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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Reflection;
30using System.Runtime.InteropServices;
31using System.Security;
32using System.Text;
33
34using OpenSim.Framework;
35
36using OpenMetaverse;
37
38namespace OpenSim.Region.Physics.BulletSPlugin
39{
40public sealed class BSAPIUnman : BSAPITemplate
41{
42
43private sealed class BulletWorldUnman : BulletWorld
44{
45 public IntPtr ptr;
46 public BulletWorldUnman(uint id, BSScene physScene, IntPtr xx)
47 : base(id, physScene)
48 {
49 ptr = xx;
50 }
51}
52
53private sealed class BulletBodyUnman : BulletBody
54{
55 public IntPtr ptr;
56 public BulletBodyUnman(uint id, IntPtr xx)
57 : base(id)
58 {
59 ptr = xx;
60 }
61 public override bool HasPhysicalBody
62 {
63 get { return ptr != IntPtr.Zero; }
64 }
65 public override void Clear()
66 {
67 ptr = IntPtr.Zero;
68 }
69 public override string AddrString
70 {
71 get { return ptr.ToString("X"); }
72 }
73}
74
75private sealed class BulletShapeUnman : BulletShape
76{
77 public IntPtr ptr;
78 public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ)
79 : base()
80 {
81 ptr = xx;
82 type = typ;
83 }
84 public override bool HasPhysicalShape
85 {
86 get { return ptr != IntPtr.Zero; }
87 }
88 public override void Clear()
89 {
90 ptr = IntPtr.Zero;
91 }
92 public override BulletShape Clone()
93 {
94 return new BulletShapeUnman(ptr, type);
95 }
96 public override bool ReferenceSame(BulletShape other)
97 {
98 BulletShapeUnman otheru = other as BulletShapeUnman;
99 return (otheru != null) && (this.ptr == otheru.ptr);
100
101 }
102 public override string AddrString
103 {
104 get { return ptr.ToString("X"); }
105 }
106}
107private sealed class BulletConstraintUnman : BulletConstraint
108{
109 public BulletConstraintUnman(IntPtr xx) : base()
110 {
111 ptr = xx;
112 }
113 public IntPtr ptr;
114
115 public override void Clear()
116 {
117 ptr = IntPtr.Zero;
118 }
119 public override bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
120
121 // Used for log messages for a unique display of the memory/object allocated to this instance
122 public override string AddrString
123 {
124 get { return ptr.ToString("X"); }
125 }
126}
127
128// We pin the memory passed between the managed and unmanaged code.
129GCHandle m_paramsHandle;
130private GCHandle m_collisionArrayPinnedHandle;
131private GCHandle m_updateArrayPinnedHandle;
132
133// Handle to the callback used by the unmanaged code to call into the managed code.
134// Used for debug logging.
135// Need to store the handle in a persistant variable so it won't be freed.
136private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle;
137
138private BSScene PhysicsScene { get; set; }
139
140public override string BulletEngineName { get { return "BulletUnmanaged"; } }
141public override string BulletEngineVersion { get; protected set; }
142
143public BSAPIUnman(string paramName, BSScene physScene)
144{
145 PhysicsScene = physScene;
146
147 // Do something fancy with the paramName to get the right DLL implementation
148 // like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc.
149 if (Util.IsWindows())
150 Util.LoadArchSpecificWindowsDll("BulletSim.dll");
151 // If not Windows, loading is performed by the
152 // Mono loader as specified in
153 // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
154}
155
156// Initialization and simulation
157public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
158 int maxCollisions, ref CollisionDesc[] collisionArray,
159 int maxUpdates, ref EntityProperties[] updateArray
160 )
161{
162 // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
163 m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
164 m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
165 m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
166
167 // If Debug logging level, enable logging from the unmanaged code
168 m_DebugLogCallbackHandle = null;
169 if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled)
170 {
171 BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
172 if (PhysicsScene.PhysicsLogging.Enabled)
173 // The handle is saved in a variable to make sure it doesn't get freed after this call
174 m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
175 else
176 m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
177 }
178
179 // Get the version of the DLL
180 // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
181 // BulletEngineVersion = BulletSimAPI.GetVersion2();
182 BulletEngineVersion = "";
183
184 // Call the unmanaged code with the buffers and other information
185 return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
186 maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
187 maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
188 m_DebugLogCallbackHandle));
189
190}
191
192// Called directly from unmanaged code so don't do much
193private void BulletLogger(string msg)
194{
195 BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg);
196}
197
198// Called directly from unmanaged code so don't do much
199private void BulletLoggerPhysLog(string msg)
200{
201 PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg);
202}
203
204public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
205 out int updatedEntityCount, out int collidersCount)
206{
207 BulletWorldUnman worldu = world as BulletWorldUnman;
208 return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
209}
210
211public override void Shutdown(BulletWorld world)
212{
213 BulletWorldUnman worldu = world as BulletWorldUnman;
214 BSAPICPP.Shutdown2(worldu.ptr);
215}
216
217public override bool PushUpdate(BulletBody obj)
218{
219 BulletBodyUnman bodyu = obj as BulletBodyUnman;
220 return BSAPICPP.PushUpdate2(bodyu.ptr);
221}
222
223public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value)
224{
225 BulletWorldUnman worldu = world as BulletWorldUnman;
226 return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value);
227}
228
229// =====================================================================================
230// Mesh, hull, shape and body creation helper routines
231public override BulletShape CreateMeshShape(BulletWorld world,
232 int indicesCount, int[] indices,
233 int verticesCount, float[] vertices)
234{
235 BulletWorldUnman worldu = world as BulletWorldUnman;
236 return new BulletShapeUnman(
237 BSAPICPP.CreateMeshShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
238 BSPhysicsShapeType.SHAPE_MESH);
239}
240
241public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
242{
243 BulletWorldUnman worldu = world as BulletWorldUnman;
244 return new BulletShapeUnman(
245 BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls),
246 BSPhysicsShapeType.SHAPE_HULL);
247}
248
249public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
250{
251 BulletWorldUnman worldu = world as BulletWorldUnman;
252 BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
253 return new BulletShapeUnman(
254 BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr),
255 BSPhysicsShapeType.SHAPE_HULL);
256}
257
258public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData)
259{
260 BulletWorldUnman worldu = world as BulletWorldUnman;
261 return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type);
262}
263
264public override bool IsNativeShape(BulletShape shape)
265{
266 BulletShapeUnman shapeu = shape as BulletShapeUnman;
267 if (shapeu != null && shapeu.HasPhysicalShape)
268 return BSAPICPP.IsNativeShape2(shapeu.ptr);
269 return false;
270}
271
272public override void SetShapeCollisionMargin(BulletShape shape, float margin)
273{
274 BulletShapeUnman shapeu = shape as BulletShapeUnman;
275 if (shapeu != null && shapeu.HasPhysicalShape)
276 BSAPICPP.SetShapeCollisionMargin2(shapeu.ptr, margin);
277}
278
279public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
280{
281 BulletWorldUnman worldu = world as BulletWorldUnman;
282 return new BulletShapeUnman(
283 BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale),
284 BSPhysicsShapeType.SHAPE_CAPSULE);
285}
286
287public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree)
288{
289 BulletWorldUnman worldu = world as BulletWorldUnman;
290 return new BulletShapeUnman(
291 BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree),
292 BSPhysicsShapeType.SHAPE_COMPOUND);
293
294}
295
296public override int GetNumberOfCompoundChildren(BulletShape shape)
297{
298 BulletShapeUnman shapeu = shape as BulletShapeUnman;
299 if (shapeu != null && shapeu.HasPhysicalShape)
300 return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr);
301 return 0;
302}
303
304public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot)
305{
