICPP.Shutdown2(sim.ptr);
+}
+
 public override bool PushUpdate(BulletBody obj)
 {
     return BSAPICPP.PushUpdate2(obj.ptr);
 }
 
+public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value)
+{
+    return BSAPICPP.UpdateParameter2(world.ptr, localID, parm, value);
+}
+
 // =====================================================================================
 // Mesh, hull, shape and body creation helper routines
 public override BulletShape CreateMeshShape(BulletWorld world,
@@ -893,11 +965,81 @@ public override float GetMargin(BulletShape shape)
     return BSAPICPP.GetMargin2(shape.ptr);
 }
 
+// =====================================================================================
+// Debugging
+public override void DumpRigidBody(BulletWorld sim, BulletBody collisionObject)
+{
+    BSAPICPP.DumpRigidBody2(sim.ptr, collisionObject.ptr);
+}
+
+public override void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape)
+{
+    BSAPICPP.DumpCollisionShape2(sim.ptr, collisionShape.ptr);
+}
+
+public override void DumpMapInfo(BulletWorld sim, BulletHMapInfo mapInfo)
+{
+    BSAPICPP.DumpMapInfo2(sim.ptr, mapInfo.ptr);
+}
+
+public override void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
+{
+    BSAPICPP.DumpConstraint2(sim.ptr, constrain.ptr);
+}
+
+public override void DumpActivationInfo(BulletWorld sim)
+{
+    BSAPICPP.DumpActivationInfo2(sim.ptr);
+}
+
+public override void DumpAllInfo(BulletWorld sim)
+{
+    BSAPICPP.DumpAllInfo2(sim.ptr);
+}
+
+public override void DumpPhysicsStatistics(BulletWorld sim)
+{
+    BSAPICPP.DumpPhysicsStatistics2(sim.ptr);
+}
+
+
+// =====================================================================================
+// =====================================================================================
+// =====================================================================================
+// =====================================================================================
+// =====================================================================================
+// The actual interface to the unmanaged code
 static class BSAPICPP
 {
+// ===============================================================================
+// Link back to the managed code for outputting log messages
+[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
+
+// ===============================================================================
+// Initialization and simulation
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
+											int maxCollisions,  IntPtr collisionArray,
+											int maxUpdates, IntPtr updateArray,
+                                            DebugLogCallback logRoutine);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
+                        out int updatedEntityCount, out int collidersCount);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void Shutdown2(IntPtr sim);
+
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool PushUpdate2(IntPtr obj);
 
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
+
 // =====================================================================================
 // Mesh, hull, shape and body creation helper routines
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1431,52 +1573,6 @@ public static extern void SetMargin2(IntPtr shape, float val);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern float GetMargin2(IntPtr shape);
 
-}
-}
-
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-// ===============================================================================
-static class BulletSimAPI {
-// ===============================================================================
-// Link back to the managed code for outputting log messages
-[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
-
-// ===============================================================================
-// Initialization and simulation
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
-											int maxCollisions,  IntPtr collisionArray,
-											int maxUpdates, IntPtr updateArray,
-                                            DebugLogCallback logRoutine);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void Shutdown2(IntPtr sim);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount,
-                        out IntPtr updatedEntitiesPtr,
-                        out int collidersCount,
-                        out IntPtr collidersPtr);
-
 // =====================================================================================
 // Debugging
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1501,4 +1597,7 @@ public static extern void DumpAllInfo2(IntPtr sim);
 public static extern void DumpPhysicsStatistics2(IntPtr sim);
 
 }
+
+}
+
 }
-- 
cgit v1.1


From 9396ccc078516023d63b5a86b3262ff97a1e97fb Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 31 Dec 2012 16:54:39 -0800
Subject: BulletSim: eliminate the use of the unmanaged HeightMapInfo
 structure. Remove all related calls from the unmanaged and BSAPITemplate
 interfaces. Update DLLs and SOs to include the version without HeightMapInfo
 structures.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 26 +++++++++-------------
 1 file changed, 11 insertions(+), 15 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 0355b94..cf37e56 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -108,10 +108,6 @@ private void BulletLoggerPhysLog(string msg)
     PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg);
 }
 
-    /*
-public void SetHeightMap(BulletWorld world, float[] heightmap);
-
-     */
 public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
                         out int updatedEntityCount, out int collidersCount)
 {
@@ -277,6 +273,7 @@ public override void DestroyObject(BulletWorld sim, BulletBody obj)
 
 // =====================================================================================
 // Terrain creation and helper routines
+    /*
 public override IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,
         float[] heightMap, float collisionMargin)
 {
@@ -293,15 +290,18 @@ public override bool ReleaseHeightMapInfo(IntPtr heightMapInfo)
 {
     return BSAPICPP.ReleaseHeightMapInfo2(heightMapInfo);
 }
+     */
 
 public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
 {
     return new BulletShape(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
 }
 
-public override BulletShape CreateTerrainShape(IntPtr mapInfo)
+public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
+                                float scaleFactor, float collisionMargin)
 {
-    return new BulletShape(BSAPICPP.CreateTerrainShape2(mapInfo), BSPhysicsShapeType.SHAPE_TERRAIN);
+    return new BulletShape(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin),
+                                                BSPhysicsShapeType.SHAPE_TERRAIN);
 }
 
 // =====================================================================================
@@ -977,11 +977,6 @@ public override void DumpCollisionShape(BulletWorld sim, BulletShape collisionSh
     BSAPICPP.DumpCollisionShape2(sim.ptr, collisionShape.ptr);
 }
 
-public override void DumpMapInfo(BulletWorld sim, BulletHMapInfo mapInfo)
-{
-    BSAPICPP.DumpMapInfo2(sim.ptr, mapInfo.ptr);
-}
-
 public override void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
 {
     BSAPICPP.DumpConstraint2(sim.ptr, constrain.ptr);
@@ -1025,9 +1020,6 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
                                             DebugLogCallback logRoutine);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
                         out int updatedEntityCount, out int collidersCount);
 
@@ -1119,6 +1111,7 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
 
 // =====================================================================================
 // Terrain creation and helper routines
+    /*
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
         [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
@@ -1129,12 +1122,15 @@ public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
+    */
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
+public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, 
+                                            [MarshalAs(UnmanagedType.LPArray)] float[] heightMap,
+                                            float scaleFactor, float collisionMargin);
 
 // =====================================================================================
 // Constraint creation and helper routines
-- 
cgit v1.1


From 6988b5ceaf6387198f0d23769adefdf572757c4a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 31 Dec 2012 17:06:47 -0800
Subject: BulletSim: remove rigid body contruction functions from BSAPITemplate
 that relied on prebuilt construction info structures.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 56 ----------------------
 1 file changed, 56 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index cf37e56..a06f6d0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -226,11 +226,6 @@ public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape
     return new BulletShape(BSAPICPP.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type);
 }
 
-public override BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo)
-{
-    return new BulletBody(id, BSAPICPP.CreateBodyFromShapeAndInfo2(sim.ptr, shape.ptr, id, constructionInfo));
-}
-
 public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
 {
     return BSAPICPP.DeleteCollisionShape2(world.ptr, shape.ptr);
@@ -256,16 +251,6 @@ public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape sha
     return new BulletBody(id, BSAPICPP.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot));
 }
 
-public override IntPtr AllocateBodyInfo(BulletBody obj)
-{
-    return BSAPICPP.AllocateBodyInfo2(obj.ptr);
-}
-
-public override void ReleaseBodyInfo(IntPtr obj)
-{
-    BSAPICPP.ReleaseBodyInfo2(obj);
-}
-
 public override void DestroyObject(BulletWorld sim, BulletBody obj)
 {
     BSAPICPP.DestroyObject2(sim.ptr, obj.ptr);
@@ -273,25 +258,6 @@ public override void DestroyObject(BulletWorld sim, BulletBody obj)
 
