From 04132d3af4c8f44639ea842091f86274513e2dfd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 1 Jan 2013 09:30:49 -0800 Subject: BulletSim: subclass Bullet[World|Body|Shape|Constraint] for unmanaged to have pointers and managed to have objects. Initial paste of XNA code. Commented out. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 654 +++++++++++++++------ 1 file changed, 464 insertions(+), 190 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 3975776..2c0cb43 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -38,6 +38,91 @@ namespace OpenSim.Region.Physics.BulletSPlugin public sealed class BSAPIUnman : BSAPITemplate { +private sealed class BulletWorldUnman : BulletWorld +{ + public IntPtr ptr; + public BulletWorldUnman(uint id, BSScene physScene, IntPtr xx) + : base(id, physScene) + { + ptr = xx; + } +} + +private sealed class BulletBodyUnman : BulletBody +{ + public IntPtr ptr; + public BulletBodyUnman(uint id, IntPtr xx) + : base(id) + { + ptr = xx; + } + public override bool HasPhysicalBody + { + get { return ptr != IntPtr.Zero; } + } + public override void Clear() + { + ptr = IntPtr.Zero; + } + public override string AddrString + { + get { return ptr.ToString("X"); } + } +} + +private sealed class BulletShapeUnman : BulletShape +{ + public IntPtr ptr; + public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) + : base() + { + ptr = xx; + type = typ; + } + public override bool HasPhysicalShape + { + get { return ptr != IntPtr.Zero; } + } + public override void Clear() + { + ptr = IntPtr.Zero; + } + public override BulletShape Clone() + { + return new BulletShapeUnman(ptr, type); + } + public override bool ReferenceSame(BulletShape other) + { + BulletShapeUnman otheru = other as BulletShapeUnman; + return (otheru != null) && (this.ptr == otheru.ptr); + + } + public override string AddrString + { + get { return ptr.ToString("X"); } + } +} +private sealed class BulletConstraintUnman : BulletConstraint +{ + public BulletConstraintUnman(IntPtr xx) : base() + { + ptr = xx; + } + public IntPtr ptr; + + public override void Clear() + { + ptr = IntPtr.Zero; + } + public override bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } + + // Used for log messages for a unique display of the memory/object allocated to this instance + public override string AddrString + { + get { return ptr.ToString("X"); } + } +} + // We pin the memory passed between the managed and unmanaged code. GCHandle m_paramsHandle; private GCHandle m_collisionArrayPinnedHandle; @@ -89,7 +174,7 @@ public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet BulletEngineVersion = ""; // Call the unmanaged code with the buffers and other information - return new BulletWorld(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(), + return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(), maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(), m_DebugLogCallbackHandle)); @@ -111,22 +196,26 @@ private void BulletLoggerPhysLog(string msg) public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out int collidersCount) { - return BSAPICPP.PhysicsStep2(world.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount); + BulletWorldUnman worldu = world as BulletWorldUnman; + return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount); } -public override void Shutdown(BulletWorld sim) +public override void Shutdown(BulletWorld world) { - BSAPICPP.Shutdown2(sim.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.Shutdown2(worldu.ptr); } public override bool PushUpdate(BulletBody obj) { - return BSAPICPP.PushUpdate2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.PushUpdate2(bodyu.ptr); } public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { - return BSAPICPP.UpdateParameter2(world.ptr, localID, parm, value); + BulletWorldUnman worldu = world as BulletWorldUnman; + return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value); } // ===================================================================================== @@ -135,138 +224,165 @@ public override BulletShape CreateMeshShape(BulletWorld world, int indicesCount, int[] indices, int verticesCount, float[] vertices) { - return new BulletShape( - BSAPICPP.CreateMeshShape2(world.ptr, indicesCount, indices, verticesCount, vertices), + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateMeshShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices), BSPhysicsShapeType.SHAPE_MESH); } public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls) { - return new BulletShape( - BSAPICPP.CreateHullShape2(world.ptr, hullCount, hulls), + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), BSPhysicsShapeType.SHAPE_HULL); } public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { - return new BulletShape( - BSAPICPP.BuildHullShapeFromMesh2(world.ptr, meshShape.ptr), + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = meshShape as BulletShapeUnman; + return new BulletShapeUnman( + BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr), BSPhysicsShapeType.SHAPE_HULL); } -public override BulletShape BuildNativeShape( BulletWorld world, ShapeData shapeData) +public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData) { - return new BulletShape( - BSAPICPP.BuildNativeShape2(world.ptr, shapeData), - shapeData.Type); + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type); } public override bool IsNativeShape(BulletShape