diff options
Diffstat (limited to '')
7 files changed, 528 insertions, 64 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 747ae71..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; |
@@ -92,6 +93,7 @@ public class BSCharacter : BSPhysObject | |||
92 | _localID = localID; | 93 | _localID = localID; |
93 | _avName = avName; | 94 | _avName = avName; |
94 | Scene = parent_scene; | 95 | Scene = parent_scene; |
96 | _physicsActorType = (int)ActorTypes.Agent; | ||
95 | _position = pos; | 97 | _position = pos; |
96 | _size = size; | 98 | _size = size; |
97 | _flying = isFlying; | 99 | _flying = isFlying; |
@@ -128,9 +130,9 @@ public class BSCharacter : BSPhysObject | |||
128 | // 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# |
129 | BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); | 131 | BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); |
130 | 132 | ||
131 | Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID)); | 133 | BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID)); |
132 | // 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) |
133 | BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 135 | BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
134 | }); | 136 | }); |
135 | 137 | ||
136 | return; | 138 | return; |
@@ -440,7 +442,7 @@ public class BSCharacter : BSPhysObject | |||
440 | Scene.TaintedObject("BSCharacter.AddForce", delegate() | 442 | Scene.TaintedObject("BSCharacter.AddForce", delegate() |
441 | { | 443 | { |
442 | DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); | 444 | DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); |
443 | BulletSimAPI.AddObjectForce2(Body.Ptr, _force); | 445 | BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); |
444 | }); | 446 | }); |
445 | } | 447 | } |
446 | else | 448 | else |
@@ -465,7 +467,7 @@ public class BSCharacter : BSPhysObject | |||
465 | 467 | ||
466 | Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate() | 468 | Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate() |
467 | { | 469 | { |
468 | BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 470 | BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
469 | }); | 471 | }); |
470 | } | 472 | } |
471 | } | 473 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index d9270d1..2e15ced 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | |||
@@ -98,6 +98,10 @@ public abstract class BSConstraint : IDisposable | |||
98 | { | 98 | { |
99 | // m_world.scene.PhysicsLogging.Write("{0},BSConstraint.RecomputeConstraintVariables,taint,enabling,A={1},B={2}", | 99 | // m_world.scene.PhysicsLogging.Write("{0},BSConstraint.RecomputeConstraintVariables,taint,enabling,A={1},B={2}", |
100 | // BSScene.DetailLogZero, Body1.ID, Body2.ID); | 100 | // BSScene.DetailLogZero, Body1.ID, Body2.ID); |
101 | |||
102 | // Setting an object's mass to zero (making it static like when it's selected) | ||
103 | // automatically disables the constraints. | ||
104 | // If enabled, be sure to set the constraint itself to enabled. | ||
101 | BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true)); | 105 | BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true)); |
102 | } | 106 | } |
103 | else | 107 | else |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index b04e1b6..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); |
@@ -245,8 +245,8 @@ public class BSLinkset | |||
245 | // their constraints have not been created yet. | 245 | // their constraints have not been created yet. |
246 | // Caused by the fact that m_children is built at run time but building constraints | 246 | // Caused by the fact that m_children is built at run time but building constraints |
247 | // happens at taint time. | 247 | // happens at taint time. |
248 | // m_physicsScene.Logger.ErrorFormat("[BULLETSIM LINKSET] RecomputeLinksetConstraintVariables: constraint not found for root={0}, child={1}", | 248 | // m_physicsScene.Logger.ErrorFormat("{0} RecomputeLinksetConstraintVariables: constraint not found for root={1}, child={2}", |
249 | // m_linksetRoot.Body.ID, child.Body.ID); | 249 | // LogHeader, m_linksetRoot.Body.ID, child.Body.ID); |
250 | } | 250 | } |
251 | } | 251 | } |
252 | } | 252 | } |
@@ -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 6bfce5c..6d0af63 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -94,8 +94,10 @@ public sealed class BSPrim : BSPhysObject | |||
94 | private int _nextCollisionOkTime = 0; | 94 | private int _nextCollisionOkTime = 0; |
95 | long _collidingStep; | 95 | long _collidingStep; |
96 | long _collidingGroundStep; | 96 | long _collidingGroundStep; |
97 | CollisionFlags m_currentCollisionFlags = 0; | ||
97 | 98 | ||
98 | public override BulletBody Body { get; set; } | 99 | public override BulletBody BSBody { get; set; } |
100 | public override BulletShape BSShape { get; set; } | ||
99 | 101 | ||
100 | private BSDynamics _vehicle; | 102 | private BSDynamics _vehicle; |
101 | 103 | ||
@@ -113,6 +115,7 @@ public sealed class BSPrim : BSPhysObject | |||
113 | // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); | 115 | // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); |
114 | _localID = localID; | 116 | _localID = localID; |
115 | _avName = primName; | 117 | _avName = primName; |
118 | _physicsActorType = (int)ActorTypes.Prim; | ||
116 | _scene = parent_scene; | 119 | _scene = parent_scene; |
117 | _position = pos; | 120 | _position = pos; |
118 | _size = size; | 121 | _size = size; |
@@ -142,7 +145,9 @@ public sealed class BSPrim : BSPhysObject | |||
142 | // Get the pointer to the physical body for this object. | 145 | // Get the pointer to the physical body for this object. |
143 | // 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 |
144 | // 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. |
145 | Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); | 148 | BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); |
