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authorRobert Adams2012-09-07 15:46:14 -0700
committerRobert Adams2012-09-07 16:05:28 -0700
commit126eae71009001c5455e4896cf12317422bbac51 (patch)
tree7ceb0c01d5fb352707de447227a308bfe8715c39
parentBulletSim: Add some comments (gasp) and log messages. (diff)
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BulletSim: Add Bullet body and shape to BSPhysObject and rename
'Body' to 'BSBody' for disambiguation when reading code. Complete the API2 interface so nearly all methods on bullet classes are available to the managed code. The efficient single call simulation step is kept in place while all other creation/destruction/parameterization can be done in the managed code.
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs11
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs10
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs6
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs96
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs440
6 files changed, 505 insertions, 62 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index dc2b595..fa22c78 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -73,7 +73,8 @@ public class BSCharacter : BSPhysObject
73 private bool _kinematic; 73 private bool _kinematic;
74 private float _buoyancy; 74 private float _buoyancy;
75 75
76 public override BulletBody Body { get; set; } 76 public override BulletBody BSBody { get; set; }
77 public override BulletShape BSShape { get; set; }
77 public override BSLinkset Linkset { get; set; } 78 public override BSLinkset Linkset { get; set; }
78 79
79 private int _subscribedEventsMs = 0; 80 private int _subscribedEventsMs = 0;
@@ -129,9 +130,9 @@ public class BSCharacter : BSPhysObject
129 // Set the buoyancy for flying. This will be refactored when all the settings happen in C# 130 // Set the buoyancy for flying. This will be refactored when all the settings happen in C#
130 BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); 131 BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
131 132
132 Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID)); 133 BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID));
133 // avatars get all collisions no matter what (makes walking on ground and such work) 134 // avatars get all collisions no matter what (makes walking on ground and such work)
134 BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 135 BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
135 }); 136 });
136 137
137 return; 138 return;
@@ -441,7 +442,7 @@ public class BSCharacter : BSPhysObject
441 Scene.TaintedObject("BSCharacter.AddForce", delegate() 442 Scene.TaintedObject("BSCharacter.AddForce", delegate()
442 { 443 {
443 DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); 444 DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
444 BulletSimAPI.AddObjectForce2(Body.Ptr, _force); 445 BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force);
445 }); 446 });
446 } 447 }
447 else 448 else
@@ -466,7 +467,7 @@ public class BSCharacter : BSPhysObject
466 467
467 Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate() 468 Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate()
468 { 469 {
469 BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 470 BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
470 }); 471 });
471 } 472 }
472 } 473 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 3111258..5f6601d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -233,7 +233,7 @@ public class BSLinkset
233 foreach (BSPhysObject child in m_children) 233 foreach (BSPhysObject child in m_children)
234 { 234 {
235 BSConstraint constrain; 235 BSConstraint constrain;
236 if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.Body, child.Body, out constrain)) 236 if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
237 { 237 {
238 // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", 238 // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
239 // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); 239 // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
@@ -327,7 +327,7 @@ public class BSLinkset
327 DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", 327 DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}",
328 rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint); 328 rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint);
329 BS6DofConstraint constrain = new BS6DofConstraint( 329 BS6DofConstraint constrain = new BS6DofConstraint(
330 m_physicsScene.World, rootPrim.Body, childPrim.Body, 330 m_physicsScene.World, rootPrim.BSBody, childPrim.BSBody,
331 midPoint, 331 midPoint,
332 true, 332 true,
333 true 333 true
@@ -388,10 +388,10 @@ public class BSLinkset
388 DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); 388 DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
389 389
390 // Find the constraint for this link and get rid of it from the overall collection and from my list 390 // Find the constraint for this link and get rid of it from the overall collection and from my list
391 m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body); 391 m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody);
392 392
393 // Make the child refresh its location 393 // Make the child refresh its location
394 BulletSimAPI.PushUpdate2(childPrim.Body.Ptr); 394 BulletSimAPI.PushUpdate2(childPrim.BSBody.Ptr);
395 } 395 }
396 396
397 // Remove linkage between myself and any possible children I might have 397 // Remove linkage between myself and any possible children I might have
@@ -400,7 +400,7 @@ public class BSLinkset
400 { 400 {
401 DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); 401 DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
402 402
403 m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body); 403 m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