 // =====================================================================================
 // Terrain creation and helper routines
-    /*
-public override IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,
-        float[] heightMap, float collisionMargin)
-{
-    return BSAPICPP.CreateHeightMapInfo2(sim.ptr, id, minCoords, maxCoords, heightMap, collisionMargin);
-}
-
-public override IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
-        float[] heightMap, float collisionMargin)
-{
-    return BSAPICPP.FillHeightMapInfo2(sim.ptr, mapInfo, id, minCoords, maxCoords, heightMap, collisionMargin);
-}
-
-public override bool ReleaseHeightMapInfo(IntPtr heightMapInfo)
-{
-    return BSAPICPP.ReleaseHeightMapInfo2(heightMapInfo);
-}
-     */
-
 public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
 {
     return new BulletShape(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
@@ -1083,9 +1049,6 @@ public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
 public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -1101,29 +1064,10 @@ public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint
 public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void ReleaseBodyInfo2(IntPtr obj);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
 
 // =====================================================================================
 // Terrain creation and helper routines
-    /*
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
-        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
-
-[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
-    */
-
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
 
-- 
cgit v1.1


From db3b6e892133c096f2c4244a0902b4f9f1a87371 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 31 Dec 2012 19:56:32 -0800
Subject: BulletSim: remove unused unmanaged memory reference functions from
 BSAPITemplate.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 2 ++
 1 file changed, 2 insertions(+)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index a06f6d0..3975776 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -524,6 +524,7 @@ public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion
     BSAPICPP.SetTranslation2(obj.ptr, position, rotation);
 }
 
+    /*
 public override IntPtr GetBroadphaseHandle(BulletBody obj)
 {
     return BSAPICPP.GetBroadphaseHandle2(obj.ptr);
@@ -533,6 +534,7 @@ public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle)
 {
     BSAPICPP.SetUserPointer2(obj.ptr, handle);
 }
+     */
 
 public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel)
 {
-- 
cgit v1.1


From 04132d3af4c8f44639ea842091f86274513e2dfd Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 1 Jan 2013 09:30:49 -0800
Subject: BulletSim: subclass Bullet[World|Body|Shape|Constraint] for unmanaged
 to have pointers and managed to have objects. Initial paste of XNA code.
 Commented out.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 654 +++++++++++++++------
 1 file changed, 464 insertions(+), 190 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 3975776..2c0cb43 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -38,6 +38,91 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 public sealed class BSAPIUnman : BSAPITemplate
 {
 
+private sealed class BulletWorldUnman : BulletWorld
+{
+    public IntPtr ptr;
+    public BulletWorldUnman(uint id, BSScene physScene, IntPtr xx)
+        : base(id, physScene)
+    {
+        ptr = xx;
+    }
+}
+
+private sealed class BulletBodyUnman : BulletBody
+{
+    public IntPtr ptr;
+    public BulletBodyUnman(uint id, IntPtr xx)
+        : base(id)
+    {
+        ptr = xx;
+    }
+    public override bool HasPhysicalBody
+    {
+        get { return ptr != IntPtr.Zero; }
+    }
+    public override void Clear()
+    {
+        ptr = IntPtr.Zero;
+    }
+    public override string AddrString
+    {
+        get { return ptr.ToString("X"); }
+    }
+}
+
+private sealed class BulletShapeUnman : BulletShape
+{
+    public IntPtr ptr;
+    public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) 
+        : base()
+    {
+        ptr = xx;
+        type = typ;
+    }
+    public override bool HasPhysicalShape
+    {
+        get { return ptr != IntPtr.Zero; }
+    }
+    public override void Clear()
+    {
+        ptr = IntPtr.Zero;
+    }
+    public override BulletShape Clone()
+    {
+        return new BulletShapeUnman(ptr, type);
+    }
+    public override bool ReferenceSame(BulletShape other)
+    {
+        BulletShapeUnman otheru = other as BulletShapeUnman;
+        return (otheru != null) && (this.ptr == otheru.ptr);
+
+    }
+    public override string AddrString
+    {
+        get { return ptr.ToString("X"); }
+    }
+}
+private sealed class BulletConstraintUnman : BulletConstraint
+{
+    public BulletConstraintUnman(IntPtr xx) : base()
+    {
+        ptr = xx;
+    }
+    public IntPtr ptr;
+
+    public override void Clear()
+    {
+        ptr = IntPtr.Zero;
+    }
+    public override bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
+
+    // Used for log messages for a unique display of the memory/object allocated to this instance
+    public override string AddrString
+    {
+        get { return ptr.ToString("X"); }
+    }
+}
+
 // We pin the memory passed between the managed and unmanaged code.
 GCHandle m_paramsHandle;
 private GCHandle m_collisionArrayPinnedHandle;
@@ -89,7 +174,7 @@ public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet
     BulletEngineVersion = "";
 
     // Call the unmanaged code with the buffers and other information
-    return new BulletWorld(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
+    return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
                                     maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
                                     maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
                                     m_DebugLogCallbackHandle));
@@ -111,22 +196,26 @@ private void BulletLoggerPhysLog(string msg)
 public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
                         out int updatedEntityCount, out int collidersCount)
 {
-    return BSAPICPP.PhysicsStep2(world.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
 }
 
-public override void Shutdown(BulletWorld sim)
+public override void Shutdown(BulletWorld world)
 {
-    BSAPICPP.Shutdown2(sim.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.Shutdown2(worldu.ptr);
 }
 
 public override bool PushUpdate(BulletBody obj)
 {
-    return BSAPICPP.PushUpdate2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.PushUpdate2(bodyu.ptr);
 }
 
 public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value)
 {
-    return BSAPICPP.UpdateParameter2(world.ptr, localID, parm, value);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value);
 }
 
 // =====================================================================================
@@ -135,138 +224,165 @@ public override BulletShape CreateMeshShape(BulletWorld world,
                 int indicesCount, int[] indices,
                 int verticesCount, float[] vertices)
 {
-    return new BulletShape(
-                    BSAPICPP.CreateMeshShape2(world.ptr, indicesCount, indices, verticesCount, vertices),
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateMeshShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
                     BSPhysicsShapeType.SHAPE_MESH);
 }
 
 public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
 {
-    return new BulletShape(
-                    BSAPICPP.CreateHullShape2(world.ptr, hullCount, hulls), 
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), 
                     BSPhysicsShapeType.SHAPE_HULL);
 }
 
 public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
 {
-    return new BulletShape(
-                    BSAPICPP.BuildHullShapeFromMesh2(world.ptr, meshShape.ptr),
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr),
                     BSPhysicsShapeType.SHAPE_HULL);
 }
 
-public override BulletShape BuildNativeShape( BulletWorld world, ShapeData shapeData)
+public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData)
 {
-    return new BulletShape(
-                    BSAPICPP.BuildNativeShape2(world.ptr, shapeData), 
-                    shapeData.Type);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type);
 }
 
 public override bool IsNativeShape(BulletShape shape)
 {
-    if (shape.HasPhysicalShape)
-        return BSAPICPP.IsNativeShape2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (shapeu != null && shapeu.HasPhysicalShape)
+        return BSAPICPP.IsNativeShape2(shapeu.ptr);
     return false;
 }
 
 public override void SetShapeCollisionMargin(BulletShape shape, float margin)
 {
-    if (shape.HasPhysicalShape)
-        BSAPICPP.SetShapeCollisionMargin2(shape.ptr, margin);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (shapeu != null && shapeu.HasPhysicalShape)
+        BSAPICPP.SetShapeCollisionMargin2(shapeu.ptr, margin);
 }
 
 public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
 {
-    return new BulletShape(
-                   BSAPICPP.BuildCapsuleShape2(world.ptr, radius, height, scale),
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                   BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale),
                    BSPhysicsShapeType.SHAPE_CAPSULE);
 }
 
