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