306 BulletShapeUnman shapeu = shape as BulletShapeUnman;
307 BulletShapeUnman addShapeu = addShape as BulletShapeUnman;
308 BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot);
309}
310
311public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
312{
313 BulletShapeUnman shapeu = shape as BulletShapeUnman;
314 return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
315}
316
317public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
318{
319 BulletShapeUnman shapeu = shape as BulletShapeUnman;
320 return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
321}
322
323public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape)
324{
325 BulletShapeUnman shapeu = shape as BulletShapeUnman;
326 BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman;
327 BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr);
328}
329
330public override void RecalculateCompoundShapeLocalAabb(BulletShape shape)
331{
332 BulletShapeUnman shapeu = shape as BulletShapeUnman;
333 BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr);
334}
335
336public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id)
337{
338 BulletWorldUnman worldu = world as BulletWorldUnman;
339 BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman;
340 return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.type);
341}
342
343public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
344{
345 BulletWorldUnman worldu = world as BulletWorldUnman;
346 BulletShapeUnman shapeu = shape as BulletShapeUnman;
347 return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
348}
349
350public override CollisionObjectTypes GetBodyType(BulletBody obj)
351{
352 BulletBodyUnman bodyu = obj as BulletBodyUnman;
353 return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr);
354}
355
356public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
357{
358 BulletWorldUnman worldu = world as BulletWorldUnman;
359 BulletShapeUnman shapeu = shape as BulletShapeUnman;
360 return new BulletBodyUnman(id, BSAPICPP.CreateBodyFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
361}
362
363public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)
364{
365 BulletShapeUnman shapeu = shape as BulletShapeUnman;
366 return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot));
367}
368
369public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
370{
371 BulletWorldUnman worldu = world as BulletWorldUnman;
372 BulletShapeUnman shapeu = shape as BulletShapeUnman;
373 return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
374}
375
376public override void DestroyObject(BulletWorld world, BulletBody obj)
377{
378 BulletWorldUnman worldu = world as BulletWorldUnman;
379 BulletBodyUnman bodyu = obj as BulletBodyUnman;
380 BSAPICPP.DestroyObject2(worldu.ptr, bodyu.ptr);
381}
382
383// =====================================================================================
384// Terrain creation and helper routines
385public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
386{
387 return new BulletShapeUnman(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
388}
389
390public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
391 float scaleFactor, float collisionMargin)
392{
393 return new BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin),
394 BSPhysicsShapeType.SHAPE_TERRAIN);
395}
396
397// =====================================================================================
398// Constraint creation and helper routines
399public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
400 Vector3 frame1loc, Quaternion frame1rot,
401 Vector3 frame2loc, Quaternion frame2rot,
402 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
403{
404 BulletWorldUnman worldu = world as BulletWorldUnman;
405 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
406 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
407 return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
408 frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
409}
410
411public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
412 Vector3 joinPoint,
413 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
414{
415 BulletWorldUnman worldu = world as BulletWorldUnman;
416 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
417 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
418 return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
419 joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
420}
421
422public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
423 Vector3 pivotinA, Vector3 pivotinB,
424 Vector3 axisInA, Vector3 axisInB,
425 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
426{
427 BulletWorldUnman worldu = world as BulletWorldUnman;
428 BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
429 BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
430 return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
431 pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
432}
433
434public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse)
435{
436 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
437 BSAPICPP.SetConstraintEnable2(constrainu.ptr, numericTrueFalse);
438}
439
440public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations)
441{
442 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
443 BSAPICPP.SetConstraintNumSolverIterations2(constrainu.ptr, iterations);
444}
445
446public override bool SetFrames(BulletConstraint constrain,
447 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
448{
449 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
450 return BSAPICPP.SetFrames2(constrainu.ptr, frameA, frameArot, frameB, frameBrot);
451}
452
453public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
454{
455 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
456 return BSAPICPP.SetLinearLimits2(constrainu.ptr, low, hi);
457}
458
459public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
460{
461 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
462 return BSAPICPP.SetAngularLimits2(constrainu.ptr, low, hi);
463}
464
465public override bool UseFrameOffset(BulletConstraint constrain, float enable)
466{
467 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
468 return BSAPICPP.UseFrameOffset2(constrainu.ptr, enable);
469}
470
471public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce)
472{
473 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
474 return BSAPICPP.TranslationalLimitMotor2(constrainu.ptr, enable, targetVel, maxMotorForce);
475}
476
477public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold)
478{
479 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
480 return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold);
481}
482
483public override bool CalculateTransforms(BulletConstraint constrain)
484{
485 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
486 return BSAPICPP.CalculateTransforms2(constrainu.ptr);
487}
488
489public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis)
490{
491 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
492 return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis);
493}
494
495public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain)
496{
497 BulletWorldUnman worldu = world as BulletWorldUnman;
498 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
499 return BSAPICPP.DestroyConstraint2(worldu.ptr, constrainu.ptr);
500}
501
502// =====================================================================================
503// btCollisionWorld entries
504public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
505{
506 BulletWorldUnman worldu = world as BulletWorldUnman;
507 BulletBodyUnman bodyu = obj as BulletBodyUnman;
508 BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr);
509}
510
511public override void UpdateAabbs(BulletWorld world)
512{
513 BulletWorldUnman worldu = world as BulletWorldUnman;
514 BSAPICPP.UpdateAabbs2(worldu.ptr);
515}
516
517public override bool GetForceUpdateAllAabbs(BulletWorld world)
518{
519 BulletWorldUnman worldu = world as BulletWorldUnman;
520 return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr);
521}
522
523public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
524{
525 BulletWorldUnman worldu = world as BulletWorldUnman;
526 BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force);
527}
528
529// =====================================================================================
530// btDynamicsWorld entries
531public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
532{
533 BulletWorldUnman worldu = world as BulletWorldUnman;
534 BulletBodyUnman bodyu = obj as BulletBodyUnman;
535
536 // Bullet resets several variables when an object is added to the world.