-public override BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree)
+public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree)
 {
-    return new BulletShape(
-                    BSAPICPP.CreateCompoundShape2(sim.ptr, enableDynamicAabbTree),
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return new BulletShapeUnman(
+                    BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree),
                     BSPhysicsShapeType.SHAPE_COMPOUND);
 
 }
 
 public override int GetNumberOfCompoundChildren(BulletShape shape)
 {
-    if (shape.HasPhysicalShape)
-        return BSAPICPP.GetNumberOfCompoundChildren2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (shapeu != null && shapeu.HasPhysicalShape)
+        return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr);
     return 0;
 }
 
-public override void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot)
+public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot)
 {
-    BSAPICPP.AddChildShapeToCompoundShape2(cShape.ptr, addShape.ptr, pos, rot);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BulletShapeUnman addShapeu = addShape as BulletShapeUnman;
+    BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot);
 }
 
-public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)
+public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
 {
-    return new BulletShape(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
 }
 
-public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx)
+public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
 {
-    return new BulletShape(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(cShape.ptr, indx));
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
 }
 
-public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape)
+public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape)
 {
-    BSAPICPP.RemoveChildShapeFromCompoundShape2(cShape.ptr, removeShape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman;
+    BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr);
 }
 
-public override void RecalculateCompoundShapeLocalAabb(BulletShape cShape)
+public override void RecalculateCompoundShapeLocalAabb(BulletShape shape)
 {
-    BSAPICPP.RecalculateCompoundShapeLocalAabb2(cShape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr);
 }
 
-public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id)
+public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id)
 {
-    return new BulletShape(BSAPICPP.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman;
+    return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.type);
 }
 
 public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
 {
-    return BSAPICPP.DeleteCollisionShape2(world.ptr, shape.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
 }
 
 public override int GetBodyType(BulletBody obj)
 {
-    return BSAPICPP.GetBodyType2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetBodyType2(bodyu.ptr);
 }
 
-public override BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
 {
-    return new BulletBody(id, BSAPICPP.CreateBodyFromShape2(sim.ptr, shape.ptr, id, pos, rot));
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletBodyUnman(id, BSAPICPP.CreateBodyFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
 }
 
 public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)
 {
-    return new BulletBody(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shape.ptr, id, pos, rot));
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot));
 }
 
-public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
+public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
 {
-    return new BulletBody(id, BSAPICPP.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot));
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
 }
 
-public override void DestroyObject(BulletWorld sim, BulletBody obj)
+public override void DestroyObject(BulletWorld world, BulletBody obj)
 {
-    BSAPICPP.DestroyObject2(sim.ptr, obj.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.DestroyObject2(worldu.ptr, bodyu.ptr);
 }
 
 // =====================================================================================
 // Terrain creation and helper routines
 public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
 {
-    return new BulletShape(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
+    return new BulletShapeUnman(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
 }
 
 public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
                                 float scaleFactor, float collisionMargin)
 {
-    return new BulletShape(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin),
+    return new BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin),
                                                 BSPhysicsShapeType.SHAPE_TERRAIN);
 }
 
@@ -277,7 +393,10 @@ public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletB
                     Vector3 frame2loc, Quaternion frame2rot,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
 {
-    return new BulletConstraint(BSAPICPP.Create6DofConstraint2(world.ptr, obj1.ptr, obj2.ptr, frame1loc, frame1rot,
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
                     frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
 }
 
@@ -285,7 +404,10 @@ public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world,
                     Vector3 joinPoint,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
 {
-    return new BulletConstraint(BSAPICPP.Create6DofConstraintToPoint2(world.ptr, obj1.ptr, obj2.ptr,
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
                     joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
 }
 
@@ -294,560 +416,687 @@ public override BulletConstraint CreateHingeConstraint(BulletWorld world, Bullet
                     Vector3 axisInA, Vector3 axisInB,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
 {
-    return new BulletConstraint(BSAPICPP.CreateHingeConstraint2(world.ptr, obj1.ptr, obj2.ptr,
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
                     pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
 }
 
 public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse)
 {
-    BSAPICPP.SetConstraintEnable2(constrain.ptr, numericTrueFalse);
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.SetConstraintEnable2(constrainu.ptr, numericTrueFalse);
 }
 
 public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations)
 {
-    BSAPICPP.SetConstraintNumSolverIterations2(constrain.ptr, iterations);
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.SetConstraintNumSolverIterations2(constrainu.ptr, iterations);
 }
 
 public override bool SetFrames(BulletConstraint constrain,
                 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
 {
-    return BSAPICPP.SetFrames2(constrain.ptr, frameA, frameArot, frameB, frameBrot);
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetFrames2(constrainu.ptr, frameA, frameArot, frameB, frameBrot);
 }
 
 public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
 {
-    return BSAPICPP.SetLinearLimits2(constrain.ptr, low, hi);
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetLinearLimits2(constrainu.ptr, low, hi);
 }
 
 public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
 {
-    return BSAPICPP.SetAngularLimits2(constrain.ptr, low, hi);
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetAngularLimits2(constrainu.ptr, low, hi);
 }
 
 public override bool UseFrameOffset(BulletConstraint constrain, float enable)
 {
-    return BSAPICPP.UseFrameOffset2(constrain.ptr, enable);
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.UseFrameOffset2(constrainu.ptr, enable);
 }
 
 public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce)
 {
-    return BSAPICPP.TranslationalLimitMotor2(constrain.ptr, enable, targetVel, maxMotorForce);
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.TranslationalLimitMotor2(constrainu.ptr, enable, targetVel, maxMotorForce);
 }
 
 public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold)
 {
-    return BSAPICPP.SetBreakingImpulseThreshold2(constrain.ptr, threshold);
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold);
 }
 
 public override bool CalculateTransforms(BulletConstraint constrain)
 {
-    return BSAPICPP.CalculateTransforms2(constrain.ptr);
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.CalculateTransforms2(constrainu.ptr);
 }
 
 public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis)
 {
-    return BSAPICPP.SetConstraintParam2(constrain.ptr, paramIndex, value, axis);
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis);
 }
 
 public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain)
 {
-    return BSAPICPP.DestroyConstraint2(world.ptr, constrain.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.DestroyConstraint2(worldu.ptr, constrainu.ptr);
 }
 
 // =====================================================================================
 // btCollisionWorld entries
 public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
-{
-    BSAPICPP.UpdateSingleAabb2(world.ptr, obj.ptr);
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr);
 }
 
 public override void UpdateAabbs(BulletWorld world)
 {
-    BSAPICPP.UpdateAabbs2(world.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.UpdateAabbs2(worldu.ptr);
 }
 
 public override bool GetForceUpdateAllAabbs(BulletWorld world)
 {
-    return BSAPICPP.GetForceUpdateAllAabbs2(world.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr);
 }
 
 public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
 {
-    BSAPICPP.SetForceUpdateAllAabbs2(world.ptr, force);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force);
 }
 
