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 +++++++++++--------- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 46 +- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 17 +- .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 30 +- .../Physics/BulletSPlugin/BSConstraintHinge.cs | 10 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 10 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 12 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 8 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 74 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 6 +- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 23 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 13 +- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 16 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 8 +- 15 files changed, 1454 insertions(+), 1248 deletions(-) (limited to 'OpenSim') 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); + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index d5ab245..328164b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -137,7 +137,7 @@ public sealed class BSCharacter : BSPhysObject private void SetPhysicalProperties() { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody); ZeroMotion(true); ForcePosition = _position; @@ -152,14 +152,14 @@ public sealed class BSCharacter : BSPhysObject // Needs to be reset especially when an avatar is recreated after crossing a region boundry. Flying = _flying; - BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution); + PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); - BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold); + PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); if (BSParam.CcdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); + PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); + PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); } UpdatePhysicalMassProperties(RawMass, false); @@ -167,13 +167,13 @@ public sealed class BSCharacter : BSPhysObject // Make so capsule does not fall over BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); + PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); - // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); - BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION); - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); + // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); + PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION); + PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); // Do this after the object has been added to the world PhysBody.collisionType = CollisionType.Avatar; @@ -320,7 +320,7 @@ public sealed class BSCharacter : BSPhysObject { if (PhysBody.HasPhysicalBody) { - BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero); BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); // The next also get rid of applied linear force but the linear velocity is untouched. BulletSimAPI.ClearForces2(PhysBody.ptr); @@ -350,19 +350,19 @@ public sealed class BSCharacter : BSPhysObject { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); }); } } public override OMV.Vector3 ForcePosition { get { - _position = BulletSimAPI.GetPosition2(PhysBody.ptr); + _position = PhysicsScene.PE.GetPosition(PhysBody); return _position; } set { _position = value; PositionSanityCheck(); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); } } @@ -418,7 +418,7 @@ public sealed class BSCharacter : BSPhysObject { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); }); ret = true; } @@ -520,7 +520,7 @@ public sealed class BSCharacter : BSPhysObject { _currentFriction = BSParam.AvatarStandingFriction; if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); + PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); } } else @@ -529,12 +529,12 @@ public sealed class BSCharacter : BSPhysObject { _currentFriction = BSParam.AvatarFriction; if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); + PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); } } BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); - BulletSimAPI.Activate2(PhysBody.ptr, true); + PhysicsScene.PE.Activate(PhysBody, true); } } public override OMV.Vector3 Torque { @@ -576,7 +576,7 @@ public sealed class BSCharacter : BSPhysObject { get { - _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); + _orientation = PhysicsScene.PE.GetOrientation(PhysBody); return _orientation; } set @@ -584,8 +584,8 @@ public sealed class BSCharacter : BSPhysObject _orientation = value; if (PhysBody.HasPhysicalBody) { - // _position = BulletSimAPI.GetPosition2(BSBody.ptr); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + // _position = PhysicsScene.PE.GetPosition(BSBody); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); } } } @@ -636,9 +636,9 @@ public sealed class BSCharacter : BSPhysObject if (PhysBody.HasPhysicalBody) { if (_floatOnWater) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); else - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); } }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 59584b2..c9c7c2e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -37,6 +37,7 @@ public abstract class BSConstraint : IDisposable private static string LogHeader = "[BULLETSIM CONSTRAINT]"; protected BulletWorld m_world; + protected BSScene PhysicsScene; protected BulletBody m_body1; protected BulletBody m_body2; protected BulletConstraint m_constraint; @@ -48,8 +49,10 @@ public abstract class BSConstraint : IDisposable public abstract ConstraintType Type { get; } public bool IsEnabled { get { return m_enabled; } } - public BSConstraint() + public BSConstraint(BulletWorld world) { + m_world = world; + PhysicsScene = m_world.physicsScene; } public virtual void Dispose() @@ -59,7 +62,7 @@ public abstract class BSConstraint : IDisposable m_enabled = false; if (m_constraint.HasPhysicalConstraint) { - bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); + bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint); m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", BSScene.DetailLogZero, m_body1.ID, m_body1.ptr.ToString("X"), @@ -74,7 +77,7 @@ public abstract class BSConstraint : IDisposable { bool ret = false; if (m_enabled) - ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high); + ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high); return