149 | BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); | ||
150 | m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); | ||
146 | }); | 151 | }); |
147 | } | 152 | } |
148 | 153 | ||
@@ -258,10 +263,10 @@ public sealed class BSPrim : BSPhysObject | |||
258 | _rotationalVelocity = OMV.Vector3.Zero; | 263 | _rotationalVelocity = OMV.Vector3.Zero; |
259 | 264 | ||
260 | // Zero some other properties directly into the physics engine | 265 | // Zero some other properties directly into the physics engine |
261 | BulletSimAPI.SetVelocity2(Body.Ptr, OMV.Vector3.Zero); | 266 | BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero); |
262 | BulletSimAPI.SetAngularVelocity2(Body.Ptr, OMV.Vector3.Zero); | 267 | BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero); |
263 | BulletSimAPI.SetInterpolation2(Body.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); | 268 | BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); |
264 | BulletSimAPI.ClearForces2(Body.Ptr); | 269 | BulletSimAPI.ClearForces2(BSBody.Ptr); |
265 | } | 270 | } |
266 | 271 | ||
267 | public override void LockAngularMotion(OMV.Vector3 axis) | 272 | public override void LockAngularMotion(OMV.Vector3 axis) |
@@ -324,7 +329,7 @@ public sealed class BSPrim : BSPhysObject | |||
324 | { | 329 | { |
325 | DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); | 330 | DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); |
326 | // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); | 331 | // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); |
327 | BulletSimAPI.SetObjectForce2(Body.Ptr, _force); | 332 | BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); |
328 | }); | 333 | }); |
329 | } | 334 | } |
330 | } | 335 | } |
@@ -442,8 +447,7 @@ public sealed class BSPrim : BSPhysObject | |||
442 | } | 447 | } |
443 | public override int PhysicsActorType { | 448 | public override int PhysicsActorType { |
444 | get { return _physicsActorType; } | 449 | get { return _physicsActorType; } |
445 | set { _physicsActorType = value; | 450 | set { _physicsActorType = value; } |
446 | } | ||
447 | } | 451 | } |
448 | public override bool IsPhysical { | 452 | public override bool IsPhysical { |
449 | get { return _isPhysical; } | 453 | get { return _isPhysical; } |
@@ -470,6 +474,11 @@ public sealed class BSPrim : BSPhysObject | |||
470 | 474 | ||
471 | // Make gravity work if the object is physical and not selected | 475 | // Make gravity work if the object is physical and not selected |
472 | // No locking here because only called when it is safe | 476 | // No locking here because only called when it is safe |
477 | // There are four flags we're interested in: | ||
478 | // IsStatic: Object does not move, otherwise the object has mass and moves | ||
479 | // isSolid: other objects bounce off of this object | ||
480 | // isVolumeDetect: other objects pass through but can generate collisions | ||
481 | // collisionEvents: whether this object returns collision events | ||
473 | private void SetObjectDynamic() | 482 | private void SetObjectDynamic() |
474 | { | 483 | { |
475 | // If it's becoming dynamic, it will need hullness | 484 | // If it's becoming dynamic, it will need hullness |
@@ -479,12 +488,66 @@ public sealed class BSPrim : BSPhysObject | |||
479 | float mass = IsStatic ? 0f : _mass; | 488 | float mass = IsStatic ? 0f : _mass; |
480 | 489 | ||
481 | BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); | 490 | BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); |
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(); | ||
499 | |||
500 | m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); | ||
482 | 501 | ||
483 | // recompute any linkset parameters | 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. | ||
484 | Linkset.Refresh(this); | 508 | Linkset.Refresh(this); |
485 | 509 | ||
486 | CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr); | 510 | DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, m_currentCollisionFlags); |
487 | DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); | 511 | } |
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 | { | ||
488 | } | 551 | } |
489 | 552 | ||
490 | // prims don't fly | 553 | // prims don't fly |
@@ -609,7 +672,7 @@ public sealed class BSPrim : BSPhysObject | |||
609 | } | 672 | } |
610 | else | 673 | else |
611 | { | 674 | { |
612 | 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); |
613 | return; | 676 | return; |
614 | } | 677 | } |
615 | _scene.TaintedObject("BSPrim.AddForce", delegate() | 678 | _scene.TaintedObject("BSPrim.AddForce", delegate() |
@@ -624,7 +687,8 @@ public sealed class BSPrim : BSPhysObject | |||
624 | m_accumulatedForces.Clear(); | 687 | m_accumulatedForces.Clear(); |
625 | } | 688 | } |
626 | DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); | 689 | DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); |
627 | BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); | 690 | // For unknown reason, "ApplyCentralForce" is really additive. |
691 | BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum); | ||
628 | }); | 692 | }); |
629 | } | 693 | } |
630 | 694 | ||
@@ -644,7 +708,7 @@ public sealed class BSPrim : BSPhysObject | |||
644 | 708 | ||
645 | Scene.TaintedObject("BSPrim.SubscribeEvents", delegate() | 709 | Scene.TaintedObject("BSPrim.SubscribeEvents", delegate() |
646 | { | 710 | { |
647 | BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 711 | m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
648 | }); | 712 | }); |
649 | } | 713 | } |
650 | } | 714 | } |
@@ -652,7 +716,7 @@ public sealed class BSPrim : BSPhysObject | |||
652 | _subscribedEventsMs = 0; | 716 | _subscribedEventsMs = 0; |
653 | Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate() | 717 | Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate() |