 // =====================================================================================
 // btDynamicsWorld entries
 public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
 {
-    return BSAPICPP.AddObjectToWorld2(world.ptr, obj.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
 }
 
 public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
 {
-    return BSAPICPP.RemoveObjectFromWorld2(world.ptr, obj.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr);
 }
 
 public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
 {
-    return BSAPICPP.AddConstraintToWorld2(world.ptr, constrain.ptr, disableCollisionsBetweenLinkedObjects);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects);
 }
 
 public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
 {
-    return BSAPICPP.RemoveConstraintFromWorld2(world.ptr, constrain.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr);
 }
 // =====================================================================================
 // btCollisionObject entries
 public override Vector3 GetAnisotripicFriction(BulletConstraint constrain)
 {
-    return BSAPICPP.GetAnisotripicFriction2(constrain.ptr);
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.GetAnisotripicFriction2(constrainu.ptr);
 }
 
 public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict)
 {
-    return BSAPICPP.SetAnisotripicFriction2(constrain.ptr, frict);
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.SetAnisotripicFriction2(constrainu.ptr, frict);
 }
 
 public override bool HasAnisotripicFriction(BulletConstraint constrain)
 {
-    return BSAPICPP.HasAnisotripicFriction2(constrain.ptr);
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    return BSAPICPP.HasAnisotripicFriction2(constrainu.ptr);
 }
 
 public override void SetContactProcessingThreshold(BulletBody obj, float val)
 {
-    BSAPICPP.SetContactProcessingThreshold2(obj.ptr, val);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetContactProcessingThreshold2(bodyu.ptr, val);
 }
 
 public override float GetContactProcessingThreshold(BulletBody obj)
 {
-    return BSAPICPP.GetContactProcessingThreshold2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetContactProcessingThreshold2(bodyu.ptr);
 }
 
 public override bool IsStaticObject(BulletBody obj)
 {
-    return BSAPICPP.IsStaticObject2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsStaticObject2(bodyu.ptr);
 }
 
 public override bool IsKinematicObject(BulletBody obj)
 {
-    return BSAPICPP.IsKinematicObject2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsKinematicObject2(bodyu.ptr);
 }
 
 public override bool IsStaticOrKinematicObject(BulletBody obj)
 {
-    return BSAPICPP.IsStaticOrKinematicObject2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsStaticOrKinematicObject2(bodyu.ptr);
 }
 
 public override bool HasContactResponse(BulletBody obj)
 {
-    return BSAPICPP.HasContactResponse2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.HasContactResponse2(bodyu.ptr);
 }
 
-public override void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape)
+public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape)
 {
-    BSAPICPP.SetCollisionShape2(sim.ptr, obj.ptr, shape.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (worldu != null && bodyu != null)
+    {
+        // Special case to allow the caller to zero out the reference to any physical shape
+        if (shapeu != null)
+            BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr);
+        else
+            BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero);
+    }
 }
 
 public override BulletShape GetCollisionShape(BulletBody obj)
 {
-    return new BulletShape(BSAPICPP.GetCollisionShape2(obj.ptr));
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return new BulletShapeUnman(BSAPICPP.GetCollisionShape2(bodyu.ptr), BSPhysicsShapeType.SHAPE_UNKNOWN);
 }
 
 public override int GetActivationState(BulletBody obj)
 {
-    return BSAPICPP.GetActivationState2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetActivationState2(bodyu.ptr);
 }
 
 public override void SetActivationState(BulletBody obj, int state)
 {
-    BSAPICPP.SetActivationState2(obj.ptr, state);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetActivationState2(bodyu.ptr, state);
 }
 
 public override void SetDeactivationTime(BulletBody obj, float dtime)
 {
-    BSAPICPP.SetDeactivationTime2(obj.ptr, dtime);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetDeactivationTime2(bodyu.ptr, dtime);
 }
 
 public override float GetDeactivationTime(BulletBody obj)
 {
-    return BSAPICPP.GetDeactivationTime2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetDeactivationTime2(bodyu.ptr);
 }
 
 public override void ForceActivationState(BulletBody obj, ActivationState state)
 {
-    BSAPICPP.ForceActivationState2(obj.ptr, state);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ForceActivationState2(bodyu.ptr, state);
 }
 
 public override void Activate(BulletBody obj, bool forceActivation)
 {
-    BSAPICPP.Activate2(obj.ptr, forceActivation);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.Activate2(bodyu.ptr, forceActivation);
 }
 
 public override bool IsActive(BulletBody obj)
 {
-    return BSAPICPP.IsActive2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsActive2(bodyu.ptr);
 }
 
 public override void SetRestitution(BulletBody obj, float val)
 {
-    BSAPICPP.SetRestitution2(obj.ptr, val);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetRestitution2(bodyu.ptr, val);
 }
 
 public override float GetRestitution(BulletBody obj)
 {
-    return BSAPICPP.GetRestitution2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetRestitution2(bodyu.ptr);
 }
 
 public override void SetFriction(BulletBody obj, float val)
 {
-    BSAPICPP.SetFriction2(obj.ptr, val);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetFriction2(bodyu.ptr, val);
 }
 
 public override float GetFriction(BulletBody obj)
 {
-    return BSAPICPP.GetFriction2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetFriction2(bodyu.ptr);
 }
 
 public override Vector3 GetPosition(BulletBody obj)
 {
-    return BSAPICPP.GetPosition2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetPosition2(bodyu.ptr);
 }
 
 public override Quaternion GetOrientation(BulletBody obj)
 {
-    return BSAPICPP.GetOrientation2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetOrientation2(bodyu.ptr);
 }
 
 public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation)
 {
-    BSAPICPP.SetTranslation2(obj.ptr, position, rotation);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetTranslation2(bodyu.ptr, position, rotation);
 }
 
     /*
 public override IntPtr GetBroadphaseHandle(BulletBody obj)
 {
-    return BSAPICPP.GetBroadphaseHandle2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetBroadphaseHandle2(bodyu.ptr);
 }
 
 public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle)
 {
-    BSAPICPP.SetUserPointer2(obj.ptr, handle);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetUserPointer2(bodyu.ptr, handle);
 }
      */
 
 public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel)
 {
-    BSAPICPP.SetInterpolationLinearVelocity2(obj.ptr, vel);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInterpolationLinearVelocity2(bodyu.ptr, vel);
 }
 
 public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel)
 {
-    BSAPICPP.SetInterpolationAngularVelocity2(obj.ptr, vel);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInterpolationAngularVelocity2(bodyu.ptr, vel);
 }
 
 public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel)
 {
-    BSAPICPP.SetInterpolationVelocity2(obj.ptr, linearVel, angularVel);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInterpolationVelocity2(bodyu.ptr, linearVel, angularVel);
 }
 
 public override float GetHitFraction(BulletBody obj)
 {
-    return BSAPICPP.GetHitFraction2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetHitFraction2(bodyu.ptr);
 }
 
 public override void SetHitFraction(BulletBody obj, float val)
 {
-    BSAPICPP.SetHitFraction2(obj.ptr, val);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetHitFraction2(bodyu.ptr, val);
 }
 
 public override CollisionFlags GetCollisionFlags(BulletBody obj)
 {
-    return BSAPICPP.GetCollisionFlags2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetCollisionFlags2(bodyu.ptr);
 }
 
 public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags)
 {
-    return BSAPICPP.SetCollisionFlags2(obj.ptr, flags);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.SetCollisionFlags2(bodyu.ptr, flags);
 }
 
 public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags)
 {
-    return BSAPICPP.AddToCollisionFlags2(obj.ptr, flags);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.AddToCollisionFlags2(bodyu.ptr, flags);
 }
 
 public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags)
 {
-    return BSAPICPP.RemoveFromCollisionFlags2(obj.ptr, flags);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.RemoveFromCollisionFlags2(bodyu.ptr, flags);
 }
 
 public override float GetCcdMotionThreshold(BulletBody obj)
 {
-    return BSAPICPP.GetCcdMotionThreshold2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetCcdMotionThreshold2(bodyu.ptr);
 }
 
 
 public override void SetCcdMotionThreshold(BulletBody obj, float val)
 {
-    BSAPICPP.SetCcdMotionThreshold2(obj.ptr, val);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetCcdMotionThreshold2(bodyu.ptr, val);
 }
 
 public override float GetCcdSweptSphereRadius(BulletBody obj)
 {
-    return BSAPICPP.GetCcdSweptSphereRadius2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetCcdSweptSphereRadius2(bodyu.ptr);
 }
 
 public override void SetCcdSweptSphereRadius(BulletBody obj, float val)
 {
-    BSAPICPP.SetCcdSweptSphereRadius2(obj.ptr, val);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetCcdSweptSphereRadius2(bodyu.ptr, val);
 }
 
 public override IntPtr GetUserPointer(BulletBody obj)
 {
-    return BSAPICPP.GetUserPointer2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetUserPointer2(bodyu.ptr);
 }
 
 public override void SetUserPointer(BulletBody obj, IntPtr val)
 {
-    BSAPICPP.SetUserPointer2(obj.ptr, val);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetUserPointer2(bodyu.ptr, val);
 }
 
