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