404 } 404 }
405 405
406 // Invoke the detailed logger and output something if it's enabled. 406 // Invoke the detailed logger and output something if it's enabled.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index ef463ca..e411fcb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -48,7 +48,11 @@ public abstract class BSPhysObject : PhysicsActor
48 // Return the object mass without calculating it or side effects 48 // Return the object mass without calculating it or side effects
49 public abstract float MassRaw { get; } 49 public abstract float MassRaw { get; }
50 50
51 public abstract BulletBody Body { get; set; } 51 // Reference to the physical body (btCollisionObject) of this object
52 public abstract BulletBody BSBody { get; set; }
53 // Reference to the physical shape (btCollisionShape) of this object
54 public abstract BulletShape BSShape { get; set; }
55
52 public abstract void ZeroMotion(); 56 public abstract void ZeroMotion();
53 57
54 public virtual void StepVehicle(float timeStep) { } 58 public virtual void StepVehicle(float timeStep) { }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 01f231b..6d0af63 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -96,7 +96,8 @@ public sealed class BSPrim : BSPhysObject
96 long _collidingGroundStep; 96 long _collidingGroundStep;
97 CollisionFlags m_currentCollisionFlags = 0; 97 CollisionFlags m_currentCollisionFlags = 0;
98 98
99 public override BulletBody Body { get; set; } 99 public override BulletBody BSBody { get; set; }
100 public override BulletShape BSShape { get; set; }
100 101
101 private BSDynamics _vehicle; 102 private BSDynamics _vehicle;
102 103
@@ -144,8 +145,9 @@ public sealed class BSPrim : BSPhysObject
144 // Get the pointer to the physical body for this object. 145 // Get the pointer to the physical body for this object.
145 // At the moment, we're still letting BulletSim manage the creation and destruction 146 // At the moment, we're still letting BulletSim manage the creation and destruction
146 // of the object. Someday we'll move that into the C# code. 147 // of the object. Someday we'll move that into the C# code.
147 Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); 148 BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
148 m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(Body.Ptr); 149 BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
150 m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr);
149 }); 151 });
150 } 152 }
151 153
@@ -261,10 +263,10 @@ public sealed class BSPrim : BSPhysObject
261 _rotationalVelocity = OMV.Vector3.Zero; 263 _rotationalVelocity = OMV.Vector3.Zero;
262 264
263 // Zero some other properties directly into the physics engine 265 // Zero some other properties directly into the physics engine
264 BulletSimAPI.SetVelocity2(Body.Ptr, OMV.Vector3.Zero); 266 BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
265 BulletSimAPI.SetAngularVelocity2(Body.Ptr, OMV.Vector3.Zero); 267 BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
266 BulletSimAPI.SetInterpolation2(Body.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); 268 BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
267 BulletSimAPI.ClearForces2(Body.Ptr); 269 BulletSimAPI.ClearForces2(BSBody.Ptr);
268 } 270 }
269 271
270 public override void LockAngularMotion(OMV.Vector3 axis) 272 public override void LockAngularMotion(OMV.Vector3 axis)
@@ -327,7 +329,7 @@ public sealed class BSPrim : BSPhysObject
327 { 329 {
328 DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); 330 DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
329 // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); 331 // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
330 BulletSimAPI.SetObjectForce2(Body.Ptr, _force); 332 BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force);
331 }); 333 });
332 } 334 }
333 } 335 }
@@ -472,10 +474,11 @@ public sealed class BSPrim : BSPhysObject
472 474
473 // Make gravity work if the object is physical and not selected 475 // Make gravity work if the object is physical and not selected
474 // No locking here because only called when it is safe 476 // No locking here because only called when it is safe
475 // There are three flags we're interested in: 477 // There are four flags we're interested in:
476 // IsStatic: Object does not move, otherwise the object has mass and moves 478 // IsStatic: Object does not move, otherwise the object has mass and moves
477 // isSolid: other objects bounce off of this object 479 // isSolid: other objects bounce off of this object
478 // collisionEvents: whether this object returns collision events 480 // isVolumeDetect: other objects pass through but can generate collisions
481 // collisionEvents: whether this object returns collision events
479 private void SetObjectDynamic() 482 private void SetObjectDynamic()
480 { 483 {
481 // If it's becoming dynamic, it will need hullness 484 // If it's becoming dynamic, it will need hullness
@@ -485,14 +488,68 @@ public sealed class BSPrim : BSPhysObject
485 float mass = IsStatic ? 0f : _mass; 488 float mass = IsStatic ? 0f : _mass;
486 489
487 BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); 490 BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
488 m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(Body.Ptr); 491 /*
492 BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr);
493
494 // Set up the object physicalness (static or dynamic)
495 MakeDynamic();
496
497 // Make solid or not and arrange for collisions, etc
498 MakeSolid();
489 499
490 // recompute any linkset parameters 500 m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr);
501
502 BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr);
503 */
504
505 // Recompute any linkset parameters.