537 // Gravity is reset to world default depending on the static/dynamic
538 // type. Of course, the collision flags in the broadphase proxy are initialized to default.
539 Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr);
540
541 bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
542
543 if (ret)
544 {
545 BSAPICPP.SetGravity2(bodyu.ptr, origGrav);
546 obj.ApplyCollisionMask(world.physicsScene);
547 }
548 return ret;
549}
550
551public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
552{
553 BulletWorldUnman worldu = world as BulletWorldUnman;
554 BulletBodyUnman bodyu = obj as BulletBodyUnman;
555 return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr);
556}
557
558public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
559{
560 BulletWorldUnman worldu = world as BulletWorldUnman;
561 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
562 return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects);
563}
564
565public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
566{
567 BulletWorldUnman worldu = world as BulletWorldUnman;
568 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
569 return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr);
570}
571// =====================================================================================
572// btCollisionObject entries
573public override Vector3 GetAnisotripicFriction(BulletConstraint constrain)
574{
575 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
576 return BSAPICPP.GetAnisotripicFriction2(constrainu.ptr);
577}
578
579public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict)
580{
581 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
582 return BSAPICPP.SetAnisotripicFriction2(constrainu.ptr, frict);
583}
584
585public override bool HasAnisotripicFriction(BulletConstraint constrain)
586{
587 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
588 return BSAPICPP.HasAnisotripicFriction2(constrainu.ptr);
589}
590
591public override void SetContactProcessingThreshold(BulletBody obj, float val)
592{
593 BulletBodyUnman bodyu = obj as BulletBodyUnman;
594 BSAPICPP.SetContactProcessingThreshold2(bodyu.ptr, val);
595}
596
597public override float GetContactProcessingThreshold(BulletBody obj)
598{
599 BulletBodyUnman bodyu = obj as BulletBodyUnman;
600 return BSAPICPP.GetContactProcessingThreshold2(bodyu.ptr);
601}
602
603public override bool IsStaticObject(BulletBody obj)
604{
605 BulletBodyUnman bodyu = obj as BulletBodyUnman;
606 return BSAPICPP.IsStaticObject2(bodyu.ptr);
607}
608
609public override bool IsKinematicObject(BulletBody obj)
610{
611 BulletBodyUnman bodyu = obj as BulletBodyUnman;
612 return BSAPICPP.IsKinematicObject2(bodyu.ptr);
613}
614
615public override bool IsStaticOrKinematicObject(BulletBody obj)
616{
617 BulletBodyUnman bodyu = obj as BulletBodyUnman;
618 return BSAPICPP.IsStaticOrKinematicObject2(bodyu.ptr);
619}
620
621public override bool HasContactResponse(BulletBody obj)
622{
623 BulletBodyUnman bodyu = obj as BulletBodyUnman;
624 return BSAPICPP.HasContactResponse2(bodyu.ptr);
625}
626
627public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape)
628{
629 BulletWorldUnman worldu = world as BulletWorldUnman;
630 BulletBodyUnman bodyu = obj as BulletBodyUnman;
631 BulletShapeUnman shapeu = shape as BulletShapeUnman;
632 if (worldu != null && bodyu != null)
633 {
634 // Special case to allow the caller to zero out the reference to any physical shape
635 if (shapeu != null)
636 BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr);
637 else
638 BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero);
639 }
640}
641
642public override BulletShape GetCollisionShape(BulletBody obj)
643{
644 BulletBodyUnman bodyu = obj as BulletBodyUnman;
645 return new BulletShapeUnman(BSAPICPP.GetCollisionShape2(bodyu.ptr), BSPhysicsShapeType.SHAPE_UNKNOWN);
646}
647
648public override int GetActivationState(BulletBody obj)
649{
650 BulletBodyUnman bodyu = obj as BulletBodyUnman;
651 return BSAPICPP.GetActivationState2(bodyu.ptr);
652}
653
654public override void SetActivationState(BulletBody obj, int state)
655{
656 BulletBodyUnman bodyu = obj as BulletBodyUnman;
657 BSAPICPP.SetActivationState2(bodyu.ptr, state);
658}
659
660public override void SetDeactivationTime(BulletBody obj, float dtime)
661{
662 BulletBodyUnman bodyu = obj as BulletBodyUnman;
663 BSAPICPP.SetDeactivationTime2(bodyu.ptr, dtime);
664}
665
666public override float GetDeactivationTime(BulletBody obj)
667{
668 BulletBodyUnman bodyu = obj as BulletBodyUnman;
669 return BSAPICPP.GetDeactivationTime2(bodyu.ptr);
670}
671
672public override void ForceActivationState(BulletBody obj, ActivationState state)
673{
674 BulletBodyUnman bodyu = obj as BulletBodyUnman;
675 BSAPICPP.ForceActivationState2(bodyu.ptr, state);
676}
677
678public override void Activate(BulletBody obj, bool forceActivation)
679{
680 BulletBodyUnman bodyu = obj as BulletBodyUnman;