654 | { | 718 | { |
655 | BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 719 | m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
656 | }); | 720 | }); |
657 | } | 721 | } |
658 | public override bool SubscribedEvents() { | 722 | public override bool SubscribedEvents() { |
@@ -1237,7 +1301,7 @@ public sealed class BSPrim : BSPhysObject | |||
1237 | bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); | 1301 | bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); |
1238 | 1302 | ||
1239 | // 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. |
1240 | Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); | 1304 | BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); |
1241 | 1305 | ||
1242 | return ret; | 1306 | return ret; |
1243 | } | 1307 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index ab45f8f..47d7199 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | |||
@@ -403,13 +403,13 @@ 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; |
411 | DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}", | 411 | // DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}", |
412 | BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret); | 412 | // BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret); |
413 | } | 413 | } |
414 | else | 414 | else |
415 | { | 415 | { |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index a0bad3a..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 | ||
223 | public 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, ...). | ||
222 | public enum CollisionFlags : uint | 235 | public 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 | ||
255 | public 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 | ||
273 | public 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 | |||
282 | public 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 | ||
297 | public 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 | ||
308 | public 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. |
240 | public enum ConstraintParams : int | 320 | public 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] |
348 | public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity); | 428 | public 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] |
351 | public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force); | 432 | public 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] |
407 | public static extern IntPtr GetSimHandle2(uint worldID); | 489 | public static extern IntPtr GetSimHandle2(uint worldID); |
408 | 490 | ||
@@ -413,6 +495,7 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); | |||
413 | public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); | 495 | public 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] |
417 | public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, | 500 | public 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 | |||
438 | public static extern bool PushUpdate2(IntPtr obj); | 521 | public 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] |
442 | public static extern IntPtr CreateMeshShape2(IntPtr world, | 526 | public static extern IntPtr CreateMeshShape2(IntPtr world, |
443 | int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, | 527 | int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, |
@@ -461,11 +545,25 @@ public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); | |||
461 | public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); | 545 | public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); |
462 | 546 | ||
463 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 547 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
548 | public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo); | ||
549 | |||
550 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
464 | public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); | 551 | public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); |
465 | 552 | ||
466 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 553 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
467 | public static extern bool SetBodyShape2(IntPtr sim, IntPtr obj, IntPtr shape); | 554 | public static extern IntPtr AllocateBodyInfo2(IntPtr obj); |
555 | |||
556 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
557 | public static extern void ReleaseBodyInfo2(IntPtr obj); | ||
558 | |||
559 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
560 | public static extern void DestroyObject2(IntPtr sim, IntPtr obj); | ||
561 | |||
468 | // ===================================================================================== | 562 | // ===================================================================================== |
563 | // Terrain creation and helper routines | ||
564 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
565 | public static extern void DumpMapInfo(IntPtr sim, IntPtr manInfo); | ||
566 | |||
469 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 567 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
470 | public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, | 568 | public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, |
471 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); | 569 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); |
@@ -484,6 +582,7 @@ public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float | |||
484 | public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo); | 582 | public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo); |
485 | 583 | ||
486 | // ===================================================================================== | 584 | // ===================================================================================== |
585 | // Constraint creation and helper routines | ||
