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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs739
1 files changed, 82 insertions, 657 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 702bd77..504bd3c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -33,153 +33,38 @@ using OpenMetaverse;
33namespace OpenSim.Region.Physics.BulletSPlugin { 33namespace OpenSim.Region.Physics.BulletSPlugin {
34 34
35// Classes to allow some type checking for the API 35// Classes to allow some type checking for the API
36// These hold pointers to allocated objects in the unmanaged space.
37
38// The physics engine controller class created at initialization
39public struct BulletSim 36public struct BulletSim
40{ 37{
41 public BulletSim(uint worldId, BSScene bss, IntPtr xx) 38 public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss; Ptr = xx; }
42 { 39 public uint ID;
43 ptr = xx;
44 worldID = worldId;
45 physicsScene = bss;
46 }
47 public IntPtr ptr;
48 public uint worldID;
49 // The scene is only in here so very low level routines have a handle to print debug/error messages 40 // The scene is only in here so very low level routines have a handle to print debug/error messages
50 public BSScene physicsScene; 41 public BSScene scene;
42 public IntPtr Ptr;
51} 43}
52 44
53// An allocated Bullet btRigidBody
54public struct BulletBody 45public struct BulletBody
55{ 46{
56 public BulletBody(uint id, IntPtr xx) 47 public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; }
57 { 48 public IntPtr Ptr;
58 ID = id;
59 ptr = xx;
60 collisionFilter = 0;
61 collisionMask = 0;
62 }
63 public IntPtr ptr;
64 public uint ID; 49 public uint ID;
65 public CollisionFilterGroups collisionFilter;
66 public CollisionFilterGroups collisionMask;
67 public override string ToString()
68 {
69 StringBuilder buff = new StringBuilder();
70 buff.Append("<id=");
71 buff.Append(ID.ToString());
72 buff.Append(",p=");
73 buff.Append(ptr.ToString("X"));
74 if (collisionFilter != 0 || collisionMask != 0)
75 {
76 buff.Append(",f=");
77 buff.Append(collisionFilter.ToString("X"));
78 buff.Append(",m=");
79 buff.Append(collisionMask.ToString("X"));
80 }
81 buff.Append(">");
82 return buff.ToString();
83 }
84}
85
86public struct BulletShape
87{
88 public BulletShape(IntPtr xx)
89 {
90 ptr = xx;
91 type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
92 shapeKey = 0;
93 isNativeShape = false;
94 }
95 public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ)
96 {
97 ptr = xx;
98 type = typ;
99 shapeKey = 0;
100 isNativeShape = false;
101 }
102 public IntPtr ptr;
103 public ShapeData.PhysicsShapeType type;
104 public System.UInt64 shapeKey;
105 public bool isNativeShape;
106 public override string ToString()
107 {
108 StringBuilder buff = new StringBuilder();
109 buff.Append("<p=");
110 buff.Append(ptr.ToString("X"));
111 buff.Append(",s=");
112 buff.Append(type.ToString());
113 buff.Append(",k=");
114 buff.Append(shapeKey.ToString("X"));
115 buff.Append(",n=");
116 buff.Append(isNativeShape.ToString());
117 buff.Append(">");
118 return buff.ToString();
119 }
120} 50}
121 51
122 // Constraint type values as defined by Bullet
123public enum ConstraintType : int
124{
125 POINT2POINT_CONSTRAINT_TYPE = 3,
126 HINGE_CONSTRAINT_TYPE,
127 CONETWIST_CONSTRAINT_TYPE,
128 D6_CONSTRAINT_TYPE,
129 SLIDER_CONSTRAINT_TYPE,
130 CONTACT_CONSTRAINT_TYPE,
131 D6_SPRING_CONSTRAINT_TYPE,
132 MAX_CONSTRAINT_TYPE
133}
134
135// An allocated Bullet btConstraint
136public struct BulletConstraint 52public struct BulletConstraint
137{ 53{
138 public BulletConstraint(IntPtr xx) 54 public BulletConstraint(IntPtr xx) { Ptr = xx; }
139 {
140 ptr = xx;
141 }
142 public IntPtr ptr;
143}
144
145// An allocated HeightMapThing which holds various heightmap info.
146// Made a class rather than a struct so there would be only one
147// instance of this and C# will pass around pointers rather
148// than making copies.