shape) { - if (shape.HasPhysicalShape) - return BSAPICPP.IsNativeShape2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + if (shapeu != null && shapeu.HasPhysicalShape) + return BSAPICPP.IsNativeShape2(shapeu.ptr); return false; } public override void SetShapeCollisionMargin(BulletShape shape, float margin) { - if (shape.HasPhysicalShape) - BSAPICPP.SetShapeCollisionMargin2(shape.ptr, margin); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + if (shapeu != null && shapeu.HasPhysicalShape) + BSAPICPP.SetShapeCollisionMargin2(shapeu.ptr, margin); } public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale) { - return new BulletShape( - BSAPICPP.BuildCapsuleShape2(world.ptr, radius, height, scale), + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale), BSPhysicsShapeType.SHAPE_CAPSULE); } -public override BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree) +public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree) { - return new BulletShape( - BSAPICPP.CreateCompoundShape2(sim.ptr, enableDynamicAabbTree), + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND); } public override int GetNumberOfCompoundChildren(BulletShape shape) { - if (shape.HasPhysicalShape) - return BSAPICPP.GetNumberOfCompoundChildren2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + if (shapeu != null && shapeu.HasPhysicalShape) + return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr); return 0; } -public override void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot) +public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot) { - BSAPICPP.AddChildShapeToCompoundShape2(cShape.ptr, addShape.ptr, pos, rot); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BulletShapeUnman addShapeu = addShape as BulletShapeUnman; + BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot); } -public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) +public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx) { - return new BulletShape(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(cShape.ptr, indx)); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN); } -public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) +public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx) { - return new BulletShape(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(cShape.ptr, indx)); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN); } -public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) +public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape) { - BSAPICPP.RemoveChildShapeFromCompoundShape2(cShape.ptr, removeShape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman; + BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr); } -public override void RecalculateCompoundShapeLocalAabb(BulletShape cShape) +public override void RecalculateCompoundShapeLocalAabb(BulletShape shape) { - BSAPICPP.RecalculateCompoundShapeLocalAabb2(cShape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr); } -public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id) +public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id) { - return new BulletShape(BSAPICPP.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman; + return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.type); } public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) { - return BSAPICPP.DeleteCollisionShape2(world.ptr, shape.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr); } public override int GetBodyType(BulletBody obj) { - return BSAPICPP.GetBodyType2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetBodyType2(bodyu.ptr); } -public override BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot) +public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) { - return new BulletBody(id, BSAPICPP.CreateBodyFromShape2(sim.ptr, shape.ptr, id, pos, rot)); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletBodyUnman(id, BSAPICPP.CreateBodyFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot)); } public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot) { - return new BulletBody(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shape.ptr, id, pos, rot)); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot)); } -public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot) +public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) { - return new BulletBody(id, BSAPICPP.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot)); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot)); } -public override void DestroyObject(BulletWorld sim, BulletBody obj) +public override void DestroyObject(BulletWorld world, BulletBody obj) { - BSAPICPP.DestroyObject2(sim.ptr, obj.