ret; } @@ -82,7 +85,7 @@ public abstract class BSConstraint : IDisposable { bool ret = false; if (m_enabled) - ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high); + ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high); return ret; } @@ -91,7 +94,7 @@ public abstract class BSConstraint : IDisposable bool ret = false; if (m_enabled) { - BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt); + PhysicsScene.PE.SetConstraintNumSolverIterations(m_constraint, cnt); ret = true; } return ret; @@ -103,7 +106,7 @@ public abstract class BSConstraint : IDisposable if (m_enabled) { // Recompute the internal transforms - BulletSimAPI.CalculateTransforms2(m_constraint.ptr); + PhysicsScene.PE.CalculateTransforms(m_constraint); ret = true; } return ret; @@ -122,7 +125,7 @@ public abstract class BSConstraint : IDisposable // Setting an object's mass to zero (making it static like when it's selected) // automatically disables the constraints. // If the link is enabled, be sure to set the constraint itself to enabled. - BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true)); + PhysicsScene.PE.SetConstraintEnable(m_constraint, BSParam.NumericBool(true)); } else { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index b946870..aee93c9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -43,15 +43,14 @@ public sealed class BSConstraint6Dof : BSConstraint Vector3 frame1, Quaternion frame1rot, Vector3 frame2, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + : base(world) { - m_world = world; m_body1 = obj1; m_body2 = obj2; - m_constraint = new BulletConstraint( - BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, + m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2, frame1, frame1rot, frame2, frame2rot, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); m_enabled = true; world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", BSScene.DetailLogZero, world.worldID, @@ -61,8 +60,8 @@ public sealed class BSConstraint6Dof : BSConstraint public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + : base(world) { - m_world = world; m_body1 = obj1; m_body2 = obj2; if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody) @@ -76,11 +75,10 @@ public sealed class BSConstraint6Dof : BSConstraint } else { - m_constraint = new BulletConstraint( - BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, + m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2, joinPoint, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"), obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); if (!m_constraint.HasPhysicalConstraint) @@ -101,7 +99,7 @@ public sealed class BSConstraint6Dof : BSConstraint bool ret = false; if (m_enabled) { - BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); + PhysicsScene.PE.SetFrames(m_constraint, frameA, frameArot, frameB, frameBrot); ret = true; } return ret; @@ -112,9 +110,9 @@ public sealed class BSConstraint6Dof : BSConstraint bool ret = false; if (m_enabled) { - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); + PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); ret = true; } return ret; @@ -125,7 +123,7 @@ public sealed class BSConstraint6Dof : BSConstraint bool ret = false; float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; if (m_enabled) - ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff); + ret = PhysicsScene.PE.UseFrameOffset(m_constraint, onOff); return ret; } @@ -135,7 +133,7 @@ public sealed class BSConstraint6Dof : BSConstraint float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; if (m_enabled) { - ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce); + ret = PhysicsScene.PE.TranslationalLimitMotor(m_constraint, onOff, targetVelocity, maxMotorForce); m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}", BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce); } @@ -146,7 +144,7 @@ public sealed class BSConstraint6Dof : BSConstraint { bool ret = false; if (m_enabled) - ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); + ret = PhysicsScene.PE.SetBreakingImpulseThreshold(m_constraint, threshold); return ret; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs index a5378b9..7714a03 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs @@ -40,15 +40,13 @@ public sealed class BSConstraintHinge : BSConstraint Vector3 pivotInA, Vector3 pivotInB, Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + : base(world) { - m_world = world; m_body1 = obj1; m_body2 = obj2; - m_constraint = new BulletConstraint( - BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, - pivotInA, pivotInB, - axisInA, axisInB, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2, + pivotInA, pivotInB, axisInA, axisInB, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); m_enabled = true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 0bdfbe3..5d70ef7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -558,7 +558,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Friction affects are handled by this vehicle code float friction = 0f; - BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction); + PhysicsScene.PE.SetFriction(Prim.PhysBody, friction); // Moderate angular movement introduced by Bullet. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. @@ -567,7 +567,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); // Vehicles report collision events so we know when it's on the ground - BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); + PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass); BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); @@ -581,7 +581,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } else { - BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); + PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); } } @@ -651,7 +651,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_knownChanged & m_knownChangedVelocity) != 0) { Prim.ForceVelocity = m_knownVelocity; - BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity); + PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, VehicleVelocity); } if ((m_knownChanged & m_knownChangedForce) != 0) @@ -661,7 +661,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { Prim.ForceRotationalVelocity = m_knownRotationalVelocity; // Fake out Bullet by making it think the velocity is the same as last time. - BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity); + PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity); } if ((m_knownChanged & m_knownChangedRotationalForce) != 0) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 9bb951c..3c99ca7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -131,10 +131,10 @@ public sealed class BSLinksetCompound : BSLinkset { // The origional prims are removed from the world as the shape of the root compound // shape takes over. - BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION); + PhysicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + PhysicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION); // We don't want collisions from the old linkset children. - BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); child.PhysBody.collisionType = CollisionType.LinksetChild; @@ -159,12 +159,12 @@ public sealed class BSLinksetCompound : BSLinkset else { // The non-physical children can come back to life. - BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); child.PhysBody.collisionType = CollisionType.LinksetChild; // Don't force activation so setting of DISABLE_SIMULATION can stay if used. - BulletSimAPI.Activate2(child.PhysBody.ptr, false); + PhysicsScene.PE.Activate(child.PhysBody, false); ret = true; } return ret; @@ -371,7 +371,7 @@ public sealed class BSLinksetCompound : BSLinkset PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); } - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); } } return false; // 'false' says to move onto the next child in the list diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 5c8553a..c6c2946 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -300,7 +300,7 @@ public static class BSParam (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, (s) => { return DeactivationTime; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ), + (s,o,v) => { s.PE.SetDeactivationTime(o.PhysBody, v); } ), new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", 0.8f, (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, @@ -318,19 +318,19 @@ public static class BSParam (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, (s) => { return CcdMotionThreshold; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ), + (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ), new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , 0f, (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); }, (s) => { return CcdSweptSphereRadius; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ), + (s,o,v) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, v); } ), new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , 0.1f, (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return ContactProcessingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), + (s,o,v) => { s.PE.SetContactProcessingThreshold(o.PhysBody, v); } ), new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", (float)BSTerrainPhys.TerrainImplementation.Mesh, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index b093890..e7cb3e0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -308,7 +308,7 @@ public abstract class BSPhysObject : PhysicsActor PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() { if (PhysBody.HasPhysicalBody) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } else @@ -324,7 +324,7 @@ public abstract class BSPhysObject : PhysicsActor { // Make sure there is a body there because sometimes destruction happens in an un-ideal order. if (PhysBody.HasPhysicalBody) - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } // Return 'true' if the simulator wants collision events diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index cf09be2..613606f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -120,7 +120,7 @@ public sealed class BSPrim : BSPhysObject { CreateGeomAndObject(true); - CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr); + CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody); }); } @@ -265,7 +265,7 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); if (PhysBody.HasPhysicalBody) { - BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); } }); @@ -318,14 +318,14 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Vector3 ForcePosition { get { - _position = BulletSimAPI.GetPosition2(PhysBody.ptr); + _position = PhysicsScene.PE.GetPosition(PhysBody); return _position; } set { _position = value; if (PhysBody.HasPhysicalBody) { - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); ActivateIfPhysical(false); } } @@ -419,7 +419,7 @@ public sealed class BSPrim : BSPhysObject // Changing interesting properties doesn't change proxy and collision cache // information. The Bullet solution is to re-add the object to the world // after parameters are changed. - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody); } // The computation of mass props requires gravity to be set on the object. @@ -649,9 +649,9 @@ public sealed class BSPrim : BSPhysObject { if (PhysBody.HasPhysicalBody) { - // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); + // _position = PhysicsScene.PE.GetObjectPosition(PhysicsScene.World, BSBody); // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); } }); } @@ -661,13 +661,13 @@ public sealed class BSPrim : BSPhysObject { get { - _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); + _orientation = PhysicsScene.PE.GetOrientation(PhysBody); return _orientation; } set { _orientation = value; - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); } } public override int PhysicsActorType { @@ -723,7 +723,7 @@ public sealed class BSPrim : BSPhysObject // Mangling all the physical properties requires the object not be in the physical world. // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody); // Set up the object physicalness (does gravity and collisions move this object) MakeDynamic(IsStatic); @@ -740,7 +740,7 @@ public sealed class BSPrim : BSPhysObject AddObjectToPhysicalWorld(); // Rebuild its shape - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); + PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); // Recompute any linkset parameters. // When going from non-physical to physical, this re-enables the constraints that @@ -762,28 +762,28 @@ public sealed class BSPrim : BSPhysObject if (makeStatic) { // Become a Bullet 'static' object type - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement ZeroMotion(true); // Set various physical properties so other object interact properly MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); - BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); - BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); + PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction); + PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution); // Mass is zero which disables a bunch of physics stuff in Bullet UpdatePhysicalMassProperties(0f, false); // Set collision detection parameters if (BSParam.CcdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); + PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); + PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); } // The activation state is 'disabled' so Bullet will not try to act on it. - // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); + // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION); // Start it out sleeping and physical actions could wake it up. - BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING); + PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING); // This collides like a static object PhysBody.collisionType = CollisionType.Static; @@ -794,22 +794,22 @@ public sealed class BSPrim : BSPhysObject else { // Not a Bullet static object - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT); // Set various physical properties so other object interact properly MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true); - BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); - BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); + PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction); + PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 // Since this can be called multiple times, only zero forces when becoming physical - // BulletSimAPI.ClearAllForces2(BSBody.ptr); + // PhysicsScene.PE.ClearAllForces(BSBody); // For good measure, make sure the transform is set through to the motion state - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); // Center of mass is at the center of the object - // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); + // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody, _position, _orientation); // A dynamic object has mass UpdatePhysicalMassProperties(RawMass, false); @@ -817,22 +817,22 @@ public sealed class BSPrim : BSPhysObject // Set collision detection parameters if (BSParam.CcdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); + PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); + PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); } // Various values for simulation limits BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping); - BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime); + PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime); BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); - BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold); + PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); // This collides like an object. PhysBody.collisionType = CollisionType.Dynamic; // Force activation of the object so Bullet will act on it. // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. - BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); + PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); // There might be special things needed for implementing linksets. Linkset.MakeDynamic(this); @@ -853,7 +853,7 @@ public sealed class BSPrim : BSPhysObject { m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType); } - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); } else { @@ -861,7 +861,7 @@ public sealed class BSPrim : BSPhysObject { m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); } - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); // Change collision info from a static object to a ghosty collision object PhysBody.collisionType = CollisionType.VolumeDetect; @@ -874,7 +874,7 @@ public sealed class BSPrim : BSPhysObject private void ActivateIfPhysical(bool forceIt) { if (IsPhysical && PhysBody.HasPhysicalBody) - BulletSimAPI.Activate2(PhysBody.ptr, forceIt); + PhysicsScene.PE.Activate(PhysBody, forceIt); } // Turn on or off the flag controlling whether collision events are returned to the simulator. @@ -882,11 +882,11 @@ public sealed class BSPrim : BSPhysObject { if (wantsCollisionEvents) { - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } else { - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } } @@ -897,7 +897,7 @@ public sealed class BSPrim : BSPhysObject { if (PhysBody.HasPhysicalBody) { - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. // Replace this when the new AddObjectToWorld function is complete. @@ -941,9 +941,9 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() { if (_floatOnWater) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); else - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); }); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index e7d8d14..6f819d8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -143,7 +143,7 @@ public sealed class BSShapeCollection : IDisposable { if (!BulletSimAPI.IsInWorld2(body.ptr)) { - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body); if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); } }); @@ -168,12 +168,12 @@ public sealed class BSShapeCollection : IDisposable if (BulletSimAPI.IsInWorld2(body.ptr)) { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); + PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body); if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); } // Zero any reference to the shape so it is not freed when the body is deleted. - BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); + PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, new BulletShape()); PhysicsScene.PE.DestroyObject(PhysicsScene.World, body); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index a2c085e..01966c0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -91,13 +91,12 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys // Using the information in m_mapInfo, create the physical representation of the heightmap. private void BuildHeightmapTerrain() { - m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, + m_mapInfo.Ptr = PhysicsScene.PE.CreateHeightMapInfo(PhysicsScene.World, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, BSParam.TerrainCollisionMargin); // Create the terrain shape from the mapInfo - m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), - BSPhysicsShapeType.SHAPE_TERRAIN); + m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape(m_mapInfo.Ptr); // The terrain object initial position is at the center of the object Vector3 centerPos; @@ -109,22 +108,22 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys m_mapInfo.ID, centerPos, Quaternion.Identity); // Set current terrain attributes - BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction); - BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction); - BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution); - BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + PhysicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction); + PhysicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction); + PhysicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution); + PhysicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT); // Return the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_mapInfo.terrainBody); // redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody); m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; m_mapInfo.terrainBody.ApplyCollisionMask(); // Make it so the terrain will not move or be considered for movement. - BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION); return; } @@ -136,10 +135,10 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { if (m_mapInfo.terrainBody.HasPhysicalBody) { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody); // Frees both the body and the shape. PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody); - BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); + PhysicsScene.PE.ReleaseHeightMapInfo(m_mapInfo.Ptr); } } m_mapInfo = null; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index d99a50f..590c687 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -133,17 +133,14 @@ public sealed class BSTerrainManager : IDisposable public void CreateInitialGroundPlaneAndTerrain() { // The ground plane is here to catch things that are trying to drop to negative infinity - BulletShape groundPlaneShape = new BulletShape( - BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, - BSParam.TerrainCollisionMargin), - BSPhysicsShapeType.SHAPE_GROUNDPLANE); + BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr); + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_groundPlane); + PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_groundPlane); // Ground plane does not move - BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); + PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION); // Everything collides with the ground plane. m_groundPlane.collisionType = CollisionType.Groundplane; m_groundPlane.ApplyCollisionMask(); @@ -158,7 +155,7 @@ public sealed class BSTerrainManager : IDisposable { if (m_groundPlane.HasPhysicalBody) { - if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr)) + if (PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_groundPlane)) { PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_groundPlane); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index d8c4972..2f55fc3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -114,32 +114,32 @@ public sealed class BSTerrainMesh : BSTerrainPhys } // Set current terrain attributes - BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction); - BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction); - BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution); - BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction); + PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction); + PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution); + PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT); // Static objects are not very massive. BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); // Put the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody); // Redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); + PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody); m_terrainBody.collisionType = CollisionType.Terrain; m_terrainBody.ApplyCollisionMask(); // Make it so the terrain will not move or be considered for movement. - BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION); } public override void Dispose() { if (m_terrainBody.HasPhysicalBody) { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); + PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_terrainBody); // Frees both the body and the shape. PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 6b76151..b119f22 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -367,7 +367,6 @@ public abstract void ReleaseBodyInfo(IntPtr obj); public abstract void DestroyObject(BulletWorld sim, BulletBody obj); - /* // ===================================================================================== // Terrain creation and helper routines public abstract IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, @@ -378,9 +377,9 @@ public abstract IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint i public abstract bool ReleaseHeightMapInfo(IntPtr heightMapInfo); -public abstract BulletBody CreateGroundPlaneShape(uint id, float height, float collisionMargin); +public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin); -public abstract BulletBody CreateTerrainShape(IntPtr mapInfo); +public abstract BulletShape CreateTerrainShape(IntPtr mapInfo); // ===================================================================================== // Constraint creation and helper routines @@ -460,7 +459,7 @@ public abstract bool IsStaticOrKinematicObject(BulletBody obj); public abstract bool HasContactResponse(BulletBody obj); -public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletBody shape); +public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape); public abstract BulletShape GetCollisionShape(BulletBody obj); @@ -526,6 +525,7 @@ public abstract IntPtr GetUserPointer(BulletBody obj); public abstract void SetUserPointer(BulletBody obj, IntPtr val); + /* // ===================================================================================== // btRigidBody entries public abstract void ApplyGravity(BulletBody obj); -- cgit v1.1