149public class BulletHeightMapInfo
150{
151 public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
152 ID = id;
153 Ptr = xx;
154 heightMap = hm;
155 terrainRegionBase = new Vector2(0f, 0f);
156 minCoords = new Vector3(100f, 100f, 25f);
157 maxCoords = new Vector3(101f, 101f, 26f);
158 minZ = maxZ = 0f;
159 sizeX = sizeY = 256f;
160 }
161 public uint ID;
162 public IntPtr Ptr; 55 public IntPtr Ptr;
163 public float[] heightMap;
164 public Vector2 terrainRegionBase;
165 public Vector3 minCoords;
166 public Vector3 maxCoords;
167 public float sizeX, sizeY;
168 public float minZ, maxZ;
169 public BulletShape terrainShape;
170 public BulletBody terrainBody;
171} 56}
172 57
173// =============================================================================== 58// ===============================================================================
174[StructLayout(LayoutKind.Sequential)] 59[StructLayout(LayoutKind.Sequential)]
175public struct ConvexHull 60public struct ConvexHull
176{ 61{
177 Vector3 Offset; 62 Vector3 Offset;
178 int VertexCount; 63 int VertexCount;
179 Vector3[] Vertices; 64 Vector3[] Vertices;
180} 65}
181[StructLayout(LayoutKind.Sequential)] 66[StructLayout(LayoutKind.Sequential)]
182public struct ShapeData 67public struct ShapeData
183{ 68{
184 public enum PhysicsShapeType 69 public enum PhysicsShapeType
185 { 70 {
@@ -190,11 +75,7 @@ public struct ShapeData
190 SHAPE_CYLINDER = 4, 75 SHAPE_CYLINDER = 4,
191 SHAPE_SPHERE = 5, 76 SHAPE_SPHERE = 5,
192 SHAPE_MESH = 6, 77 SHAPE_MESH = 6,
193 SHAPE_HULL = 7, 78 SHAPE_HULL = 7
194 // following defined by BulletSim
195 SHAPE_GROUNDPLANE = 20,
196 SHAPE_TERRAIN = 21,
197 SHAPE_COMPOUND = 22,
198 }; 79 };
199 public uint ID; 80 public uint ID;
200 public PhysicsShapeType Type; 81 public PhysicsShapeType Type;
@@ -210,25 +91,13 @@ public struct ShapeData
210 public float Restitution; 91 public float Restitution;
211 public float Collidable; // true of things bump into this 92 public float Collidable; // true of things bump into this
212 public float Static; // true if a static object. Otherwise gravity, etc. 93 public float Static; // true if a static object. Otherwise gravity, etc.
213 public float Solid; // true if object cannot be passed through
214 public Vector3 Size;
215 94
216 // note that bools are passed as floats since bool size changes by language and architecture 95 // note that bools are passed as floats since bool size changes by language and architecture
217 public const float numericTrue = 1f; 96 public const float numericTrue = 1f;
218 public const float numericFalse = 0f; 97 public const float numericFalse = 0f;
219
220 // The native shapes have predefined shape hash keys
221 public enum FixedShapeKey : ulong
222 {
223 KEY_BOX = 1,
224 KEY_SPHERE = 2,
225 KEY_CONE = 3,
226 KEY_CYLINDER = 4,
227 KEY_CAPSULE = 5,
228 }
229} 98}
230[StructLayout(LayoutKind.Sequential)] 99[StructLayout(LayoutKind.Sequential)]
231public struct SweepHit 100public struct SweepHit
232{ 101{
233 public uint ID; 102 public uint ID;
234 public float Fraction; 103 public float Fraction;
@@ -284,7 +153,6 @@ public struct ConfigurationParameters
284 public float terrainHitFraction; 153 public float terrainHitFraction;
285 public float terrainRestitution; 154 public float terrainRestitution;
286 public float avatarFriction; 155 public float avatarFriction;