506 // When going from non-physical to physical, this re-enables the constraints that
507 // had been automatically disabled when the mass was set to zero.
491 Linkset.Refresh(this); 508 Linkset.Refresh(this);
492 509
493 DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, m_currentCollisionFlags); 510 DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, m_currentCollisionFlags);
494 } 511 }
495 512
513 // "Making dynamic" means changing to and from static.
514 // When static, gravity does not effect the object and it is fixed in space.
515 // When dynamic, the object can fall and be pushed by others.
516 // This is independent of its 'solidness' which controls what passes through
517 // this object and what interacts with it.
518 private void MakeDynamic()
519 {
520 if (IsStatic)
521 {
522 // Become a Bullet 'static' object type
523 BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
524 // Stop all movement
525 BulletSimAPI.ClearAllForces2(BSBody.Ptr);
526 // Mass is zero which disables a bunch of physics stuff in Bullet
527 BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero);
528 // There is no inertia in a static object
529 BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
530 // The activation state is 'sleeping' so Bullet will not try to act on it
531 BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING);
532 }
533 else
534 {
535 // Not a Bullet static object
536 BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
537 // A dynamic object has mass
538 BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, OMV.Vector3.Zero);
539 // The shape is interesting and has mass and a center of gravity
540 IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr);
541 BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass, OMV.Vector3.Zero);
542 // Inertia is based on our new mass
543 BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
544 // Force activation of the object so Bullet will act on it.
545 BulletSimAPI.Activate2(BSBody.Ptr, true);
546 }
547 }
548
549 private void MakeSolid()
550 {
551 }
552
496 // prims don't fly 553 // prims don't fly
497 public override bool Flying { 554 public override bool Flying {
498 get { return _flying; } 555 get { return _flying; }
@@ -615,7 +672,7 @@ public sealed class BSPrim : BSPhysObject
615 } 672 }
616 else 673 else
617 { 674 {
618 m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); 675 m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
619 return; 676 return;
620 } 677 }
621 _scene.TaintedObject("BSPrim.AddForce", delegate() 678 _scene.TaintedObject("BSPrim.AddForce", delegate()
@@ -630,7 +687,8 @@ public sealed class BSPrim : BSPhysObject
630 m_accumulatedForces.Clear(); 687 m_accumulatedForces.Clear();
631 } 688 }
632 DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); 689 DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force);
633 BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); 690 // For unknown reason, "ApplyCentralForce" is really additive.
691 BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum);
634 }); 692 });
635 } 693 }
636 694
@@ -650,7 +708,7 @@ public sealed class BSPrim : BSPhysObject
650 708
651 Scene.TaintedObject("BSPrim.SubscribeEvents", delegate() 709 Scene.TaintedObject("BSPrim.SubscribeEvents", delegate()
652 { 710 {
653 m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 711 m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
654 }); 712 });
655 } 713 }
656 } 714 }
@@ -658,7 +716,7 @@ public sealed class BSPrim : BSPhysObject
658 _subscribedEventsMs = 0; 716 _subscribedEventsMs = 0;
659 Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate() 717 Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate()
660 { 718 {
661 m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 719 m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
662 }); 720 });
663 } 721 }
664 public override bool SubscribedEvents() { 722 public override bool SubscribedEvents() {
@@ -1243,7 +1301,7 @@ public sealed class BSPrim : BSPhysObject
1243 bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); 1301 bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape);
1244 1302
1245 // the CreateObject() may have recreated the rigid body. Make sure we have the latest. 1303 // the CreateObject() may have recreated the rigid body. Make sure we have the latest.