681 BSAPICPP.Activate2(bodyu.ptr, forceActivation);
682}
683
684public override bool IsActive(BulletBody obj)
685{
686 BulletBodyUnman bodyu = obj as BulletBodyUnman;
687 return BSAPICPP.IsActive2(bodyu.ptr);
688}
689
690public override void SetRestitution(BulletBody obj, float val)
691{
692 BulletBodyUnman bodyu = obj as BulletBodyUnman;
693 BSAPICPP.SetRestitution2(bodyu.ptr, val);
694}
695
696public override float GetRestitution(BulletBody obj)
697{
698 BulletBodyUnman bodyu = obj as BulletBodyUnman;
699 return BSAPICPP.GetRestitution2(bodyu.ptr);
700}
701
702public override void SetFriction(BulletBody obj, float val)
703{
704 BulletBodyUnman bodyu = obj as BulletBodyUnman;
705 BSAPICPP.SetFriction2(bodyu.ptr, val);
706}
707
708public override float GetFriction(BulletBody obj)
709{
710 BulletBodyUnman bodyu = obj as BulletBodyUnman;
711 return BSAPICPP.GetFriction2(bodyu.ptr);
712}
713
714public override Vector3 GetPosition(BulletBody obj)
715{
716 BulletBodyUnman bodyu = obj as BulletBodyUnman;
717 return BSAPICPP.GetPosition2(bodyu.ptr);
718}
719
720public override Quaternion GetOrientation(BulletBody obj)
721{
722 BulletBodyUnman bodyu = obj as BulletBodyUnman;
723 return BSAPICPP.GetOrientation2(bodyu.ptr);
724}
725
726public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation)
727{
728 BulletBodyUnman bodyu = obj as BulletBodyUnman;
729 BSAPICPP.SetTranslation2(bodyu.ptr, position, rotation);
730}
731
732 /*
733public override IntPtr GetBroadphaseHandle(BulletBody obj)
734{
735 BulletBodyUnman bodyu = obj as BulletBodyUnman;
736 return BSAPICPP.GetBroadphaseHandle2(bodyu.ptr);
737}
738
739public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle)
740{
741 BulletBodyUnman bodyu = obj as BulletBodyUnman;
742 BSAPICPP.SetUserPointer2(bodyu.ptr, handle);
743}
744 */
745
746public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel)
747{
748 BulletBodyUnman bodyu = obj as BulletBodyUnman;
749 BSAPICPP.SetInterpolationLinearVelocity2(bodyu.ptr, vel);
750}
751
752public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel)
753{
754 BulletBodyUnman bodyu = obj as BulletBodyUnman;
755 BSAPICPP.SetInterpolationAngularVelocity2(bodyu.ptr, vel);
756}
757
758public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel)
759{
760 BulletBodyUnman bodyu = obj as BulletBodyUnman;
761 BSAPICPP.SetInterpolationVelocity2(bodyu.ptr, linearVel, angularVel);
762}
763
764public override float GetHitFraction(BulletBody obj)
765{
766 BulletBodyUnman bodyu = obj as BulletBodyUnman;
767 return BSAPICPP.GetHitFraction2(bodyu.ptr);
768}
769
770public override void SetHitFraction(BulletBody obj, float val)
771{
772 BulletBodyUnman bodyu = obj as BulletBodyUnman;
773 BSAPICPP.SetHitFraction2(bodyu.ptr, val);
774}
775
776public override CollisionFlags GetCollisionFlags(BulletBody obj)
777{
778 BulletBodyUnman bodyu = obj as BulletBodyUnman;
779 return BSAPICPP.GetCollisionFlags2(bodyu.ptr);
780}
781
782public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags)
783{
784 BulletBodyUnman bodyu = obj as BulletBodyUnman;
785 return BSAPICPP.SetCollisionFlags2(bodyu.ptr, flags);
786}
787
788public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags)
789{
790 BulletBodyUnman bodyu = obj as BulletBodyUnman;
791 return BSAPICPP.AddToCollisionFlags2(bodyu.ptr, flags);
792}
793
794public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags)
795{
796 BulletBodyUnman bodyu = obj as BulletBodyUnman;
797 return BSAPICPP.RemoveFromCollisionFlags2(bodyu.ptr, flags);
798}
799
800public override float GetCcdMotionThreshold(BulletBody obj)
801{
802 BulletBodyUnman bodyu = obj as BulletBodyUnman;
803 return BSAPICPP.GetCcdMotionThreshold2(bodyu.ptr);
804}
805
806
807public override void SetCcdMotionThreshold(BulletBody obj, float val)
808{
809 BulletBodyUnman bodyu = obj as BulletBodyUnman;
810 BSAPICPP.SetCcdMotionThreshold2(bodyu.ptr, val);
811}
812
813public override float GetCcdSweptSphereRadius(BulletBody obj)
814{
815 BulletBodyUnman bodyu = obj as BulletBodyUnman;
816 return BSAPICPP.GetCcdSweptSphereRadius2(bodyu.ptr);
817}
818
819public override void SetCcdSweptSphereRadius(BulletBody obj, float val)
820{
821 BulletBodyUnman bodyu = obj as BulletBodyUnman;
822 BSAPICPP.SetCcdSweptSphereRadius2(bodyu.ptr, val);
823}
824
825public override IntPtr GetUserPointer(BulletBody obj)
826{
827 BulletBodyUnman bodyu = obj as BulletBodyUnman;
828 return BSAPICPP.GetUserPointer2(bodyu.ptr);
829}
830
831public override void SetUserPointer(BulletBody obj, IntPtr val)
832{
833 BulletBodyUnman bodyu = obj as BulletBodyUnman;
834 BSAPICPP.SetUserPointer2(bodyu.ptr, val);
835}
836
837// =====================================================================================
838// btRigidBody entries
839public override void ApplyGravity(BulletBody obj)
840{
841 BulletBodyUnman bodyu = obj as BulletBodyUnman;
842 BSAPICPP.ApplyGravity2(bodyu.ptr);