287 public float avatarStandingFriction;
288 public float avatarDensity; 156 public float avatarDensity;
289 public float avatarRestitution; 157 public float avatarRestitution;
290 public float avatarCapsuleRadius; 158 public float avatarCapsuleRadius;
@@ -300,45 +168,18 @@ public struct ConfigurationParameters
300 public float shouldEnableFrictionCaching; 168 public float shouldEnableFrictionCaching;
301 public float numberOfSolverIterations; 169 public float numberOfSolverIterations;
302 170
303 public float linksetImplementation;
304 public float linkConstraintUseFrameOffset; 171 public float linkConstraintUseFrameOffset;
305 public float linkConstraintEnableTransMotor; 172 public float linkConstraintEnableTransMotor;
306 public float linkConstraintTransMotorMaxVel; 173 public float linkConstraintTransMotorMaxVel;
307 public float linkConstraintTransMotorMaxForce; 174 public float linkConstraintTransMotorMaxForce;
308 public float linkConstraintERP; 175 public float linkConstraintERP;
309 public float linkConstraintCFM; 176 public float linkConstraintCFM;
310 public float linkConstraintSolverIterations;
311
312 public float physicsLoggingFrames;
313 177
314 public const float numericTrue = 1f; 178 public const float numericTrue = 1f;
315 public const float numericFalse = 0f; 179 public const float numericFalse = 0f;
316} 180}
317 181
318 182// Values used by Bullet and BulletSim to control collisions
319// The states a bullet collision object can have
320public enum ActivationState : uint
321{
322 ACTIVE_TAG = 1,
323 ISLAND_SLEEPING,
324 WANTS_DEACTIVATION,
325 DISABLE_DEACTIVATION,
326 DISABLE_SIMULATION,
327}
328
329public enum CollisionObjectTypes : int
330{
331 CO_COLLISION_OBJECT = 1 << 0,
332 CO_RIGID_BODY = 1 << 1,
333 CO_GHOST_OBJECT = 1 << 2,
334 CO_SOFT_BODY = 1 << 3,
335 CO_HF_FLUID = 1 << 4,
336 CO_USER_TYPE = 1 << 5,
337}
338
339// Values used by Bullet and BulletSim to control object properties.
340// Bullet's "CollisionFlags" has more to do with operations on the
341// object (if collisions happen, if gravity effects it, ...).
342public enum CollisionFlags : uint 183public enum CollisionFlags : uint
343{ 184{
344 CF_STATIC_OBJECT = 1 << 0, 185 CF_STATIC_OBJECT = 1 << 0,
@@ -350,54 +191,9 @@ public enum CollisionFlags : uint
350 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, 191 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
351 // Following used by BulletSim to control collisions 192 // Following used by BulletSim to control collisions
352 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, 193 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
353 BS_FLOATS_ON_WATER = 1 << 11, 194 BS_VOLUME_DETECT_OBJECT = 1 << 11,
354 BS_NONE = 0, 195 BS_PHANTOM_OBJECT = 1 << 12,
355 BS_ALL = 0xFFFFFFFF, 196 BS_PHYSICAL_OBJECT = 1 << 13,
356
357 // These are the collision flags switched depending on physical state.
358 // The other flags are used for other things and should not be fooled with.
359 BS_ACTIVE = CF_STATIC_OBJECT
360 | CF_KINEMATIC_OBJECT
361 | CF_NO_CONTACT_RESPONSE
362};
363
364// Values for collisions groups and masks
365public enum CollisionFilterGroups : uint
366{
367 // Don't use the bit definitions!! Define the use in a
368 // filter/mask definition below. This way collision interactions
369 // are more easily debugged.