487 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 586 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
488 | public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, | 587 | public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, |
489 | Vector3 frame1loc, Quaternion frame1rot, | 588 | Vector3 frame1loc, Quaternion frame1rot, |
@@ -536,107 +635,398 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams | |||
536 | public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); | 635 | public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); |
537 | 636 | ||
538 | // ===================================================================================== | 637 | // ===================================================================================== |
638 | // btCollisionWorld entries | ||
639 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
640 | public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj); | ||
641 | |||
642 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
643 | public static extern void UpdateAabbs2(IntPtr world); | ||
644 | |||
645 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
646 | public static extern bool GetForceUpdateAllAabbs2(IntPtr world); | ||
647 | |||
648 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
649 | public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force); | ||
650 | |||
651 | // ===================================================================================== | ||
652 | // btDynamicsWorld entries | ||
539 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 653 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
540 | public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); | 654 | public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); |
541 | 655 | ||
542 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 656 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
543 | public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); | 657 | public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); |
544 | 658 | ||
659 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
660 | public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects); | ||
661 | |||
662 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
663 | public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain); | ||
545 | // ===================================================================================== | 664 | // ===================================================================================== |
665 | // btCollisionObject entries | ||
666 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
667 | public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain); | ||
668 | |||
669 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
670 | public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict); | ||
671 | |||
672 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
673 | public static extern bool HasAnisotripicFriction2(IntPtr constrain); | ||
674 | |||
675 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
676 | public static extern void SetContactProcessingThreshold2(IntPtr obj, float val); | ||
677 | |||
678 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
679 | public static extern float GetContactProcessingThreshold2(IntPtr obj); | ||
680 | |||
681 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
682 | public static extern bool IsStaticObject2(IntPtr obj); | ||
683 | |||
684 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
685 | public static extern bool IsKinematicObject2(IntPtr obj); | ||
686 | |||
687 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
688 | public static extern bool IsStaticOrKinematicObject2(IntPtr obj); | ||
689 | |||
690 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
691 | public static extern bool HasContactResponse2(IntPtr obj); | ||
692 | |||
693 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
694 | public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape); | ||
695 | |||
696 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
697 | public static extern IntPtr GetCollisionShape2(IntPtr obj); | ||
698 | |||
699 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
700 | public static extern int GetActivationState2(IntPtr obj); | ||
701 | |||
702 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
703 | public static extern void SetActivationState2(IntPtr obj, int state); | ||
704 | |||
705 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
706 | public static extern void SetDeactivationTime2(IntPtr obj, float dtime); | ||
707 | |||
708 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
709 | public static extern float GetDeactivationTime2(IntPtr obj); | ||
710 | |||
711 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
712 | public static extern void ForceActivationState2(IntPtr obj, ActivationState state); | ||
713 | |||
546 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 714 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
547 | public static extern void Activate2(IntPtr obj, bool forceActivation); | 715 | public static extern void Activate2(IntPtr obj, bool forceActivation); |
548 | 716 | ||
549 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 717 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
718 | public static extern bool IsActive2(IntPtr obj); | ||
719 | |||
720 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
721 | public static extern void SetRestitution2(IntPtr obj, float val); | ||
722 | |||
723 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
724 | public static extern float GetRestitution2(IntPtr obj); | ||
725 | |||
726 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
727 | public static extern void SetFriction2(IntPtr obj, float val); | ||
728 | |||
729 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
730 | public static extern float GetFriction2(IntPtr obj); | ||
731 | |||