 // =====================================================================================
 // btRigidBody entries
 public override void ApplyGravity(BulletBody obj)
 {
-    BSAPICPP.ApplyGravity2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyGravity2(bodyu.ptr);
 }
 
 public override void SetGravity(BulletBody obj, Vector3 val)
 {
-    BSAPICPP.SetGravity2(obj.ptr, val);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetGravity2(bodyu.ptr, val);
 }
 
 public override Vector3 GetGravity(BulletBody obj)
 {
-    return BSAPICPP.GetGravity2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetGravity2(bodyu.ptr);
 }
 
 public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping)
 {
-    BSAPICPP.SetDamping2(obj.ptr, lin_damping, ang_damping);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetDamping2(bodyu.ptr, lin_damping, ang_damping);
 }
 
 public override void SetLinearDamping(BulletBody obj, float lin_damping)
 {
-    BSAPICPP.SetLinearDamping2(obj.ptr, lin_damping);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetLinearDamping2(bodyu.ptr, lin_damping);
 }
 
 public override void SetAngularDamping(BulletBody obj, float ang_damping)
 {
-    BSAPICPP.SetAngularDamping2(obj.ptr, ang_damping);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularDamping2(bodyu.ptr, ang_damping);
 }
 
 public override float GetLinearDamping(BulletBody obj)
 {
-    return BSAPICPP.GetLinearDamping2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearDamping2(bodyu.ptr);
 }
 
 public override float GetAngularDamping(BulletBody obj)
 {
-    return BSAPICPP.GetAngularDamping2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetAngularDamping2(bodyu.ptr);
 }
 
 public override float GetLinearSleepingThreshold(BulletBody obj)
 {
-    return BSAPICPP.GetLinearSleepingThreshold2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearSleepingThreshold2(bodyu.ptr);
 }
 
 public override void ApplyDamping(BulletBody obj, float timeStep)
 {
-    BSAPICPP.ApplyDamping2(obj.ptr, timeStep);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyDamping2(bodyu.ptr, timeStep);
 }
 
 public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia)
 {
-    BSAPICPP.SetMassProps2(obj.ptr, mass, inertia);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetMassProps2(bodyu.ptr, mass, inertia);
 }
 
 public override Vector3 GetLinearFactor(BulletBody obj)
 {
-    return BSAPICPP.GetLinearFactor2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearFactor2(bodyu.ptr);
 }
 
 public override void SetLinearFactor(BulletBody obj, Vector3 factor)
 {
-    BSAPICPP.SetLinearFactor2(obj.ptr, factor);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetLinearFactor2(bodyu.ptr, factor);
 }
 
 public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot)
 {
-    BSAPICPP.SetCenterOfMassByPosRot2(obj.ptr, pos, rot);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetCenterOfMassByPosRot2(bodyu.ptr, pos, rot);
 }
 
 // Add a force to the object as if its mass is one.
 public override void ApplyCentralForce(BulletBody obj, Vector3 force)
 {
-    BSAPICPP.ApplyCentralForce2(obj.ptr, force);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyCentralForce2(bodyu.ptr, force);
 }
 
 // Set the force being applied to the object as if its mass is one.
 public override void SetObjectForce(BulletBody obj, Vector3 force)
 {
-    BSAPICPP.SetObjectForce2(obj.ptr, force);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetObjectForce2(bodyu.ptr, force);
 }
 
 public override Vector3 GetTotalForce(BulletBody obj)
 {
-    return BSAPICPP.GetTotalForce2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetTotalForce2(bodyu.ptr);
 }
 
 public override Vector3 GetTotalTorque(BulletBody obj)
 {
-    return BSAPICPP.GetTotalTorque2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetTotalTorque2(bodyu.ptr);
 }
 
 public override Vector3 GetInvInertiaDiagLocal(BulletBody obj)
 {
-    return BSAPICPP.GetInvInertiaDiagLocal2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetInvInertiaDiagLocal2(bodyu.ptr);
 }
 
 public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert)
 {
-    BSAPICPP.SetInvInertiaDiagLocal2(obj.ptr, inert);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetInvInertiaDiagLocal2(bodyu.ptr, inert);
 }
 
 public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold)
 {
-    BSAPICPP.SetSleepingThresholds2(obj.ptr, lin_threshold, ang_threshold);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold);
 }
 
 public override void ApplyTorque(BulletBody obj, Vector3 torque)
 {
-    BSAPICPP.ApplyTorque2(obj.ptr, torque);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyTorque2(bodyu.ptr, torque);
 }
 
 // Apply force at the given point. Will add torque to the object.
 public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
 {
-    BSAPICPP.ApplyForce2(obj.ptr, force, pos);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyForce2(bodyu.ptr, force, pos);
 }
 
 // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
 public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
 {
-    BSAPICPP.ApplyCentralImpulse2(obj.ptr, imp);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyCentralImpulse2(bodyu.ptr, imp);
 }
 
 // Apply impulse to the object's torque. Force is scaled by object's mass.
 public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
 {
-    BSAPICPP.ApplyTorqueImpulse2(obj.ptr, imp);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyTorqueImpulse2(bodyu.ptr, imp);
 }
 
 // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
 public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos)
 {
-    BSAPICPP.ApplyImpulse2(obj.ptr, imp, pos);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ApplyImpulse2(bodyu.ptr, imp, pos);
 }
 
 public override void ClearForces(BulletBody obj)
 {
-    BSAPICPP.ClearForces2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ClearForces2(bodyu.ptr);
 }
 
 public override void ClearAllForces(BulletBody obj)
 {
-    BSAPICPP.ClearAllForces2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.ClearAllForces2(bodyu.ptr);
 }
 
 public override void UpdateInertiaTensor(BulletBody obj)
 {
-    BSAPICPP.UpdateInertiaTensor2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.UpdateInertiaTensor2(bodyu.ptr);
 }
 
 public override Vector3 GetLinearVelocity(BulletBody obj)
 {
-    return BSAPICPP.GetLinearVelocity2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetLinearVelocity2(bodyu.ptr);
 }
 
 public override Vector3 GetAngularVelocity(BulletBody obj)
 {
-    return BSAPICPP.GetAngularVelocity2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetAngularVelocity2(bodyu.ptr);
 }
 
 public override void SetLinearVelocity(BulletBody obj, Vector3 vel)
 {
-    BSAPICPP.SetLinearVelocity2(obj.ptr, vel);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetLinearVelocity2(bodyu.ptr, vel);
 }
 
 public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity)
 {
-    BSAPICPP.SetAngularVelocity2(obj.ptr, angularVelocity);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularVelocity2(bodyu.ptr, angularVelocity);
 }
 
 public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos)
 {
-    return BSAPICPP.GetVelocityInLocalPoint2(obj.ptr, pos);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetVelocityInLocalPoint2(bodyu.ptr, pos);
 }
 
 public override void Translate(BulletBody obj, Vector3 trans)
 {
-    BSAPICPP.Translate2(obj.ptr, trans);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.Translate2(bodyu.ptr, trans);
 }
 
 public override void UpdateDeactivation(BulletBody obj, float timeStep)
 {
-    BSAPICPP.UpdateDeactivation2(obj.ptr, timeStep);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.UpdateDeactivation2(bodyu.ptr, timeStep);
 }
 
 public override bool WantsSleeping(BulletBody obj)
 {
-    return BSAPICPP.WantsSleeping2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.WantsSleeping2(bodyu.ptr);
 }
 
 public override void SetAngularFactor(BulletBody obj, float factor)
 {
-    BSAPICPP.SetAngularFactor2(obj.ptr, factor);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularFactor2(bodyu.ptr, factor);
 }
 