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.DestroyObject2(worldu.ptr, bodyu.ptr); } // ===================================================================================== // Terrain creation and helper routines public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin) { - return new BulletShape(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); + return new BulletShapeUnman(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); } public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, float scaleFactor, float collisionMargin) { - return new BulletShape(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin), + return new BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin), BSPhysicsShapeType.SHAPE_TERRAIN); } @@ -277,7 +393,10 @@ public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletB Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { - return new BulletConstraint(BSAPICPP.Create6DofConstraint2(world.ptr, obj1.ptr, obj2.ptr, frame1loc, frame1rot, + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } @@ -285,7 +404,10 @@ public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { - return new BulletConstraint(BSAPICPP.Create6DofConstraintToPoint2(world.ptr, obj1.ptr, obj2.ptr, + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } @@ -294,560 +416,687 @@ public override BulletConstraint CreateHingeConstraint(BulletWorld world, Bullet Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { - return new BulletConstraint(BSAPICPP.CreateHingeConstraint2(world.ptr, obj1.ptr, obj2.ptr, + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse) { - BSAPICPP.SetConstraintEnable2(constrain.ptr, numericTrueFalse); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.SetConstraintEnable2(constrainu.ptr, numericTrueFalse); } public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations) { - BSAPICPP.SetConstraintNumSolverIterations2(constrain.ptr, iterations); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.SetConstraintNumSolverIterations2(constrainu.ptr, iterations); } public override bool SetFrames(BulletConstraint constrain, Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) { - return BSAPICPP.SetFrames2(constrain.ptr, frameA, frameArot, frameB, frameBrot); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetFrames2(constrainu.ptr, frameA, frameArot, frameB, frameBrot); } public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) { - return BSAPICPP.SetLinearLimits2(constrain.ptr, low, hi); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetLinearLimits2(constrainu.ptr, low, hi); } public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) { - return BSAPICPP.SetAngularLimits2(constrain.ptr, low, hi); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetAngularLimits2(constrainu.ptr, low, hi); } public override bool UseFrameOffset(BulletConstraint constrain, float enable) { - return BSAPICPP.UseFrameOffset2(constrain.ptr, enable); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.UseFrameOffset2(constrainu.ptr, enable); } public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce) { - return BSAPICPP.TranslationalLimitMotor2(constrain.ptr, enable, targetVel, maxMotorForce); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.TranslationalLimitMotor2(constrainu.ptr, enable, targetVel, maxMotorForce); } public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold) { - return BSAPICPP.SetBreakingImpulseThreshold2(constrain.ptr, threshold); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold); } public override bool CalculateTransforms(BulletConstraint constrain) { - return BSAPICPP.CalculateTransforms2(constrain.ptr); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.CalculateTransforms2(constrainu.ptr); } public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis) { - return BSAPICPP.SetConstraintParam2(constrain.ptr, paramIndex, value, axis); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis); } public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain) { - return BSAPICPP.DestroyConstraint2(world.ptr, constrain.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.DestroyConstraint2(worldu.ptr, constrainu.ptr); } // ===================================================================================== // btCollisionWorld entries public override void UpdateSingleAabb(BulletWorld world, BulletBody obj) -{ - BSAPICPP.UpdateSingleAabb2(world.ptr, obj.ptr); +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr); } public override void UpdateAabbs(BulletWorld world) { - BSAPICPP.UpdateAabbs2(world.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.UpdateAabbs2(worldu.ptr); } public override bool GetForceUpdateAllAabbs(BulletWorld world) { - return BSAPICPP.GetForceUpdateAllAabbs2(world.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr); } public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { - BSAPICPP.SetForceUpdateAllAabbs2(world.ptr, force); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force); } // ===================================================================================== // btDynamicsWorld entries public override bool AddObjectToWorld(BulletWorld world, BulletBody obj) { - return BSAPICPP.AddObjectToWorld2(world.ptr, obj.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr); } public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj) { - return BSAPICPP.RemoveObjectFromWorld2(world.ptr, obj.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr); } public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) { - return BSAPICPP.AddConstraintToWorld2(world.ptr, constrain.ptr, disableCollisionsBetweenLinkedObjects); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects); } public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) { - return BSAPICPP.RemoveConstraintFromWorld2(world.ptr, constrain.