732 | /* Haven't defined the type 'Transform' | ||
733 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
734 | public static extern Transform GetWorldTransform2(IntPtr obj); | ||
735 | |||
736 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
737 | public static extern void setWorldTransform2(IntPtr obj, Transform trans); | ||
738 | */ | ||
739 | |||
740 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
550 | public static extern Vector3 GetPosition2(IntPtr obj); | 741 | public static extern Vector3 GetPosition2(IntPtr obj); |
551 | 742 | ||
552 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 743 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
553 | public static extern Quaternion GetOrientation2(IntPtr obj); | 744 | public static extern Quaternion GetOrientation2(IntPtr obj); |
554 | 745 | ||
555 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 746 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
556 | public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); | 747 | public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); |
557 | 748 | ||
558 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 749 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
559 | public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity); | 750 | public static extern IntPtr GetBroadphaseHandle2(IntPtr obj); |
560 | 751 | ||
561 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 752 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
562 | public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); | 753 | public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle); |
563 | 754 | ||
755 | /* | ||
564 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 756 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
565 | public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); | 757 | public static extern Transform GetInterpolationWorldTransform2(IntPtr obj); |
566 | 758 | ||
567 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 759 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
568 | public static extern bool AddObjectForce2(IntPtr obj, Vector3 force); | 760 | public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); |
761 | */ | ||
569 | 762 | ||
570 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 763 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
571 | public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); | 764 | public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel); |
572 | 765 | ||
573 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 766 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
574 | public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val); | 767 | public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel); |
575 | 768 | ||
576 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 769 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
577 | public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping); | 770 | public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel); |
578 | 771 | ||
579 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 772 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
580 | public static extern bool SetDeactivationTime2(IntPtr obj, float val); | 773 | public static extern float GetHitFraction2(IntPtr obj); |
581 | 774 | ||
582 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 775 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
583 | public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); | 776 | public static extern void SetHitFraction2(IntPtr obj, float val); |
584 | 777 | ||
585 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 778 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
586 | public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); | 779 | public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); |
587 | 780 | ||
588 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 781 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
589 | public static extern bool SetFriction2(IntPtr obj, float val); | 782 | public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags); |
590 | 783 | ||
591 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 784 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
592 | public static extern bool SetHitFraction2(IntPtr obj, float val); | 785 | public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); |
593 | 786 | ||
594 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 787 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
595 | public static extern bool SetRestitution2(IntPtr obj, float val); | 788 | public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); |
596 | 789 | ||
597 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 790 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
598 | public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); | 791 | public static extern float GetCcdMotionThreshold2(IntPtr obj); |
599 | 792 | ||
600 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 793 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
601 | public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); | 794 | public static extern void SetCcdMotionThreshold2(IntPtr obj, float val); |
602 | 795 | ||
603 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 796 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
604 | public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); | 797 | public static extern float GetCcdSweepSphereRadius2(IntPtr obj); |
798 | |||
799 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
800 | public static extern void SetCcdSweepSphereRadius2(IntPtr obj, float val); | ||
801 | |||
802 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
803 | public static extern IntPtr GetUserPointer2(IntPtr obj); | ||
804 | |||
805 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