843}
844
845public override void SetGravity(BulletBody obj, Vector3 val)
846{
847 BulletBodyUnman bodyu = obj as BulletBodyUnman;
848 BSAPICPP.SetGravity2(bodyu.ptr, val);
849}
850
851public override Vector3 GetGravity(BulletBody obj)
852{
853 BulletBodyUnman bodyu = obj as BulletBodyUnman;
854 return BSAPICPP.GetGravity2(bodyu.ptr);
855}
856
857public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping)
858{
859 BulletBodyUnman bodyu = obj as BulletBodyUnman;
860 BSAPICPP.SetDamping2(bodyu.ptr, lin_damping, ang_damping);
861}
862
863public override void SetLinearDamping(BulletBody obj, float lin_damping)
864{
865 BulletBodyUnman bodyu = obj as BulletBodyUnman;
866 BSAPICPP.SetLinearDamping2(bodyu.ptr, lin_damping);
867}
868
869public override void SetAngularDamping(BulletBody obj, float ang_damping)
870{
871 BulletBodyUnman bodyu = obj as BulletBodyUnman;
872 BSAPICPP.SetAngularDamping2(bodyu.ptr, ang_damping);
873}
874
875public override float GetLinearDamping(BulletBody obj)
876{
877 BulletBodyUnman bodyu = obj as BulletBodyUnman;
878 return BSAPICPP.GetLinearDamping2(bodyu.ptr);
879}
880
881public override float GetAngularDamping(BulletBody obj)
882{
883 BulletBodyUnman bodyu = obj as BulletBodyUnman;
884 return BSAPICPP.GetAngularDamping2(bodyu.ptr);
885}
886
887public override float GetLinearSleepingThreshold(BulletBody obj)
888{
889 BulletBodyUnman bodyu = obj as BulletBodyUnman;
890 return BSAPICPP.GetLinearSleepingThreshold2(bodyu.ptr);
891}
892
893public override void ApplyDamping(BulletBody obj, float timeStep)
894{
895 BulletBodyUnman bodyu = obj as BulletBodyUnman;
896 BSAPICPP.ApplyDamping2(bodyu.ptr, timeStep);
897}
898
899public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia)
900{
901 BulletBodyUnman bodyu = obj as BulletBodyUnman;
902 BSAPICPP.SetMassProps2(bodyu.ptr, mass, inertia);
903}
904
905public override Vector3 GetLinearFactor(BulletBody obj)
906{
907 BulletBodyUnman bodyu = obj as BulletBodyUnman;
908 return BSAPICPP.GetLinearFactor2(bodyu.ptr);
909}
910
911public override void SetLinearFactor(BulletBody obj, Vector3 factor)
912{
913 BulletBodyUnman bodyu = obj as BulletBodyUnman;
914 BSAPICPP.SetLinearFactor2(bodyu.ptr, factor);
915}
916
917public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot)
918{
919 BulletBodyUnman bodyu = obj as BulletBodyUnman;
920 BSAPICPP.SetCenterOfMassByPosRot2(bodyu.ptr, pos, rot);
921}
922
923// Add a force to the object as if its mass is one.
924// Deep down in Bullet: m_totalForce += force*m_linearFactor;
925public override void ApplyCentralForce(BulletBody obj, Vector3 force)
926{
927 BulletBodyUnman bodyu = obj as BulletBodyUnman;
928 BSAPICPP.ApplyCentralForce2(bodyu.ptr, force);
929}
930
931// Set the force being applied to the object as if its mass is one.
932public override void SetObjectForce(BulletBody obj, Vector3 force)
933{
934 BulletBodyUnman bodyu = obj as BulletBodyUnman;
935 BSAPICPP.SetObjectForce2(bodyu.ptr, force);
936}
937
938public override Vector3 GetTotalForce(BulletBody obj)
939{
940 BulletBodyUnman bodyu = obj as BulletBodyUnman;
941 return BSAPICPP.GetTotalForce2(bodyu.ptr);
942}
943
944public override Vector3 GetTotalTorque(BulletBody obj)
945{
946 BulletBodyUnman bodyu = obj as BulletBodyUnman;
947 return BSAPICPP.GetTotalTorque2(bodyu.ptr);
948}
949
950public override Vector3 GetInvInertiaDiagLocal(BulletBody obj)
951{
952 BulletBodyUnman bodyu = obj as BulletBodyUnman;
953 return BSAPICPP.GetInvInertiaDiagLocal2(bodyu.ptr);
954}
955
956public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert)
957{
958 BulletBodyUnman bodyu = obj as BulletBodyUnman;
959 BSAPICPP.SetInvInertiaDiagLocal2(bodyu.ptr, inert);
960}
961
962public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold)
963{
964 BulletBodyUnman bodyu = obj as BulletBodyUnman;
965 BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold);
966}
967
968// Deep down in Bullet: m_totalTorque += torque*m_angularFactor;
969public override void ApplyTorque(BulletBody obj, Vector3 torque)
970{
971 BulletBodyUnman bodyu = obj as BulletBodyUnman;
972 BSAPICPP.ApplyTorque2(bodyu.ptr, torque);
973}
974
975// Apply force at the given point. Will add torque to the object.
976// Deep down in Bullet: applyCentralForce(force);
977// applyTorque(rel_pos.cross(force*m_linearFactor));
978public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
979{
980 BulletBodyUnman bodyu = obj as BulletBodyUnman;
981 BSAPICPP.ApplyForce2(bodyu.ptr, force, pos);
982}
983
984// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
985// Deep down in Bullet: m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
986public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
987{
988 BulletBodyUnman bodyu = obj as BulletBodyUnman;
989 BSAPICPP.ApplyCentralImpulse2(bodyu.ptr, imp);
990}
991
992// Apply impulse to the object's torque. Force is scaled by object's mass.