1246 Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); 1304 BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
1247 1305
1248 return ret; 1306 return ret;
1249 } 1307 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 4285073..47d7199 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -403,8 +403,8 @@ public class BSTerrainManager
403 { 403 {
404 float regionX = tX - offsetX; 404 float regionX = tX - offsetX;
405 float regionY = tY - offsetY; 405 float regionY = tY - offsetY;
406 if (regionX > mapInfo.sizeX) regionX = 0; 406 if (regionX >= mapInfo.sizeX || regionX < 0f) regionX = 0;
407 if (regionY > mapInfo.sizeY) regionY = 0; 407 if (regionY >= mapInfo.sizeY || regionY < 0f) regionY = 0;
408 int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX; 408 int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX;
409 ret = mapInfo.heightMap[mapIndex]; 409 ret = mapInfo.heightMap[mapIndex];
410 m_terrainModified = false; 410 m_terrainModified = false;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index d28c14b..e579cf2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -218,7 +218,20 @@ public struct ConfigurationParameters
218 public const float numericFalse = 0f; 218 public const float numericFalse = 0f;
219} 219}
220 220
221// Values used by Bullet and BulletSim to control collisions 221
222// The states a bullet collision object can have
223public enum ActivationState : uint
224{
225 ACTIVE_TAG = 1,
226 ISLAND_SLEEPING,
227 WANTS_DEACTIVATION,
228 DISABLE_DEACTIVATION,
229 DISABLE_SIMULATION
230}
231
232// Values used by Bullet and BulletSim to control object properties.
233// Bullet's "CollisionFlags" has more to do with operations on the
234// object (if collisions happen, if gravity effects it, ...).
222public enum CollisionFlags : uint 235public enum CollisionFlags : uint
223{ 236{
224 CF_STATIC_OBJECT = 1 << 0, 237 CF_STATIC_OBJECT = 1 << 0,
@@ -233,8 +246,75 @@ public enum CollisionFlags : uint
233 BS_VOLUME_DETECT_OBJECT = 1 << 11, 246 BS_VOLUME_DETECT_OBJECT = 1 << 11,
234 BS_PHANTOM_OBJECT = 1 << 12, 247 BS_PHANTOM_OBJECT = 1 << 12,
235 BS_PHYSICAL_OBJECT = 1 << 13, 248 BS_PHYSICAL_OBJECT = 1 << 13,
249 BS_TERRAIN_OBJECT = 1 << 14,
250 BS_NONE = 0,
251 BS_ALL = 0xFFFFFFFF
252};
253
254// Values for collisions groups and masks
255public enum CollisionFilterGroups : uint
256{
257 NoneFilter = 0,
258 DefaultFilter = 1 << 0,
259 StaticFilter = 1 << 1,
260 KinematicFilter = 1 << 2,
261 DebrisFilter = 1 << 3,
262 SensorTrigger = 1 << 4,
263 CharacterFilter = 1 << 5,
264 AllFilter = 0xFFFFFFFF,
265 // Filter groups defined by BulletSim
266 GroundPlaneFilter = 1 << 10,
267 TerrainFilter = 1 << 11,
268 RaycastFilter = 1 << 12,
269 SolidFilter = 1 << 13,
236}; 270};
237 271
272 // For each type, we first clear and then set the collision flags
273public enum ClearCollisionFlag : uint
274{
275 Terrain = CollisionFlags.BS_ALL,
276 Phantom = CollisionFlags.BS_ALL,
277 VolumeDetect = CollisionFlags.BS_ALL,
278 PhysicalObject = CollisionFlags.BS_ALL,
279 StaticObject = CollisionFlags.BS_ALL
280}
281
282public enum SetCollisionFlag : uint
283{
284 Terrain = CollisionFlags.CF_STATIC_OBJECT
285 | CollisionFlags.BS_TERRAIN_OBJECT,
286 Phantom = CollisionFlags.CF_STATIC_OBJECT
287 | CollisionFlags.BS_PHANTOM_OBJECT
288 | CollisionFlags.CF_NO_CONTACT_RESPONSE,
289 VolumeDetect = CollisionFlags.CF_STATIC_OBJECT
290 | CollisionFlags.BS_VOLUME_DETECT_OBJECT
291 | CollisionFlags.CF_NO_CONTACT_RESPONSE,
292 PhysicalObject = CollisionFlags.BS_PHYSICAL_OBJECT,
293 StaticObject = CollisionFlags.CF_STATIC_OBJECT,
294}
295
296// Collision filters used for different types of objects
297public enum SetCollisionFilter : uint
298{
299 Terrain = CollisionFilterGroups.AllFilter,
300 Phantom = CollisionFilterGroups.GroundPlaneFilter
301 | CollisionFilterGroups.TerrainFilter,
302 VolumeDetect = CollisionFilterGroups.AllFilter,
303 PhysicalObject = CollisionFilterGroups.AllFilter,
304 StaticObject = CollisionFilterGroups.AllFilter,
305}
306
307// Collision masks used for different types of objects
308public enum SetCollisionMask : uint
309{
310 Terrain = CollisionFilterGroups.AllFilter,
311 Phantom = CollisionFilterGroups.GroundPlaneFilter
312 | CollisionFilterGroups.TerrainFilter,
313 VolumeDetect = CollisionFilterGroups.AllFilter,
314 PhysicalObject = CollisionFilterGroups.AllFilter,
315 StaticObject = CollisionFilterGroups.AllFilter
316}
317
238// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 318// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
239// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. 319// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
240public enum ConstraintParams : int 320public enum ConstraintParams : int
@@ -347,6 +427,7 @@ public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 veloc
347[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 427[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
348public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity); 428public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
349 429
430// Set the current force acting on the object
350[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 431[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
351public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force); 432public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
352 433
@@ -403,6 +484,7 @@ public static extern void SetDebugLogCallback(DebugLogCallback callback);
403// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt 484// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt
404// and the old code is removed. 485// and the old code is removed.
405 486
487// Functions use while converting from API1 to API2. Can be removed when totally converted.
406[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 488[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
407public static extern IntPtr GetSimHandle2(uint worldID); 489public static extern IntPtr GetSimHandle2(uint worldID);
408 490
@@ -413,6 +495,7 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
413public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); 495public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
414 496
415// =============================================================================== 497// ===============================================================================
498// Initialization and simulation
416[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 499[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
417public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, 500public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
418 int maxCollisions, IntPtr collisionArray, 501 int maxCollisions, IntPtr collisionArray,
@@ -438,6 +521,7 @@ public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSt
438public static extern bool PushUpdate2(IntPtr obj); 521public static extern bool PushUpdate2(IntPtr obj);
439 522
440// ===================================================================================== 523// =====================================================================================
524// Mesh, hull, shape and body creation helper routines
441[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 525[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
442public static extern IntPtr CreateMeshShape2(IntPtr world, 526public static extern IntPtr CreateMeshShape2(IntPtr world,
443 int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, 527 int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
@@ -467,15 +551,19 @@ public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape
467public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); 551public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot);
468 552
469[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 553[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
470public static extern bool SetBodyShape2(IntPtr sim, IntPtr obj, IntPtr shape);
471
472[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
473public static extern IntPtr AllocateBodyInfo2(IntPtr obj); 554public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
474 555
475[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 556[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
476public static extern void ReleaseBodyInfo2(IntPtr obj); 557public static extern void ReleaseBodyInfo2(IntPtr obj);
477 558
559[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
560public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
561
478// ===================================================================================== 562// =====================================================================================
563// Terrain creation and helper routines
564[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
565public static extern void DumpMapInfo(IntPtr sim, IntPtr manInfo);
566
479[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 567[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
480public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, 568public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
481 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); 569 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
@@ -494,6 +582,7 @@ public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float
494public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo); 582public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
495 583
496// ===================================================================================== 584// =====================================================================================
585// Constraint creation and helper routines
497[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 586[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
498public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, 587public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
499 Vector3 frame1loc, Quaternion frame1rot, 588 Vector3 frame1loc, Quaternion frame1rot,
@@ -546,69 +635,145 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams
546public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); 635public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
547 636
548// ===================================================================================== 637// =====================================================================================
638// btCollisionWorld entries
639[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
640public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
641
642[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
643public static extern void UpdateAabbs2(IntPtr world);
644
645[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
646public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
647
648[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
649public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
650
651// =====================================================================================
652// btDynamicsWorld entries
549[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 653[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
550public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); 654public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
551 655
552[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 656[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
553public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); 657public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
554 658
659[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
660public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
661
662[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
663public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
555// ===================================================================================== 664// =====================================================================================
665// btCollisionObject entries
666[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
667public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
668
669[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
670public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
671
672[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
673public static extern bool HasAnisotripicFriction2(IntPtr constrain);
674
675[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
676public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
677
678[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
679public static extern float GetContactProcessingThreshold2(IntPtr obj);
680
681[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
682public static extern bool IsStaticObject2(IntPtr obj);
683
684[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
685public static extern bool IsKinematicObject2(IntPtr obj);
686
687[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
688public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
689
690[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
691public static extern bool HasContactResponse2(IntPtr obj);
692
693[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
694public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
695
696[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
697public static extern IntPtr GetCollisionShape2(IntPtr obj);
698
699[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
700public static extern int GetActivationState2(IntPtr obj);
701
702[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
703public static extern void SetActivationState2(IntPtr obj, int state);
704
705[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
706public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
707
708[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
709public static extern float GetDeactivationTime2(IntPtr obj);
710
711[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
712public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
713
556[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 714[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
557public static extern void Activate2(IntPtr obj, bool forceActivation); 715public static extern void Activate2(IntPtr obj, bool forceActivation);
558 716
559[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 717[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
560public static extern Vector3 GetPosition2(IntPtr obj); 718public static extern bool IsActive2(IntPtr obj);
561 719
562[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 720[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
563public static extern Quaternion GetOrientation2(IntPtr obj); 721public static extern void SetRestitution2(IntPtr obj, float val);
564 722
565[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 723[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
566public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); 724public static extern float GetRestitution2(IntPtr obj);
567 725
568[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 726[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
569public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity); 727public static extern void SetFriction2(IntPtr obj, float val);