806 | public static extern void SetUserPointer2(IntPtr obj, IntPtr val); | ||
807 | |||
808 | // ===================================================================================== | ||
809 | // btRigidBody entries | ||
810 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
811 | public static extern void ApplyGravity2(IntPtr obj); | ||
812 | |||
813 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
814 | public static extern void SetGravity2(IntPtr obj, Vector3 val); | ||
815 | |||
816 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
817 | public static extern Vector3 GetGravity2(IntPtr obj); | ||
818 | |||
819 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
820 | public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping); | ||
821 | |||
822 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
823 | public static extern float GetLinearDamping2(IntPtr obj); | ||
824 | |||
825 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
826 | public static extern float GetAngularDamping2(IntPtr obj); | ||
827 | |||
828 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
829 | public static extern float GetLinearSleepingThreshold2(IntPtr obj); | ||
830 | |||
831 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
832 | public static extern float GetAngularSleepingThreshold2(IntPtr obj); | ||
833 | |||
834 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
835 | public static extern void ApplyDamping2(IntPtr obj, float timeStep); | ||
836 | |||
837 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
838 | public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia); | ||
839 | |||
840 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
841 | public static extern Vector3 GetLinearFactor2(IntPtr obj); | ||
842 | |||
843 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
844 | public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor); | ||
845 | |||
846 | /* | ||
847 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
848 | public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans); | ||
849 | */ | ||
850 | |||
851 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
852 | public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot); | ||
853 | |||
854 | // Add a force to the object as if its mass is one. | ||
855 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
856 | public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force); | ||
857 | |||
858 | // Set the force being applied to the object as if its mass is one. | ||
859 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
860 | public static extern void SetObjectForce2(IntPtr obj, Vector3 force); | ||
861 | |||
862 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
863 | public static extern Vector3 GetTotalForce2(IntPtr obj); | ||
864 | |||
865 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
866 | public static extern Vector3 GetTotalTorque2(IntPtr obj); | ||
867 | |||
868 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
869 | public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj); | ||
870 | |||
871 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
872 | public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert); | ||
873 | |||
874 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
875 | public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); | ||
876 | |||
877 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
878 | public 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] | ||
882 | public 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] | ||
886 | public 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] | ||
890 | public 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] | ||
894 | public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos); | ||
895 | |||
896 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
897 | public static extern void ClearForces2(IntPtr obj); | ||
898 | |||
899 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
900 | public static extern void ClearAllForces2(IntPtr obj); | ||
901 | |||
902 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
903 | public static extern void UpdateInertiaTensor2(IntPtr obj); | ||
904 | |||
905 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
906 | public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj); | ||
907 | |||
908 | /* | ||
909 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
910 | public static extern Transform GetCenterOfMassTransform2(IntPtr obj); | ||
911 | */ | ||
912 | |||
913 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
914 | public static extern Vector3 GetLinearVelocity2(IntPtr obj); | ||
605 | 915 | ||
606 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 916 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
607 | public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags); | 917 | public static extern Vector3 GetAngularVelocity2(IntPtr obj); |
608 | 918 | ||
609 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 919 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
610 | public static extern IntPtr AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); | 920 | public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val); |
611 | 921 | ||
612 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 922 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
613 | public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); | 923 | public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); |
614 | 924 | ||
615 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 925 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
616 | public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); | 926 | public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos); |
617 | 927 | ||
618 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 928 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