993// Deep down in Bullet: m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
994public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
995{
996 BulletBodyUnman bodyu = obj as BulletBodyUnman;
997 BSAPICPP.ApplyTorqueImpulse2(bodyu.ptr, imp);
998}
999
1000// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
1001// Deep down in Bullet: applyCentralImpulse(impulse);
1002// applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
1003public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos)
1004{
1005 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1006 BSAPICPP.ApplyImpulse2(bodyu.ptr, imp, pos);
1007}
1008
1009public override void ClearForces(BulletBody obj)
1010{
1011 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1012 BSAPICPP.ClearForces2(bodyu.ptr);
1013}
1014
1015public override void ClearAllForces(BulletBody obj)
1016{
1017 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1018 BSAPICPP.ClearAllForces2(bodyu.ptr);
1019}
1020
1021public override void UpdateInertiaTensor(BulletBody obj)
1022{
1023 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1024 BSAPICPP.UpdateInertiaTensor2(bodyu.ptr);
1025}
1026
1027public override Vector3 GetLinearVelocity(BulletBody obj)
1028{
1029 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1030 return BSAPICPP.GetLinearVelocity2(bodyu.ptr);
1031}
1032
1033public override Vector3 GetAngularVelocity(BulletBody obj)
1034{
1035 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1036 return BSAPICPP.GetAngularVelocity2(bodyu.ptr);
1037}
1038
1039public override void SetLinearVelocity(BulletBody obj, Vector3 vel)
1040{
1041 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1042 BSAPICPP.SetLinearVelocity2(bodyu.ptr, vel);
1043}
1044
1045public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity)
1046{
1047 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1048 BSAPICPP.SetAngularVelocity2(bodyu.ptr, angularVelocity);
1049}
1050
1051public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos)
1052{
1053 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1054 return BSAPICPP.GetVelocityInLocalPoint2(bodyu.ptr, pos);
1055}
1056
1057public override void Translate(BulletBody obj, Vector3 trans)
1058{
1059 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1060 BSAPICPP.Translate2(bodyu.ptr, trans);
1061}
1062
1063public override void UpdateDeactivation(BulletBody obj, float timeStep)
1064{
1065 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1066 BSAPICPP.UpdateDeactivation2(bodyu.ptr, timeStep);
1067}
1068
1069public override bool WantsSleeping(BulletBody obj)
1070{
1071 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1072 return BSAPICPP.WantsSleeping2(bodyu.ptr);
1073}
1074
1075public override void SetAngularFactor(BulletBody obj, float factor)
1076{
1077 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1078 BSAPICPP.SetAngularFactor2(bodyu.ptr, factor);
1079}
1080
1081public override void SetAngularFactorV(BulletBody obj, Vector3 factor)
1082{
1083 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1084 BSAPICPP.SetAngularFactorV2(bodyu.ptr, factor);
1085}
1086
1087public override Vector3 GetAngularFactor(BulletBody obj)
1088{
1089 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1090 return BSAPICPP.GetAngularFactor2(bodyu.ptr);
1091}
1092
1093public override bool IsInWorld(BulletWorld world, BulletBody obj)
1094{
1095 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1096 return BSAPICPP.IsInWorld2(bodyu.ptr);
1097}
1098
1099public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain)
1100{
1101 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1102 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
1103 BSAPICPP.AddConstraintRef2(bodyu.ptr, constrainu.ptr);
1104}
1105
1106public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain)
1107{
1108 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1109 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
1110 BSAPICPP.RemoveConstraintRef2(bodyu.ptr, constrainu.ptr);
1111}
1112
1113public override BulletConstraint GetConstraintRef(BulletBody obj, int index)
1114{
1115 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1116 return new BulletConstraintUnman(BSAPICPP.GetConstraintRef2(bodyu.ptr, index));
1117}
1118
1119public override int GetNumConstraintRefs(BulletBody obj)
1120{
1121 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1122 return BSAPICPP.GetNumConstraintRefs2(bodyu.ptr);
1123}
1124
1125public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask)
1126{
1127 BulletBodyUnman bodyu = body as BulletBodyUnman;
1128 return BSAPICPP.SetCollisionGroupMask2(bodyu.ptr, filter, mask);
1129}
1130
1131// =====================================================================================
1132// btCollisionShape entries
1133
1134public override float GetAngularMotionDisc(BulletShape shape)
1135{
1136 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1137 return BSAPICPP.GetAngularMotionDisc2(shapeu.ptr);
1138}
1139
1140public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor)
1141{
1142 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1143 return BSAPICPP.GetContactBreakingThreshold2(shapeu.ptr, defaultFactor);
1144}
1145
1146public override bool IsPolyhedral(BulletShape shape)
1147{
1148 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1149 return BSAPICPP.IsPolyhedral2(shapeu.ptr);
1150}
1151
1152public override bool IsConvex2d(BulletShape shape)
1153{
1154 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1155 return BSAPICPP.IsConvex2d2(shapeu.ptr);
1156}
1157
1158public override bool IsConvex(BulletShape shape)
1159{
1160 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1161 return BSAPICPP.IsConvex2(shapeu.ptr);
1162}
1163
1164public override bool IsNonMoving(BulletShape shape)
1165{
1166 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1167 return BSAPICPP.IsNonMoving2(shapeu.ptr);
1168}
1169
1170public override bool IsConcave(BulletShape shape)
1171{
1172 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1173 return BSAPICPP.IsConcave2(shapeu.ptr);
1174}
1175
1176public override bool IsCompound(BulletShape shape)
1177{
1178 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1179 return BSAPICPP.IsCompound2(shapeu.ptr);
1180}
1181
1182public override bool IsSoftBody(BulletShape shape)
1183{
1184 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1185 return BSAPICPP.IsSoftBody2(shapeu.ptr);
1186}
1187
1188public override bool IsInfinite(BulletShape shape)
1189{
1190 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1191 return BSAPICPP.IsInfinite2(shapeu.ptr);
1192}
1193
1194public override void SetLocalScaling(BulletShape shape, Vector3 scale)
1195{
1196 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1197 BSAPICPP.SetLocalScaling2(shapeu.ptr, scale);
1198}
1199
1200public override Vector3 GetLocalScaling(BulletShape shape)
1201{
1202 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1203 return BSAPICPP.GetLocalScaling2(shapeu.ptr);
1204}
1205
1206public override Vector3 CalculateLocalInertia(BulletShape shape, float mass)
1207{
1208 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1209 return BSAPICPP.CalculateLocalInertia2(shapeu.ptr, mass);
1210}
1211
1212public override int GetShapeType(BulletShape shape)
1213{
1214 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1215 return BSAPICPP.GetShapeType2(shapeu.ptr);
1216}
1217
1218public override void SetMargin(BulletShape shape, float val)
1219{
1220 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1221 BSAPICPP.SetMargin2(shapeu.ptr, val);
1222}
1223
1224public override float GetMargin(BulletShape shape)
1225{
1226 BulletShapeUnman shapeu = shape as BulletShapeUnman;
1227 return BSAPICPP.GetMargin2(shapeu.ptr);
1228}
1229
1230// =====================================================================================
1231// Debugging
1232public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject)
1233{
1234 BulletWorldUnman worldu = world as BulletWorldUnman;
1235 BulletBodyUnman bodyu = collisionObject as BulletBodyUnman;
1236 BSAPICPP.DumpRigidBody2(worldu.ptr, bodyu.ptr);
1237}
1238
1239public override void DumpCollisionShape(BulletWorld world, BulletShape collisionShape)
1240{
1241 BulletWorldUnman worldu = world as BulletWorldUnman;
1242 BulletShapeUnman shapeu = collisionShape as BulletShapeUnman;
1243 BSAPICPP.DumpCollisionShape2(worldu.ptr, shapeu.ptr);
1244}
1245
1246public override void DumpConstraint(BulletWorld world, BulletConstraint constrain)
1247{
1248 BulletWorldUnman worldu = world as BulletWorldUnman;
1249 BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
1250 BSAPICPP.DumpConstraint2(worldu.ptr, constrainu.ptr);
1251}
1252
1253public override void DumpActivationInfo(BulletWorld world)
1254{
1255 BulletWorldUnman worldu = world as BulletWorldUnman;
1256 BSAPICPP.DumpActivationInfo2(worldu.ptr);
1257}
1258
1259public override void DumpAllInfo(BulletWorld world)
1260{
1261 BulletWorldUnman worldu = world as BulletWorldUnman;
1262 BSAPICPP.DumpAllInfo2(worldu.ptr);
1263}
1264
1265public override void DumpPhysicsStatistics(BulletWorld world)
1266{
1267 BulletWorldUnman worldu = world as BulletWorldUnman;
1268 BSAPICPP.DumpPhysicsStatistics2(worldu.ptr);
1269}
1270public override void ResetBroadphasePool(BulletWorld world)
1271{
1272 BulletWorldUnman worldu = world as BulletWorldUnman;
1273 BSAPICPP.ResetBroadphasePool(worldu.ptr);
1274}
1275public override void ResetConstraintSolver(BulletWorld world)
1276{
1277 BulletWorldUnman worldu = world as BulletWorldUnman;
1278 BSAPICPP.ResetConstraintSolver(worldu.ptr);
1279}
1280
1281// =====================================================================================
1282// =====================================================================================
1283// =====================================================================================
1284// =====================================================================================
1285// =====================================================================================
1286// The actual interface to the unmanaged code
1287static class BSAPICPP
1288{
1289// ===============================================================================
1290// Link back to the managed code for outputting log messages
1291[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
1292public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
1293
1294// ===============================================================================
1295// Initialization and simulation
1296[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1297public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
1298 int maxCollisions, IntPtr collisionArray,
1299 int maxUpdates, IntPtr updateArray,
1300 DebugLogCallback logRoutine);
1301
1302[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1303public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
1304 out int updatedEntityCount, out int collidersCount);
1305
1306[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1307public static extern void Shutdown2(IntPtr sim);
1308
1309[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1310public static extern bool PushUpdate2(IntPtr obj);
1311
1312[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1313public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
1314
1315// =====================================================================================
1316// Mesh, hull, shape and body creation helper routines
1317[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1318public static extern IntPtr CreateMeshShape2(IntPtr world,