 public override void SetAngularFactorV(BulletBody obj, Vector3 factor)
 {
-    BSAPICPP.SetAngularFactorV2(obj.ptr, factor);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BSAPICPP.SetAngularFactorV2(bodyu.ptr, factor);
 }
 
 public override Vector3 GetAngularFactor(BulletBody obj)
 {
-    return BSAPICPP.GetAngularFactor2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetAngularFactor2(bodyu.ptr);
 }
 
 public override bool IsInWorld(BulletBody obj)
 {
-    return BSAPICPP.IsInWorld2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.IsInWorld2(bodyu.ptr);
 }
 
 public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain)
 {
-    BSAPICPP.AddConstraintRef2(obj.ptr, constrain.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.AddConstraintRef2(bodyu.ptr, constrainu.ptr);
 }
 
 public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain)
 {
-    BSAPICPP.RemoveConstraintRef2(obj.ptr, constrain.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.RemoveConstraintRef2(bodyu.ptr, constrainu.ptr);
 }
 
 public override BulletConstraint GetConstraintRef(BulletBody obj, int index)
 {
-    return new BulletConstraint(BSAPICPP.GetConstraintRef2(obj.ptr, index));
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.GetConstraintRef2(bodyu.ptr, index));
 }
 
 public override int GetNumConstraintRefs(BulletBody obj)
 {
-    return BSAPICPP.GetNumConstraintRefs2(obj.ptr);
+    BulletBodyUnman bodyu = obj as BulletBodyUnman;
+    return BSAPICPP.GetNumConstraintRefs2(bodyu.ptr);
 }
 
 public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask)
 {
-    return BSAPICPP.SetCollisionGroupMask2(body.ptr, filter, mask);
+    BulletBodyUnman bodyu = body as BulletBodyUnman;
+    return BSAPICPP.SetCollisionGroupMask2(bodyu.ptr, filter, mask);
 }
 
 // =====================================================================================
@@ -855,114 +1104,139 @@ public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint ma
 
 public override float GetAngularMotionDisc(BulletShape shape)
 {
-    return BSAPICPP.GetAngularMotionDisc2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetAngularMotionDisc2(shapeu.ptr);
 }
 
 public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor)
 {
-    return BSAPICPP.GetContactBreakingThreshold2(shape.ptr, defaultFactor);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetContactBreakingThreshold2(shapeu.ptr, defaultFactor);
 }
 
 public override bool IsPolyhedral(BulletShape shape)
 {
-    return BSAPICPP.IsPolyhedral2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsPolyhedral2(shapeu.ptr);
 }
 
 public override bool IsConvex2d(BulletShape shape)
 {
-    return BSAPICPP.IsConvex2d2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsConvex2d2(shapeu.ptr);
 }
 
 public override bool IsConvex(BulletShape shape)
 {
-    return BSAPICPP.IsConvex2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsConvex2(shapeu.ptr);
 }
 
 public override bool IsNonMoving(BulletShape shape)
 {
-    return BSAPICPP.IsNonMoving2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsNonMoving2(shapeu.ptr);
 }
 
 public override bool IsConcave(BulletShape shape)
 {
-    return BSAPICPP.IsConcave2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsConcave2(shapeu.ptr);
 }
 
 public override bool IsCompound(BulletShape shape)
 {
-    return BSAPICPP.IsCompound2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsCompound2(shapeu.ptr);
 }
 
 public override bool IsSoftBody(BulletShape shape)
 {
-    return BSAPICPP.IsSoftBody2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsSoftBody2(shapeu.ptr);
 }
 
 public override bool IsInfinite(BulletShape shape)
 {
-    return BSAPICPP.IsInfinite2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.IsInfinite2(shapeu.ptr);
 }
 
 public override void SetLocalScaling(BulletShape shape, Vector3 scale)
 {
-    BSAPICPP.SetLocalScaling2(shape.ptr, scale);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BSAPICPP.SetLocalScaling2(shapeu.ptr, scale);
 }
 
 public override Vector3 GetLocalScaling(BulletShape shape)
 {
-    return BSAPICPP.GetLocalScaling2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetLocalScaling2(shapeu.ptr);
 }
 
 public override Vector3 CalculateLocalInertia(BulletShape shape, float mass)
 {
-    return BSAPICPP.CalculateLocalInertia2(shape.ptr, mass);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.CalculateLocalInertia2(shapeu.ptr, mass);
 }
 
 public override int GetShapeType(BulletShape shape)
 {
-    return BSAPICPP.GetShapeType2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetShapeType2(shapeu.ptr);
 }
 
 public override void SetMargin(BulletShape shape, float val)
 {
-    BSAPICPP.SetMargin2(shape.ptr, val);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    BSAPICPP.SetMargin2(shapeu.ptr, val);
 }
 
 public override float GetMargin(BulletShape shape)
 {
-    return BSAPICPP.GetMargin2(shape.ptr);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    return BSAPICPP.GetMargin2(shapeu.ptr);
 }
 
 // =====================================================================================
 // Debugging
-public override void DumpRigidBody(BulletWorld sim, BulletBody collisionObject)
+public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject)
 {
-    BSAPICPP.DumpRigidBody2(sim.ptr, collisionObject.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu = collisionObject as BulletBodyUnman;
+    BSAPICPP.DumpRigidBody2(worldu.ptr, bodyu.ptr);
 }
 
-public override void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape)
+public override void DumpCollisionShape(BulletWorld world, BulletShape collisionShape)
 {
-    BSAPICPP.DumpCollisionShape2(sim.ptr, collisionShape.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletShapeUnman shapeu = collisionShape as BulletShapeUnman;
+    BSAPICPP.DumpCollisionShape2(worldu.ptr, shapeu.ptr);
 }
 
-public override void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
+public override void DumpConstraint(BulletWorld world, BulletConstraint constrain)
 {
-    BSAPICPP.DumpConstraint2(sim.ptr, constrain.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
+    BSAPICPP.DumpConstraint2(worldu.ptr, constrainu.ptr);
 }
 
-public override void DumpActivationInfo(BulletWorld sim)
+public override void DumpActivationInfo(BulletWorld world)
 {
-    BSAPICPP.DumpActivationInfo2(sim.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.DumpActivationInfo2(worldu.ptr);
 }
 
-public override void DumpAllInfo(BulletWorld sim)
+public override void DumpAllInfo(BulletWorld world)
 {
-    BSAPICPP.DumpAllInfo2(sim.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.DumpAllInfo2(worldu.ptr);
 }
 
-public override void DumpPhysicsStatistics(BulletWorld sim)
+public override void DumpPhysicsStatistics(BulletWorld world)
 {
-    BSAPICPP.DumpPhysicsStatistics2(sim.ptr);
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.DumpPhysicsStatistics2(worldu.ptr);
 }
 
 
-- 
cgit v1.1


From 0662d109c2954c7be5f5e9400b1f4afdeab2c298 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 1 Jan 2013 09:32:21 -0800
Subject: BulletSim: fix line endings.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 64 +++++++++++-----------
 1 file changed, 32 insertions(+), 32 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 2c0cb43..9d8f60d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -55,10 +55,10 @@ private sealed class BulletBodyUnman : BulletBody
         : base(id)
     {
         ptr = xx;
-    }
-    public override bool HasPhysicalBody
-    {
-        get { return ptr != IntPtr.Zero; }
+    }
+    public override bool HasPhysicalBody
+    {
+        get { return ptr != IntPtr.Zero; }
     }
     public override void Clear()
     {
@@ -79,10 +79,10 @@ private sealed class BulletShapeUnman : BulletShape
         ptr = xx;
         type = typ;
     }
-    public override bool HasPhysicalShape
-    {
-        get { return ptr != IntPtr.Zero; }
-    }
+    public override bool HasPhysicalShape
+    {
+        get { return ptr != IntPtr.Zero; }
+    }
     public override void Clear()
     {
         ptr = IntPtr.Zero;
@@ -202,7 +202,7 @@ public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSte
 
 public override void Shutdown(BulletWorld world)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     BSAPICPP.Shutdown2(worldu.ptr);
 }
 