370 BNoneFilter = 0,
371 BDefaultFilter = 1 << 0,
372 BStaticFilter = 1 << 1,
373 BKinematicFilter = 1 << 2,
374 BDebrisFilter = 1 << 3,
375 BSensorTrigger = 1 << 4,
376 BCharacterFilter = 1 << 5,
377 BAllFilter = 0xFFFFFFFF,
378 // Filter groups defined by BulletSim
379 BGroundPlaneFilter = 1 << 10,
380 BTerrainFilter = 1 << 11,
381 BRaycastFilter = 1 << 12,
382 BSolidFilter = 1 << 13,
383 BLinksetFilter = 1 << 14,
384
385 // The collsion filters and masked are defined in one place -- don't want them scattered
386 AvatarFilter = BCharacterFilter,
387 AvatarMask = BAllFilter,
388 ObjectFilter = BSolidFilter,
389 ObjectMask = BAllFilter,
390 StaticObjectFilter = BStaticFilter,
391 StaticObjectMask = BAllFilter,
392 LinksetFilter = BLinksetFilter,
393 LinksetMask = BAllFilter & ~BLinksetFilter,
394 VolumeDetectFilter = BSensorTrigger,
395 VolumeDetectMask = ~BSensorTrigger,
396 TerrainFilter = BTerrainFilter,
397 TerrainMask = BAllFilter & ~BStaticFilter,
398 GroundPlaneFilter = BGroundPlaneFilter,
399 GroundPlaneMask = BAllFilter
400
401}; 197};
402 198
403// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 199// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
@@ -425,23 +221,14 @@ public enum ConstraintParamAxis : int
425// =============================================================================== 221// ===============================================================================
426static class BulletSimAPI { 222static class BulletSimAPI {
427 223
428// Link back to the managed code for outputting log messages
429[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
430public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
431
432[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 224[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
433[return: MarshalAs(UnmanagedType.LPStr)] 225[return: MarshalAs(UnmanagedType.LPStr)]
434public static extern string GetVersion(); 226public static extern string GetVersion();
435 227
436/* Remove the linkage to the old api methods
437[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 228[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
438public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, 229public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
439 int maxCollisions, IntPtr collisionArray, 230 int maxCollisions, IntPtr collisionArray,
440 int maxUpdates, IntPtr updateArray, 231 int maxUpdates, IntPtr updateArray);
441 DebugLogCallback logRoutine);
442
443[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
444public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
445 232
446[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 233[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
447public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); 234public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
@@ -455,19 +242,19 @@ public static extern bool UpdateParameter(uint worldID, uint localID,
455 242
456// =============================================================================== 243// ===============================================================================
457[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 244[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
458public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, 245public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
459 out int updatedEntityCount, 246 out int updatedEntityCount,
460 out IntPtr updatedEntitiesPtr, 247 out IntPtr updatedEntitiesPtr,
461 out int collidersCount, 248 out int collidersCount,
462 out IntPtr collidersPtr); 249 out IntPtr collidersPtr);
463 250
464[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 251[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
465public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, 252public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
466 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls 253 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
467 ); 254 );
468 255
469[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 256[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
470public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, 257public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
471 int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, 258 int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
472 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices 259 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
473 ); 260 );
@@ -481,6 +268,23 @@ public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
481[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 268[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
482public static extern bool CreateObject(uint worldID, ShapeData shapeData); 269public static extern bool CreateObject(uint worldID, ShapeData shapeData);
483 270
271/* Remove old functionality
272[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
273public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas);
274
275[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
276public static extern void AddConstraint(uint worldID, uint id1, uint id2,
277 Vector3 frame1, Quaternion frame1rot,
278 Vector3 frame2, Quaternion frame2rot,
279 Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
280
281[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
282public static extern bool RemoveConstraintByID(uint worldID, uint id1);
283
284[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
285public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
286 */
287
484[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 288[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
485public static extern Vector3 GetObjectPosition(uint WorldID, uint id); 289public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
486 290
@@ -496,7 +300,6 @@ public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 veloc
496[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 300[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
497public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity); 301public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
498 302
499// Set the current force acting on the object
500[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 303[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
501public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force); 304public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
502 305
@@ -537,8 +340,10 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
537// =============================================================================== 340// ===============================================================================
538[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 341[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
539public static extern void DumpBulletStatistics(); 342public static extern void DumpBulletStatistics();
540*/ 343
541// Log a debug message 344// Log a debug message
345[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
346public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
542[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 347[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
543public static extern void SetDebugLogCallback(DebugLogCallback callback); 348public static extern void SetDebugLogCallback(DebugLogCallback callback);
544 349
@@ -553,7 +358,6 @@ public static extern void SetDebugLogCallback(DebugLogCallback callback);
553// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt 358// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt
554// and the old code is removed. 359// and the old code is removed.
555 360
556// Functions use while converting from API1 to API2. Can be removed when totally converted.