570 728
571[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 729[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
572public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); 730public static extern float GetFriction2(IntPtr obj);
573 731
732 /* Haven't defined the type 'Transform'
574[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 733[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
575public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); 734public static extern Transform GetWorldTransform2(IntPtr obj);
576 735
577[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 736[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
578public static extern bool AddObjectForce2(IntPtr obj, Vector3 force); 737public static extern void setWorldTransform2(IntPtr obj, Transform trans);
738 */
579 739
580[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 740[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
581public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); 741public static extern Vector3 GetPosition2(IntPtr obj);
582 742
583[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 743[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
584public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val); 744public static extern Quaternion GetOrientation2(IntPtr obj);
585 745
586[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 746[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
587public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping); 747public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
588 748
589[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 749[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
590public static extern bool SetDeactivationTime2(IntPtr obj, float val); 750public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
591 751
592[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 752[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
593public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); 753public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
594 754
755 /*
595[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 756[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
596public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); 757public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
597 758
598[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 759[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
599public static extern bool SetFriction2(IntPtr obj, float val); 760public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
761 */
600 762
601[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 763[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
602public static extern bool SetHitFraction2(IntPtr obj, float val); 764public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
603 765
604[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 766[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
605public static extern bool SetRestitution2(IntPtr obj, float val); 767public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
606 768
607[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 769[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
608public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); 770public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
609 771
610[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 772[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
611public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); 773public static extern float GetHitFraction2(IntPtr obj);
774
775[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
776public static extern void SetHitFraction2(IntPtr obj, float val);
612 777
613[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 778[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
614public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); 779public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
@@ -623,30 +788,245 @@ public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFl
623public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); 788public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
624 789
625[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 790[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
626public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); 791public static extern float GetCcdMotionThreshold2(IntPtr obj);
792
793[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
794public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
795
796[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
797public static extern float GetCcdSweepSphereRadius2(IntPtr obj);
798
799[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
800public static extern void SetCcdSweepSphereRadius2(IntPtr obj, float val);
801
802[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
803public static extern IntPtr GetUserPointer2(IntPtr obj);
804
805[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
806public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
807
808// =====================================================================================
809// btRigidBody entries
810[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
811public static extern void ApplyGravity2(IntPtr obj);
812
813[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
814public static extern void SetGravity2(IntPtr obj, Vector3 val);
815
816[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
817public static extern Vector3 GetGravity2(IntPtr obj);
818
819[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
820public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
821
822[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
823public static extern float GetLinearDamping2(IntPtr obj);
824
825[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
826public static extern float GetAngularDamping2(IntPtr obj);
827
828[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
829public static extern float GetLinearSleepingThreshold2(IntPtr obj);
830
831[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
832public static extern float GetAngularSleepingThreshold2(IntPtr obj);
833
834[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
835public static extern void ApplyDamping2(IntPtr obj, float timeStep);
836
837[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
838public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
627 839
628[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 840[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
629public static extern bool UpdateInertiaTensor2(IntPtr obj); 841public static extern Vector3 GetLinearFactor2(IntPtr obj);
630 842
631[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 843[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
632public static extern bool SetGravity2(IntPtr obj, Vector3 val); 844public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
633 845
846 /*
634[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 847[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
635public static extern IntPtr ClearForces2(IntPtr obj); 848public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
849 */
636 850
637[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 851[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
638public static extern IntPtr ClearAllForces2(IntPtr obj); 852public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
639 853
854// Add a force to the object as if its mass is one.