1319 int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
1320 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
1321
1322[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1323public static extern IntPtr CreateHullShape2(IntPtr world,
1324 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
1325
1326[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1327public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
1328
1329[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1330public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
1331
1332[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1333public static extern bool IsNativeShape2(IntPtr shape);
1334
1335[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1336public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin);
1337
1338[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1339public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
1340
1341[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1342public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
1343
1344[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1345public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
1346
1347[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1348public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
1349
1350[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1351public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
1352
1353[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1354public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
1355
1356[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1357public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
1358
1359[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1360public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
1361
1362[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1363public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
1364
1365[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1366public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
1367
1368[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1369public static extern int GetBodyType2(IntPtr obj);
1370
1371[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1372public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
1373
1374[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1375public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
1376
1377[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1378public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
1379
1380[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1381public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
1382
1383// =====================================================================================
1384// Terrain creation and helper routines
1385[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1386public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
1387
1388[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1389public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight,
1390 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap,
1391 float scaleFactor, float collisionMargin);
1392
1393// =====================================================================================
1394// Constraint creation and helper routines
1395[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1396public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
1397 Vector3 frame1loc, Quaternion frame1rot,
1398 Vector3 frame2loc, Quaternion frame2rot,
1399 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
1400
1401[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1402public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
1403 Vector3 joinPoint,
1404 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
1405
1406[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1407public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
1408 Vector3 pivotinA, Vector3 pivotinB,
1409 Vector3 axisInA, Vector3 axisInB,
1410 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
1411
1412[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1413public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
1414
1415[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1416public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
1417
1418[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1419public static extern bool SetFrames2(IntPtr constrain,
1420 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
1421
1422[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1423public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
1424
1425[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1426public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
1427
1428[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1429public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
1430
1431[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1432public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
1433
1434[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1435public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
1436
1437[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1438public static extern bool CalculateTransforms2(IntPtr constrain);
1439
1440[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1441public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
1442
1443[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1444public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
1445
1446// =====================================================================================
1447// btCollisionWorld entries
1448[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1449public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
1450
1451[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1452public static extern void UpdateAabbs2(IntPtr world);
1453
1454[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1455public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
1456
1457[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1458public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
1459
1460// =====================================================================================
1461// btDynamicsWorld entries
1462[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1463public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
1464
1465[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1466public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
1467
1468[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1469public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
1470
1471[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1472public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
1473// =====================================================================================
1474// btCollisionObject entries
1475[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1476public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
1477
1478[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1479public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
1480
1481[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1482public static extern bool HasAnisotripicFriction2(IntPtr constrain);
1483
1484[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1485public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
1486
1487[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1488public static extern float GetContactProcessingThreshold2(IntPtr obj);
1489
1490[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1491public static extern bool IsStaticObject2(IntPtr obj);
1492
1493[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1494public static extern bool IsKinematicObject2(IntPtr obj);
1495
1496[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1497public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
1498
1499[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1500public static extern bool HasContactResponse2(IntPtr obj);
1501
1502[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1503public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
1504
1505[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1506public static extern IntPtr GetCollisionShape2(IntPtr obj);
1507
1508[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1509public static extern int GetActivationState2(IntPtr obj);
1510
1511[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1512public static extern void SetActivationState2(IntPtr obj, int state);
1513
1514[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1515public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
1516
1517[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1518public static extern float GetDeactivationTime2(IntPtr obj);
1519
1520[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1521public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
1522
1523[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1524public static extern void Activate2(IntPtr obj, bool forceActivation);
1525
1526[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1527public static extern bool IsActive2(IntPtr obj);
1528
1529[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1530public static extern void SetRestitution2(IntPtr obj, float val);
1531
1532[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1533public static extern float GetRestitution2(IntPtr obj);
1534
1535[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1536public static extern void SetFriction2(IntPtr obj, float val);
1537
1538[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1539public static extern float GetFriction2(IntPtr obj);
1540
1541 /* Haven't defined the type 'Transform'
1542[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1543public static extern Transform GetWorldTransform2(IntPtr obj);
1544
1545[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1546public static extern void setWorldTransform2(IntPtr obj, Transform trans);
1547 */
1548
1549[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1550public static extern Vector3 GetPosition2(IntPtr obj);
1551
1552[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1553public static extern Quaternion GetOrientation2(IntPtr obj);
1554
1555[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1556public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
1557
1558[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1559public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
1560
1561[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1562public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
1563
1564 /*
1565[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1566public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
1567
1568[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1569public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
1570 */
1571
1572[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1573public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
1574
1575[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1576public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
1577
1578[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1579public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
1580
1581[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1582public static extern float GetHitFraction2(IntPtr obj);
1583
1584[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1585public static extern void SetHitFraction2(IntPtr obj, float val);
