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author | Justin Clark-Casey (justincc) | 2012-07-26 23:46:54 +0100 |
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committer | Justin Clark-Casey (justincc) | 2012-07-26 23:46:54 +0100 |
commit | 0aaf52fca43d0fed461b228dfad4b5d3f42da2b7 (patch) | |
tree | 847a357593e5aa532c397d3886366e4c4922958f /OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |
parent | When copying items, copy the item description field instead of the asset desc... (diff) | |
parent | BulletSim: update BulletSim DLLs and SOs (diff) | |
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 48 |
1 files changed, 46 insertions, 2 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 54a8cfd..89fd9b7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -32,6 +32,28 @@ using OpenMetaverse; | |||
32 | 32 | ||
33 | namespace OpenSim.Region.Physics.BulletSPlugin { | 33 | namespace OpenSim.Region.Physics.BulletSPlugin { |
34 | 34 | ||
35 | // Classes to allow some type checking for the API | ||
36 | public struct BulletSim | ||
37 | { | ||
38 | public BulletSim(uint id, IntPtr xx) { ID = id; Ptr = xx; } | ||
39 | public IntPtr Ptr; | ||
40 | public uint ID; | ||
41 | } | ||
42 | |||
43 | public struct BulletBody | ||
44 | { | ||
45 | public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } | ||
46 | public IntPtr Ptr; | ||
47 | public uint ID; | ||
48 | } | ||
49 | |||
50 | public struct BulletConstraint | ||
51 | { | ||
52 | public BulletConstraint(IntPtr xx) { Ptr = xx; } | ||
53 | public IntPtr Ptr; | ||
54 | } | ||
55 | |||
56 | // =============================================================================== | ||
35 | [StructLayout(LayoutKind.Sequential)] | 57 | [StructLayout(LayoutKind.Sequential)] |
36 | public struct ConvexHull | 58 | public struct ConvexHull |
37 | { | 59 | { |
@@ -142,6 +164,11 @@ public struct ConfigurationParameters | |||
142 | public float shouldEnableFrictionCaching; | 164 | public float shouldEnableFrictionCaching; |
143 | public float numberOfSolverIterations; | 165 | public float numberOfSolverIterations; |
144 | 166 | ||
167 | public float linkConstraintUseFrameOffset; | ||
168 | public float linkConstraintEnableTransMotor; | ||
169 | public float linkConstraintTransMotorMaxVel; | ||
170 | public float linkConstraintTransMotorMaxForce; | ||
171 | |||
145 | public const float numericTrue = 1f; | 172 | public const float numericTrue = 1f; |
146 | public const float numericFalse = 0f; | 173 | public const float numericFalse = 0f; |
147 | } | 174 | } |
@@ -162,6 +189,7 @@ public enum CollisionFlags : uint | |||
162 | PHYSICAL_OBJECT = 1 << 12, | 189 | PHYSICAL_OBJECT = 1 << 12, |
163 | }; | 190 | }; |
164 | 191 | ||
192 | // =============================================================================== | ||
165 | static class BulletSimAPI { | 193 | static class BulletSimAPI { |
166 | 194 | ||
167 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 195 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -214,6 +242,7 @@ public static extern bool CreateObject(uint worldID, ShapeData shapeData); | |||
214 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 242 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
215 | public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas); | 243 | public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas); |
216 | 244 | ||
245 | /* Remove old functionality | ||
217 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 246 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
218 | public static extern void AddConstraint(uint worldID, uint id1, uint id2, | 247 | public static extern void AddConstraint(uint worldID, uint id1, uint id2, |
219 | Vector3 frame1, Quaternion frame1rot, | 248 | Vector3 frame1, Quaternion frame1rot, |
@@ -225,6 +254,7 @@ public static extern bool RemoveConstraintByID(uint worldID, uint id1); | |||
225 | 254 | ||
226 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 255 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
227 | public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); | 256 | public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); |
257 | */ | ||
228 | 258 | ||
229 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 259 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
230 | public static extern Vector3 GetObjectPosition(uint WorldID, uint id); | 260 | public static extern Vector3 GetObjectPosition(uint WorldID, uint id); |
@@ -350,8 +380,22 @@ public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); | |||
350 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 380 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
351 | public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, | 381 | public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, |
352 | Vector3 frame1loc, Quaternion frame1rot, | 382 | Vector3 frame1loc, Quaternion frame1rot, |
353 | Vector3 frame2loc, Quaternion frame2rot, | 383 | Vector3 frame2loc, Quaternion frame2rot); |
354 | Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); | 384 | |
385 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
386 | public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); | ||
387 | |||
388 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
389 | public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi); | ||
390 | |||
391 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
392 | public static extern bool UseFrameOffset2(IntPtr constrain, float enable); | ||
393 | |||
394 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
395 | public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); | ||
396 | |||
397 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
398 | public static extern bool CalculateTransforms2(IntPtr constrain); | ||
355 | 399 | ||
356 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 400 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
357 | public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); | 401 | public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); |