640[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 855[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
641public static extern bool SetMargin2(IntPtr obj, float val); 856public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
642 857
858// Set the force being applied to the object as if its mass is one.
643[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 859[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
644public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); 860public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
645 861
646[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 862[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
647public static extern bool DestroyObject2(IntPtr world, IntPtr obj); 863public static extern Vector3 GetTotalForce2(IntPtr obj);
648 864
649[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 865[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
866public static extern Vector3 GetTotalTorque2(IntPtr obj);
867
868[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
869public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
870
871[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
872public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
873
874[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
875public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
876
877[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
878public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
879
880// Apply force at the given point. Will add torque to the object.
881[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
882public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
883
884// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
885[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
886public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
887
888// Apply impulse to the object's torque. Force is scaled by object's mass.
889[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
890public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
891
892// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
893[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
894public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
895
896[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
897public static extern void ClearForces2(IntPtr obj);
898
899[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
900public static extern void ClearAllForces2(IntPtr obj);
901
902[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
903public static extern void UpdateInertiaTensor2(IntPtr obj);
904
905[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
906public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
907
908 /*
909[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
910public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
911 */
912
913[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
914public static extern Vector3 GetLinearVelocity2(IntPtr obj);
915
916[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
917public static extern Vector3 GetAngularVelocity2(IntPtr obj);
918
919[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
920public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
921
922[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
923public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
924
925[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
926public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
927
928[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
929public static extern void Translate2(IntPtr obj, Vector3 trans);
930
931[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
932public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
933
934[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
935public static extern bool WantsSleeping2(IntPtr obj);
936
937[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
938public static extern void SetAngularFactor2(IntPtr obj, float factor);
939
940[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
941public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
942
943[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
944public static extern Vector3 GetAngularFactor2(IntPtr obj);
945
946[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
947public static extern bool IsInWorld2(IntPtr obj);
948
949[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
950public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
951
952[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
953public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
954
955[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
956public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
957
958[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
959public static extern int GetNumConstraintRefs2(IntPtr obj);
960
961[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
962public static extern Vector3 GetDeltaLinearVelocity2(IntPtr obj);
963
964[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
965public static extern Vector3 GetDeltaAngularVelocity2(IntPtr obj);
966
967[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
968public static extern Vector3 GetPushVelocity2(IntPtr obj);
969
970[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
971public static extern Vector3 GetTurnVelocity2(IntPtr obj);
972
973// =====================================================================================
974// btCollisionShape entries
975
976[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
977public static extern float GetAngularMotionDisc2(IntPtr shape);
978
979[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
980public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
981
982[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
983public static extern bool IsPolyhedral2(IntPtr shape);
984
985[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
986public static extern bool IsConvex2d2(IntPtr shape);
987
988[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
989public static extern bool IsConvex2(IntPtr shape);
990
991[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
992public static extern bool IsNonMoving2(IntPtr shape);
993
994[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
995public static extern bool IsConcave2(IntPtr shape);
996
997[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
998public static extern bool IsCompound2(IntPtr shape);
999
1000[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1001public static extern bool IsSoftBody2(IntPtr shape);
1002
1003[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1004public static extern bool IsInfinite2(IntPtr shape);
1005
1006[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1007public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
1008
1009[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1010public static extern Vector3 GetLocalScaling2(IntPtr shape);
1011
1012[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1013public static extern void CalculateLocalInertia2(IntPtr shape, float mass, Vector3 inertia);
1014
1015[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1016public static extern int GetShapeType2(IntPtr shape);
1017
1018[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1019public static extern void SetMargin2(IntPtr shape, float val);
1020
1021[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1022public static extern float GetMargin2(IntPtr shape);
1023
1024[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1025public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint mask);
1026
1027// =====================================================================================
1028// Debugging
1029[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
650public static extern void DumpPhysicsStatistics2(IntPtr sim); 1030public static extern void DumpPhysicsStatistics2(IntPtr sim);
651 1031
652} 1032}