619 | public static extern bool UpdateInertiaTensor2(IntPtr obj); | 929 | public static extern void Translate2(IntPtr obj, Vector3 trans); |
620 | 930 | ||
621 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 931 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
622 | public static extern bool SetGravity2(IntPtr obj, Vector3 val); | 932 | public static extern void UpdateDeactivation2(IntPtr obj, float timeStep); |
623 | 933 | ||
624 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 934 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
625 | public static extern IntPtr ClearForces2(IntPtr obj); | 935 | public static extern bool WantsSleeping2(IntPtr obj); |
626 | 936 | ||
627 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 937 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
628 | public static extern IntPtr ClearAllForces2(IntPtr obj); | 938 | public static extern void SetAngularFactor2(IntPtr obj, float factor); |
629 | 939 | ||
630 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 940 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
631 | public static extern bool SetMargin2(IntPtr obj, float val); | 941 | public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor); |
632 | 942 | ||
633 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 943 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
634 | public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); | 944 | public static extern Vector3 GetAngularFactor2(IntPtr obj); |
635 | 945 | ||
636 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 946 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
637 | public static extern bool DestroyObject2(IntPtr world, IntPtr obj); | 947 | public static extern bool IsInWorld2(IntPtr obj); |
638 | 948 | ||
639 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 949 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
950 | public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain); | ||
951 | |||
952 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
953 | public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain); | ||
954 | |||
955 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
956 | public static extern IntPtr GetConstraintRef2(IntPtr obj, int index); | ||
957 | |||
958 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
959 | public static extern int GetNumConstraintRefs2(IntPtr obj); | ||
960 | |||
961 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
962 | public static extern Vector3 GetDeltaLinearVelocity2(IntPtr obj); | ||
963 | |||
964 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
965 | public static extern Vector3 GetDeltaAngularVelocity2(IntPtr obj); | ||
966 | |||
967 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
968 | public static extern Vector3 GetPushVelocity2(IntPtr obj); | ||
969 | |||
970 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
971 | public static extern Vector3 GetTurnVelocity2(IntPtr obj); | ||
972 | |||
973 | // ===================================================================================== | ||
974 | // btCollisionShape entries | ||
975 | |||
976 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
977 | public static extern float GetAngularMotionDisc2(IntPtr shape); | ||
978 | |||
979 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
980 | public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor); | ||
981 | |||
982 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
983 | public static extern bool IsPolyhedral2(IntPtr shape); | ||
984 | |||
985 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
986 | public static extern bool IsConvex2d2(IntPtr shape); | ||
987 | |||
988 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
989 | public static extern bool IsConvex2(IntPtr shape); | ||
990 | |||
991 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
992 | public static extern bool IsNonMoving2(IntPtr shape); | ||
993 | |||
994 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
995 | public static extern bool IsConcave2(IntPtr shape); | ||
996 | |||
997 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
998 | public static extern bool IsCompound2(IntPtr shape); | ||
999 | |||
1000 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1001 | public static extern bool IsSoftBody2(IntPtr shape); | ||
1002 | |||
1003 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1004 | public static extern bool IsInfinite2(IntPtr shape); | ||
1005 | |||
1006 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1007 | public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale); | ||
1008 | |||
1009 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1010 | public static extern Vector3 GetLocalScaling2(IntPtr shape); | ||
1011 | |||
1012 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1013 | public static extern void CalculateLocalInertia2(IntPtr shape, float mass, Vector3 inertia); | ||
1014 | |||
1015 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1016 | public static extern int GetShapeType2(IntPtr shape); | ||
1017 | |||
1018 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1019 | public static extern void SetMargin2(IntPtr shape, float val); | ||
1020 | |||
1021 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1022 | public static extern float GetMargin2(IntPtr shape); | ||
1023 | |||
1024 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1025 | public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint mask); | ||
1026 | |||
1027 | // ===================================================================================== | ||
1028 | // Debugging | ||
1029 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
640 | public static extern void DumpPhysicsStatistics2(IntPtr sim); | 1030 | public static extern void DumpPhysicsStatistics2(IntPtr sim); |
641 | 1031 | ||
642 | } | 1032 | } |