@@ -249,7 +249,7 @@ public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShap
 
 public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type);
 }
 
@@ -334,7 +334,7 @@ public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletSha
 
 public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletShapeUnman shapeu = shape as BulletShapeUnman;
     return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
 }
@@ -360,7 +360,7 @@ public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, u
 
 public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletShapeUnman shapeu = shape as BulletShapeUnman;
     return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
 }
@@ -393,7 +393,7 @@ public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletB
                     Vector3 frame2loc, Quaternion frame2rot,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
     BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
     return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
@@ -404,7 +404,7 @@ public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world,
                     Vector3 joinPoint,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
     BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
     return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
@@ -416,7 +416,7 @@ public override BulletConstraint CreateHingeConstraint(BulletWorld world, Bullet
                     Vector3 axisInA, Vector3 axisInB,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
     BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
     return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
@@ -494,7 +494,7 @@ public override bool DestroyConstraint(BulletWorld world, BulletConstraint const
 // =====================================================================================
 // btCollisionWorld entries
 public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
-{
+{
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
     BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr);
@@ -502,19 +502,19 @@ public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
 
 public override void UpdateAabbs(BulletWorld world)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     BSAPICPP.UpdateAabbs2(worldu.ptr);
 }
 
 public override bool GetForceUpdateAllAabbs(BulletWorld world)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr);
 }
 
 public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force);
 }
 
@@ -522,28 +522,28 @@ public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
 // btDynamicsWorld entries
 public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
     return BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
 }
 
 public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
     return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr);
 }
 
 public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
     return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects);
 }
 
 public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
     return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr);
 }
@@ -605,16 +605,16 @@ public override bool HasContactResponse(BulletBody obj)
 
 public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape)
 {
-    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
-    BulletShapeUnman shapeu = shape as BulletShapeUnman;
-    if (worldu != null && bodyu != null)
-    {
-        // Special case to allow the caller to zero out the reference to any physical shape
-        if (shapeu != null)
-            BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr);
-        else
-            BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero);
+    BulletShapeUnman shapeu = shape as BulletShapeUnman;
+    if (worldu != null && bodyu != null)
+    {
+        // Special case to allow the caller to zero out the reference to any physical shape
+        if (shapeu != null)
+            BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr);
+        else
+            BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero);
     }
 }
 
-- 
cgit v1.1


From 9d840fd2ee5c3e6c6f788e8145f06701e9ea2724 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 1 Jan 2013 16:49:38 -0800
Subject: BulletSim: move over and port the interface for BulletXNA. Copied
 BulletSNPlugin.BulletSimAPI to a new BulletSPlugin.BSAPIXNA.cs and then
 modifyed the latter to comply with the BSAPITemplate definition. Not totally
 debugged but the code is all there for an INI variable to select either
 unmanaged C++ Bullet or the C# version of Bullet.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 22 +++++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 9d8f60d..83e12ba 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -339,10 +339,10 @@ public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
     return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
 }
 
-public override int GetBodyType(BulletBody obj)
+public override CollisionObjectTypes GetBodyType(BulletBody obj)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
-    return BSAPICPP.GetBodyType2(bodyu.ptr);
+    return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr);
 }
 
 public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
@@ -522,9 +522,22 @@ public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
 // btDynamicsWorld entries
 public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
 {
+    // Bullet resets several variables when an object is added to the world.
+    //   Gravity is reset to world default depending on the static/dynamic
+    //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
-    return BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
+
+    Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr);
+
+    bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
+
+    if (ret)
+    {
+        BSAPICPP.SetGravity2(bodyu.ptr, origGrav);
+        obj.ApplyCollisionMask(world.physicsScene);
+    }
+    return ret;
 }
 
 public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
@@ -1061,7 +1074,7 @@ public override Vector3 GetAngularFactor(BulletBody obj)
     return BSAPICPP.GetAngularFactor2(bodyu.ptr);
 }
 
-public override bool IsInWorld(BulletBody obj)
+public override bool IsInWorld(BulletWorld world, BulletBody obj)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
     return BSAPICPP.IsInWorld2(bodyu.ptr);
@@ -1239,7 +1252,6 @@ public override void DumpPhysicsStatistics(BulletWorld world)
     BSAPICPP.DumpPhysicsStatistics2(worldu.ptr);
 }
 
-
 // =====================================================================================
 // =====================================================================================
 // =====================================================================================
-- 
cgit v1.1


From b14b65ea9518e02e518f2a75795385a3c0306495 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 1 Jan 2013 17:01:17 -0800
Subject: BulletSim: move selection of the unmanaged Bullet DLL from BSPlugin
 into the unmanaged Bullet interface class.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 8 ++++++++
 1 file changed, 8 insertions(+)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 83e12ba..8c6e7d6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -31,6 +31,8 @@ using System.Runtime.InteropServices;
 using System.Security;
 using System.Text;
 
+using OpenSim.Framework;
+
 using OpenMetaverse;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
@@ -141,8 +143,14 @@ public override string BulletEngineVersion { get; protected set; }
 public BSAPIUnman(string paramName, BSScene physScene)
 {
     PhysicsScene = physScene;
+
     // Do something fancy with the paramName to get the right DLL implementation
     //     like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc.
+    if (Util.IsWindows())
+        Util.LoadArchSpecificWindowsDll("BulletSim.dll");
+    // If not Windows, loading is performed by the
+    // Mono loader as specified in
+    // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
 }
 
 // Initialization and simulation
-- 
cgit v1.1


From 2eda385f5e72e165150d0925c56b1188c77cafe8 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 1 Jan 2013 20:26:31 -0800
Subject: BulletSim: add ResetBroadphasePool and ResetConstraintSolver
 diagnostic functions. If values set from console, the functions are called.
 Looking for why the collision pools fill up with unnecessary stuff.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 22 +++++++++++++++++++---
 1 file changed, 19 insertions(+), 3 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 8c6e7d6..45ecf56 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -530,12 +530,12 @@ public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
 // btDynamicsWorld entries
 public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
 {
-    // Bullet resets several variables when an object is added to the world.
-    //   Gravity is reset to world default depending on the static/dynamic
-    //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
 
+    // Bullet resets several variables when an object is added to the world.
+    //   Gravity is reset to world default depending on the static/dynamic
+    //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
     Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr);
 
     bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
@@ -1259,6 +1259,16 @@ public override void DumpPhysicsStatistics(BulletWorld world)
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BSAPICPP.DumpPhysicsStatistics2(worldu.ptr);
 }
+public override void ResetBroadphasePool(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.ResetBroadphasePool(worldu.ptr);
+}
+public override void ResetConstraintSolver(BulletWorld world)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BSAPICPP.ResetConstraintSolver(worldu.ptr);
+}
 
 // =====================================================================================
 // =====================================================================================
@@ -1832,6 +1842,12 @@ public static extern void DumpAllInfo2(IntPtr sim);
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void DumpPhysicsStatistics2(IntPtr sim);
 
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ResetBroadphasePool(IntPtr sim);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void ResetConstraintSolver(IntPtr sim);
+
 }
 
 }
-- 
cgit v1.1


From 44492b3a4995651cd1d0d508b879d24e4d8f5707 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 3 Jan 2013 19:35:38 -0800
Subject: BulletSim: add comments to force and impulse setting functions so it
 is clear what Bullet is actually doing with the set values.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 8 ++++++++
 1 file changed, 8 insertions(+)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 45ecf56..14de2eb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -921,6 +921,7 @@ public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quater
 }
 
 // Add a force to the object as if its mass is one.
+// Deep down in Bullet: m_totalForce += force*m_linearFactor;
 public override void ApplyCentralForce(BulletBody obj, Vector3 force)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
@@ -964,6 +965,7 @@ public override void SetSleepingThresholds(BulletBody obj, float lin_threshold,
     BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold);
 }
 