1586
1587[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1588public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
1589
1590[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1591public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
1592
1593[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1594public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
1595
1596[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1597public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
1598
1599[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1600public static extern float GetCcdMotionThreshold2(IntPtr obj);
1601
1602[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1603public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
1604
1605[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1606public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
1607
1608[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1609public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
1610
1611[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1612public static extern IntPtr GetUserPointer2(IntPtr obj);
1613
1614[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1615public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
1616
1617// =====================================================================================
1618// btRigidBody entries
1619[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1620public static extern void ApplyGravity2(IntPtr obj);
1621
1622[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1623public static extern void SetGravity2(IntPtr obj, Vector3 val);
1624
1625[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1626public static extern Vector3 GetGravity2(IntPtr obj);
1627
1628[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1629public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
1630
1631[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1632public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);
1633
1634[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1635public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);
1636
1637[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1638public static extern float GetLinearDamping2(IntPtr obj);
1639
1640[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1641public static extern float GetAngularDamping2(IntPtr obj);
1642
1643[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1644public static extern float GetLinearSleepingThreshold2(IntPtr obj);
1645
1646[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1647public static extern float GetAngularSleepingThreshold2(IntPtr obj);
1648
1649[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1650public static extern void ApplyDamping2(IntPtr obj, float timeStep);
1651
1652[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1653public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
1654
1655[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1656public static extern Vector3 GetLinearFactor2(IntPtr obj);
1657
1658[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1659public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
1660
1661 /*
1662[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1663public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
1664 */
1665
1666[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1667public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
1668
1669// Add a force to the object as if its mass is one.
1670[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1671public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
1672
1673// Set the force being applied to the object as if its mass is one.
1674[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1675public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
1676
1677[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1678public static extern Vector3 GetTotalForce2(IntPtr obj);
1679
1680[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1681public static extern Vector3 GetTotalTorque2(IntPtr obj);
1682
1683[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1684public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
1685
1686[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1687public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
1688
1689[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1690public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
1691
1692[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1693public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
1694
1695// Apply force at the given point. Will add torque to the object.
1696[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1697public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
1698
1699// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
1700[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1701public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
1702
1703// Apply impulse to the object's torque. Force is scaled by object's mass.
1704[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1705public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
1706
1707// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
1708[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1709public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
1710
1711[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1712public static extern void ClearForces2(IntPtr obj);
1713
1714[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1715public static extern void ClearAllForces2(IntPtr obj);
1716
1717[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1718public static extern void UpdateInertiaTensor2(IntPtr obj);
1719
1720[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1721public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
1722
1723 /*
1724[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1725public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
1726 */
1727
1728[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1729public static extern Vector3 GetLinearVelocity2(IntPtr obj);
1730
1731[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1732public static extern Vector3 GetAngularVelocity2(IntPtr obj);
1733
1734[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1735public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
1736
1737[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1738public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
1739
1740[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1741public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
1742
1743[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1744public static extern void Translate2(IntPtr obj, Vector3 trans);
1745
1746[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1747public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
1748
1749[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1750public static extern bool WantsSleeping2(IntPtr obj);
1751
1752[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1753public static extern void SetAngularFactor2(IntPtr obj, float factor);
1754
1755[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1756public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
1757
1758[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1759public static extern Vector3 GetAngularFactor2(IntPtr obj);
1760
1761[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1762public static extern bool IsInWorld2(IntPtr obj);
1763
1764[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1765public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
1766
1767[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1768public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
1769
1770[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1771public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
1772
1773[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1774public static extern int GetNumConstraintRefs2(IntPtr obj);
1775
1776[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1777public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
1778
1779// =====================================================================================
1780// btCollisionShape entries
1781
1782[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1783public static extern float GetAngularMotionDisc2(IntPtr shape);
1784
1785[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1786public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
1787
1788[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1789public static extern bool IsPolyhedral2(IntPtr shape);
1790
1791[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1792public static extern bool IsConvex2d2(IntPtr shape);
1793
1794[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1795public static extern bool IsConvex2(IntPtr shape);
1796
1797[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1798public static extern bool IsNonMoving2(IntPtr shape);
1799
1800[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1801public static extern bool IsConcave2(IntPtr shape);
1802
1803[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1804public static extern bool IsCompound2(IntPtr shape);
1805
1806[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1807public static extern bool IsSoftBody2(IntPtr shape);
1808
1809[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1810public static extern bool IsInfinite2(IntPtr shape);
1811
1812[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1813public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
1814
1815[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1816public static extern Vector3 GetLocalScaling2(IntPtr shape);
1817
1818[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1819public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
1820
1821[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1822public static extern int GetShapeType2(IntPtr shape);
1823
1824[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1825public static extern void SetMargin2(IntPtr shape, float val);
1826
1827[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1828public static extern float GetMargin2(IntPtr shape);
1829
1830// =====================================================================================
1831// Debugging
1832[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1833public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
1834
1835[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1836public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
1837
1838[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1839public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
1840
1841[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1842public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
1843
1844[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1845public static extern void DumpActivationInfo2(IntPtr sim);
1846
1847[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1848public static extern void DumpAllInfo2(IntPtr sim);
1849
1850[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1851public static extern void DumpPhysicsStatistics2(IntPtr sim);
1852
1853[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1854public static extern void ResetBroadphasePool(IntPtr sim);
1855
1856[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1857public static extern void ResetConstraintSolver(IntPtr sim);
1858
1859}
1860
1861}
1862
1863}
generated by cgit v1.1 at 2024-10-25 05:30:56 +0000