557[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 361[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
558public static extern IntPtr GetSimHandle2(uint worldID); 362public static extern IntPtr GetSimHandle2(uint worldID);
559 363
@@ -564,25 +368,23 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
564public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); 368public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
565 369
566// =============================================================================== 370// ===============================================================================
567// Initialization and simulation
568[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 371[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
569public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, 372public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
570 int maxCollisions, IntPtr collisionArray, 373 int maxCollisions, IntPtr collisionArray,
571 int maxUpdates, IntPtr updateArray, 374 int maxUpdates, IntPtr updateArray);
572 DebugLogCallback logRoutine);
573 375
574[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 376[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
575public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); 377public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
576 378
577[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 379[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
578public static extern void SetHeightMap2(IntPtr world, float[] heightmap); 380public static extern void SetHeightmap2(IntPtr world, float[] heightmap);
579 381
580[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 382[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
581public static extern void Shutdown2(IntPtr sim); 383public static extern void Shutdown2(IntPtr sim);
582 384
583[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 385[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
584public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, 386public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
585 out int updatedEntityCount, 387 out int updatedEntityCount,
586 out IntPtr updatedEntitiesPtr, 388 out IntPtr updatedEntitiesPtr,
587 out int collidersCount, 389 out int collidersCount,
588 out IntPtr collidersPtr); 390 out IntPtr collidersPtr);
@@ -590,98 +392,23 @@ public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSt
590[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 392[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
591public static extern bool PushUpdate2(IntPtr obj); 393public static extern bool PushUpdate2(IntPtr obj);
592 394
593// ===================================================================================== 395/*
594// Mesh, hull, shape and body creation helper routines
595[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
596public static extern IntPtr CreateMeshShape2(IntPtr world,
597 int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
598 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
599
600[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
601public static extern IntPtr CreateHullShape2(IntPtr world,
602 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
603
604[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
605public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
606
607[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
608public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
609
610[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
611public static extern bool IsNativeShape2(IntPtr shape);
612
613[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
614public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
615
616[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
617public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
618
619[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
620public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
621
622[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
623public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
624
625[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
626public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
627
628[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
629public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
630
631[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
632public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
633
634[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
635public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
636
637[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
638public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
639
640[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
641public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
642
643[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
644public static extern int GetBodyType2(IntPtr obj);
645
646[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
647public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
648
649[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
650public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
651
652[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
653public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
654
655[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
656public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
657
658[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
659public static extern void ReleaseBodyInfo2(IntPtr obj);
660
661[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
662public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
663
664// =====================================================================================
665// Terrain creation and helper routines
666[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 396[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
667public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, 397public static extern IntPtr CreateMesh2(IntPtr world, int indicesCount, int* indices, int verticesCount, float* vertices );
668 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
669 398
670[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 399[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
671public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, 400public static extern bool BuildHull2(IntPtr world, IntPtr mesh);
672 [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
673 401
674[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 402[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
675public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo); 403public static extern bool ReleaseHull2(IntPtr world, IntPtr mesh);
676 404
677[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 405[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
678public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); 406public static extern bool DestroyMesh2(IntPtr world, IntPtr mesh);
679 407
680[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 408[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
681public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo); 409public static extern IntPtr CreateObject2(IntPtr world, ShapeData shapeData);
410*/
682 411
683// =====================================================================================
684// Constraint creation and helper routines
685[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 412[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
686public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, 413public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
687 Vector3 frame1loc, Quaternion frame1rot, 414 Vector3 frame1loc, Quaternion frame1rot,
@@ -706,7 +433,7 @@ public static extern void SetConstraintEnable2(IntPtr constrain, float numericTr
706public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); 433public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
707 434
708[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 435[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
709public static extern bool SetFrames2(IntPtr constrain, 436public static extern bool SetFrames2(IntPtr constrain,
710 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); 437 Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
711 438
712[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 439[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -733,108 +460,11 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams
733[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 460[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
734public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); 461public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
735 462
736// =====================================================================================
737// btCollisionWorld entries
738[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 463[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
739public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj); 464public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj);
740 465
741[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 466[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
742public static extern void UpdateAabbs2(IntPtr world); 467public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
743
744[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
745public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
746
747[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
748public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
749
750// =====================================================================================
751// btDynamicsWorld entries
752[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
753public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
754
755[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
756public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
757
758[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