+// Deep down in Bullet: m_totalTorque += torque*m_angularFactor;
 public override void ApplyTorque(BulletBody obj, Vector3 torque)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
@@ -971,6 +973,8 @@ public override void ApplyTorque(BulletBody obj, Vector3 torque)
 }
 
 // Apply force at the given point. Will add torque to the object.
+// Deep down in Bullet: applyCentralForce(force);
+//              		applyTorque(rel_pos.cross(force*m_linearFactor));
 public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
@@ -978,6 +982,7 @@ public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
 }
 
 // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
+// Deep down in Bullet: m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
 public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
@@ -985,6 +990,7 @@ public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
 }
 
 // Apply impulse to the object's torque. Force is scaled by object's mass.
+// Deep down in Bullet: m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
 public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
@@ -992,6 +998,8 @@ public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
 }
 
 // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
+// Deep down in Bullet: applyCentralImpulse(impulse);
+//          			applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
 public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos)
 {
     BulletBodyUnman bodyu = obj as BulletBodyUnman;
-- 
cgit v1.1


From 459fcd81c9d6e7c92738b40f1b4b4fe746699379 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 11 Jan 2013 16:36:34 -0800
Subject: BulletSim: move center of gravity of linkset to its geometric center.
 Necessitated allowing simulator and physical position of a body to get out of
 sync since Bullet assumes that <0,0,0> is the center of mass. Update DLLs and
 SOs for the UpdateChildTransform so positions of   individual prim in a
 linkset can be implemented.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 9 +++++++++
 1 file changed, 9 insertions(+)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 14de2eb..0fef67c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -327,6 +327,12 @@ public override void RemoveChildShapeFromCompoundShape(BulletShape shape, Bullet
     BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr);
 }
 
+public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb)
+{
+    BulletShapeUnman shapeu = pShape as BulletShapeUnman;
+    BSAPICPP.UpdateChildTransform2(shapeu.ptr, childIndex, pos, rot, shouldRecalculateLocalAabb);
+}
+
 public override void RecalculateCompoundShapeLocalAabb(BulletShape shape)
 {
     BulletShapeUnman shapeu = shape as BulletShapeUnman;
@@ -1357,6 +1363,9 @@ public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShap
 public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern void UpdateChildTransform2(IntPtr pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-- 
cgit v1.1


From 4e1ca890c2d41bf244ed7d4847c0d0a4fc7f6c51 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 14 Jan 2013 15:46:46 -0800
Subject: BulletSim: fix not moving physical objects below terrain to over
 terrain. Add locking on register prestep action list preventing potential
 race conditions. Little comment and formatting changes.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 0fef67c..9ff7084 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -202,7 +202,7 @@ private void BulletLoggerPhysLog(string msg)
 }
 
 public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
-                        out int updatedEntityCount, out int collidersCount)
+                                        out int updatedEntityCount, out int collidersCount)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
-- 
cgit v1.1


From 0374b2a0b4a88706f5269a55bac7aa2640f82256 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 15 Jan 2013 02:21:38 -0800
Subject: BulletSim: fix logic for enabling unmanaged code debug messages. Free
 pinned memory when physics engine is unloaded.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 9ff7084..ae54499 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -166,7 +166,7 @@ public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet
 
     // If Debug logging level, enable logging from the unmanaged code
     m_DebugLogCallbackHandle = null;
-    if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled)
+    if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled)
     {
         BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
         if (PhysicsScene.PhysicsLogging.Enabled)
@@ -212,6 +212,19 @@ public override void Shutdown(BulletWorld world)
 {
     BulletWorldUnman worldu = world as BulletWorldUnman;
     BSAPICPP.Shutdown2(worldu.ptr);
+
+    if (m_paramsHandle.IsAllocated)
+    {
+        m_paramsHandle.Free();
+    }
+    if (m_collisionArrayPinnedHandle.IsAllocated)
+    {
+        m_collisionArrayPinnedHandle.Free();
+    }
+    if (m_updateArrayPinnedHandle.IsAllocated)
+    {
+        m_updateArrayPinnedHandle.Free();
+    }
 }
 
 public override bool PushUpdate(BulletBody obj)
-- 
cgit v1.1


From 1d7276235ace0ed6b7701efa36a7fd7f1b552bab Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 17 Feb 2013 20:07:04 -0800
Subject: BulletSim: add calls for creating all the different Bullet constraint
 types. Updated the DLLs and SOs and code for BulletXNA to create the types.
 All the detailed control calls are not all in place yet.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 102 +++++++++++++++++++++
 1 file changed, 102 insertions(+)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index ae54499..3a27d2c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -438,6 +438,28 @@ public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world,
                     joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
 }
 
+public override BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintFixed2(worldu.ptr, bodyu1.ptr,
+                    frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.Create6DofSpringConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
+                    frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
 public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
                     Vector3 pivotinA, Vector3 pivotinB,
                     Vector3 axisInA, Vector3 axisInB,
@@ -450,6 +472,52 @@ public override BulletConstraint CreateHingeConstraint(BulletWorld world, Bullet
                     pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
 }
 
+public override BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.CreateSliderConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
+                    frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.CreateConeTwistConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
+                                        frame2loc, frame2rot, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 axisInA, Vector3 axisInB,
+                    float ratio, bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.CreateGearConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, axisInA, axisInB,
+                                        ratio, disableCollisionsBetweenLinkedBodies));
+}
+
+public override BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
+                    Vector3 pivotInA, Vector3 pivotInB,
+                    bool disableCollisionsBetweenLinkedBodies)
+{
+    BulletWorldUnman worldu = world as BulletWorldUnman;
+    BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
+    BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
+    return new BulletConstraintUnman(BSAPICPP.CreatePoint2PointConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, pivotInA, pivotInB,
+                                        disableCollisionsBetweenLinkedBodies));
+}
+
 public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse)
 {
     BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
@@ -1426,12 +1494,46 @@ public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr ob
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofConstraintFixed2(IntPtr world, IntPtr obj1,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr Create6DofSpringConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 frame1loc, Quaternion frame1rot,
+                    Vector3 frame2loc, Quaternion frame2rot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
                     Vector3 pivotinA, Vector3 pivotinB,
                     Vector3 axisInA, Vector3 axisInB,
                     bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateSliderConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 frameInAloc, Quaternion frameInArot,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateConeTwistConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 frameInAloc, Quaternion frameInArot,
+                    Vector3 frameInBloc, Quaternion frameInBrot,
+                    bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreateGearConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 axisInA, Vector3 axisInB,
+                    float ratio, bool disableCollisionsBetweenLinkedBodies);
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern IntPtr CreatePoint2PointConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
+                    Vector3 pivotInA, Vector3 pivotInB,
+                    bool disableCollisionsBetweenLinkedBodies);
+
+
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-- 
cgit v1.1


From 8360223fedc5a5521878806f40bdb0c3244241cc Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 18 Mar 2013 23:58:21 -0700
Subject: BulletSim: code to generate a higher resolution terrain mesh.
 Parameter TerrainMeshMagnification controls number of vertices generated per
 heightmap point. Default is 3.

---
 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 3a27d2c..77ea3ed 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -286,7 +286,7 @@ public override void SetShapeCollisionMargin(BulletShape shape, float margin)
 {
     BulletShapeUnman shapeu = shape as BulletShapeUnman;
     if (shapeu != null && shapeu.HasPhysicalShape)
-        BSAPICPP.SetShapeCollisionMargin2(shapeu.ptr, margin);
+        BSAPICPP.SetShapeCollisionMargin(shapeu.ptr, margin);
 }
 
 public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
@@ -1420,7 +1420,7 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData)
 public static extern bool IsNativeShape2(IntPtr shape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin);
+public static extern void SetShapeCollisionMargin(IntPtr shape, float margin);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
-- 
cgit v1.1