759public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
760
761[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
762public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
763// =====================================================================================
764// btCollisionObject entries
765[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
766public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
767
768[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
769public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
770
771[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
772public static extern bool HasAnisotripicFriction2(IntPtr constrain);
773
774[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
775public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
776
777[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
778public static extern float GetContactProcessingThreshold2(IntPtr obj);
779
780[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
781public static extern bool IsStaticObject2(IntPtr obj);
782
783[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
784public static extern bool IsKinematicObject2(IntPtr obj);
785
786[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
787public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
788
789[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
790public static extern bool HasContactResponse2(IntPtr obj);
791
792[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
793public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
794
795[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
796public static extern IntPtr GetCollisionShape2(IntPtr obj);
797
798[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
799public static extern int GetActivationState2(IntPtr obj);
800
801[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
802public static extern void SetActivationState2(IntPtr obj, int state);
803
804[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
805public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
806
807[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
808public static extern float GetDeactivationTime2(IntPtr obj);
809
810[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
811public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
812
813[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
814public static extern void Activate2(IntPtr obj, bool forceActivation);
815
816[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
817public static extern bool IsActive2(IntPtr obj);
818
819[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
820public static extern void SetRestitution2(IntPtr obj, float val);
821
822[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
823public static extern float GetRestitution2(IntPtr obj);
824
825[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
826public static extern void SetFriction2(IntPtr obj, float val);
827
828[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
829public static extern float GetFriction2(IntPtr obj);
830
831 /* Haven't defined the type 'Transform'
832[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
833public static extern Transform GetWorldTransform2(IntPtr obj);
834
835[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
836public static extern void setWorldTransform2(IntPtr obj, Transform trans);
837 */
838 468
839[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 469[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
840public static extern Vector3 GetPosition2(IntPtr obj); 470public static extern Vector3 GetPosition2(IntPtr obj);
@@ -843,290 +473,85 @@ public static extern Vector3 GetPosition2(IntPtr obj);
843public static extern Quaternion GetOrientation2(IntPtr obj); 473public static extern Quaternion GetOrientation2(IntPtr obj);
844 474
845[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 475[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
846public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); 476public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
847
848[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
849public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
850
851[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
852public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
853
854 /*
855[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
856public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
857
858[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
859public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
860 */
861
862[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
863public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
864
865[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
866public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
867
868[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
869public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
870
871[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
872public static extern float GetHitFraction2(IntPtr obj);
873
874[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
875public static extern void SetHitFraction2(IntPtr obj, float val);
876
877[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
878public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
879
880[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
881public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
882
883[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
884public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
885
886[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
887public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
888
889[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
890public static extern float GetCcdMotionThreshold2(IntPtr obj);
891
892[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
893public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
894
895[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
896public static extern float GetCcdSweptSphereRadius2(IntPtr obj);
897
898[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
899public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);
900
901[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
902public static extern IntPtr GetUserPointer2(IntPtr obj);
903
904[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
905public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
906
907// =====================================================================================
908// btRigidBody entries
909[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
910public static extern void ApplyGravity2(IntPtr obj);
911
912[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
913public static extern void SetGravity2(IntPtr obj, Vector3 val);
914
915[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
916public static extern Vector3 GetGravity2(IntPtr obj);
917
918[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
919public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
920
921[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
922public static extern float GetLinearDamping2(IntPtr obj);
923
924[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
925public static extern float GetAngularDamping2(IntPtr obj);
926
927[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
928public static extern float GetLinearSleepingThreshold2(IntPtr obj);
929
930[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
931public static extern float GetAngularSleepingThreshold2(IntPtr obj);
932
933[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
934public static extern void ApplyDamping2(IntPtr obj, float timeStep);
935
936[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
937public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
938
939[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
940public static extern Vector3 GetLinearFactor2(IntPtr obj);
941
942[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
943public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
944
945 /*
946[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
947public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
948 */
949
950[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
951public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
952
953// Add a force to the object as if its mass is one.
954[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
955public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
956
957// Set the force being applied to the object as if its mass is one.
958[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
959public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
960
961[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
962public static extern Vector3 GetTotalForce2(IntPtr obj);
963
964[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
965public static extern Vector3 GetTotalTorque2(IntPtr obj);
966
967[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
968public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
969
970[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
971public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
972
973[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
974public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
975
976[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
977public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
978 477
979// Apply force at the given point. Will add torque to the object.
980[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 478[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
981public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos); 479public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity);
982 480
983// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
984[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 481[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
985public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp); 482public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
986 483
987// Apply impulse to the object's torque. Force is scaled by object's mass.
988[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 484[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
989public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp); 485public static extern bool SetObjectForce2(IntPtr obj, Vector3 force);
990 486
991// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
992[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 487[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
993public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos); 488public static extern bool AddObjectForce2(IntPtr obj, Vector3 force);
994 489
995[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 490[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
996public static extern void ClearForces2(IntPtr obj); 491public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val);
997 492
998[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 493[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
999public static extern void ClearAllForces2(IntPtr obj); 494public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val);
1000 495
1001[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 496[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1002public static extern void UpdateInertiaTensor2(IntPtr obj); 497public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
1003 498
1004[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 499[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1005public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj); 500public static extern bool SetDeactivationTime2(IntPtr obj, float val);
1006 501
1007 /*
1008[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 502[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1009public static extern Transform GetCenterOfMassTransform2(IntPtr obj); 503public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
1010 */
1011 504
1012[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 505[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1013public static extern Vector3 GetLinearVelocity2(IntPtr obj); 506public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val);
1014 507
1015[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 508[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1016public static extern Vector3 GetAngularVelocity2(IntPtr obj); 509public static extern bool SetFriction2(IntPtr obj, float val);
1017 510
1018[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 511[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1019public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val); 512public static extern bool SetRestitution2(IntPtr obj, float val);
1020 513
1021[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 514[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1022public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); 515public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val);
1023 516
1024[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 517[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1025public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos); 518public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang);
1026 519
1027[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 520[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1028public static extern void Translate2(IntPtr obj, Vector3 trans); 521public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
1029
1030[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1031public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
1032
1033[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1034public static extern bool WantsSleeping2(IntPtr obj);
1035
1036[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1037public static extern void SetAngularFactor2(IntPtr obj, float factor);
1038
1039[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1040public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
1041
1042[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1043public static extern Vector3 GetAngularFactor2(IntPtr obj);
1044
1045[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1046public static extern bool IsInWorld2(IntPtr obj);
1047
1048[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1049public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
1050
1051[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1052public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
1053
1054[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1055public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
1056
1057[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1058public static extern int GetNumConstraintRefs2(IntPtr obj);
1059
1060[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1061public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
1062
1063// =====================================================================================
1064// btCollisionShape entries
1065
1066[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1067public static extern float GetAngularMotionDisc2(IntPtr shape);
1068
1069[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1070public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
1071
1072[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1073public static extern bool IsPolyhedral2(IntPtr shape);
1074
1075[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1076public static extern bool IsConvex2d2(IntPtr shape);
1077
1078[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1079public static extern bool IsConvex2(IntPtr shape);
1080
1081[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1082public static extern bool IsNonMoving2(IntPtr shape);
1083
1084[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1085public static extern bool IsConcave2(IntPtr shape);
1086
1087[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1088public static extern bool IsCompound2(IntPtr shape);
1089
1090[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1091public static extern bool IsSoftBody2(IntPtr shape);
1092
1093[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1094public static extern bool IsInfinite2(IntPtr shape);
1095 522
1096[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 523[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1097public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale); 524public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
1098 525
1099[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 526[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1100public static extern Vector3 GetLocalScaling2(IntPtr shape); 527public static extern IntPtr AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
1101 528
1102[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 529[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1103public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass); 530public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
1104 531
1105[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 532[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1106public static extern int GetShapeType2(IntPtr shape); 533public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
1107 534
1108[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 535[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1109public static extern void SetMargin2(IntPtr shape, float val); 536public static extern bool UpdateInertiaTensor2(IntPtr obj);
1110 537
1111[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 538[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1112public static extern float GetMargin2(IntPtr shape); 539public static extern bool SetGravity2(IntPtr obj, Vector3 val);
1113 540
1114// =====================================================================================
1115// Debugging
1116[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 541[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1117public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); 542public static extern IntPtr ClearForces2(IntPtr obj);
1118 543
1119[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 544[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1120public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape); 545public static extern IntPtr ClearAllForces2(IntPtr obj);
1121 546
1122[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 547[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1123public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain); 548public static extern bool SetMargin2(IntPtr obj, float val);
1124 549
1125[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 550[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1126public static extern void DumpAllInfo2(IntPtr sim); 551public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj);
1127 552
1128[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 553[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1129public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); 554public static extern bool DestroyObject2(IntPtr world, uint id);
1130 555
1131[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 556[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
1132public static extern void DumpPhysicsStatistics2(IntPtr sim); 557public static extern void DumpPhysicsStatistics2(IntPtr sim);
generated by cgit v1.1 at 2024-11-12 21:23:45 +0000