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr); } // ===================================================================================== // btCollisionObject entries public override Vector3 GetAnisotripicFriction(BulletConstraint constrain) { - return BSAPICPP.GetAnisotripicFriction2(constrain.ptr); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.GetAnisotripicFriction2(constrainu.ptr); } public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict) { - return BSAPICPP.SetAnisotripicFriction2(constrain.ptr, frict); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetAnisotripicFriction2(constrainu.ptr, frict); } public override bool HasAnisotripicFriction(BulletConstraint constrain) { - return BSAPICPP.HasAnisotripicFriction2(constrain.ptr); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.HasAnisotripicFriction2(constrainu.ptr); } public override void SetContactProcessingThreshold(BulletBody obj, float val) { - BSAPICPP.SetContactProcessingThreshold2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetContactProcessingThreshold2(bodyu.ptr, val); } public override float GetContactProcessingThreshold(BulletBody obj) { - return BSAPICPP.GetContactProcessingThreshold2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetContactProcessingThreshold2(bodyu.ptr); } public override bool IsStaticObject(BulletBody obj) { - return BSAPICPP.IsStaticObject2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsStaticObject2(bodyu.ptr); } public override bool IsKinematicObject(BulletBody obj) { - return BSAPICPP.IsKinematicObject2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsKinematicObject2(bodyu.ptr); } public override bool IsStaticOrKinematicObject(BulletBody obj) { - return BSAPICPP.IsStaticOrKinematicObject2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsStaticOrKinematicObject2(bodyu.ptr); } public override bool HasContactResponse(BulletBody obj) { - return BSAPICPP.HasContactResponse2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.HasContactResponse2(bodyu.ptr); } -public override void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape) +public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape) { - BSAPICPP.SetCollisionShape2(sim.ptr, obj.ptr, shape.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BulletShapeUnman shapeu = shape as BulletShapeUnman; + if (worldu != null && bodyu != null) + { + // Special case to allow the caller to zero out the reference to any physical shape + if (shapeu != null) + BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr); + else + BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero); + } } public override BulletShape GetCollisionShape(BulletBody obj) { - return new BulletShape(BSAPICPP.GetCollisionShape2(obj.ptr)); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return new BulletShapeUnman(BSAPICPP.GetCollisionShape2(bodyu.ptr), BSPhysicsShapeType.SHAPE_UNKNOWN); } public override int GetActivationState(BulletBody obj) { - return BSAPICPP.GetActivationState2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetActivationState2(bodyu.ptr); } public override void SetActivationState(BulletBody obj, int state) { - BSAPICPP.SetActivationState2(obj.ptr, state); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetActivationState2(bodyu.ptr, state); } public override void SetDeactivationTime(BulletBody obj, float dtime) { - BSAPICPP.SetDeactivationTime2(obj.ptr, dtime); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetDeactivationTime2(bodyu.ptr, dtime); } public override float GetDeactivationTime(BulletBody obj) { - return BSAPICPP.GetDeactivationTime2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetDeactivationTime2(bodyu.ptr); } public override void ForceActivationState(BulletBody obj, ActivationState state) { - BSAPICPP.ForceActivationState2(obj.ptr, state); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ForceActivationState2(bodyu.ptr, state); } public override void Activate(BulletBody obj, bool forceActivation) { - BSAPICPP.Activate2(obj.ptr, forceActivation); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.Activate2(bodyu.ptr, forceActivation); } public override bool IsActive(BulletBody obj) { - return BSAPICPP.IsActive2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsActive2(bodyu.ptr); } public override void SetRestitution(BulletBody obj, float val) { - BSAPICPP.SetRestitution2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetRestitution2(bodyu.ptr, val); } public override float GetRestitution(BulletBody obj) { - return BSAPICPP.GetRestitution2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetRestitution2(bodyu.ptr); } public override void SetFriction(BulletBody obj, float val) { - BSAPICPP.SetFriction2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetFriction2(bodyu.ptr, val); } public override float GetFriction(BulletBody obj) { - return BSAPICPP.GetFriction2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetFriction2(bodyu.ptr); } public override Vector3 GetPosition(BulletBody obj) { - return BSAPICPP.GetPosition2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetPosition2(bodyu.ptr); } public override Quaternion GetOrientation(BulletBody obj) { - return BSAPICPP.GetOrientation2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetOrientation2(bodyu.ptr); } public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation) { - BSAPICPP.SetTranslation2(obj.ptr, position, rotation); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetTranslation2(bodyu.ptr, position, rotation); } /* public override IntPtr GetBroadphaseHandle(BulletBody obj) { - return BSAPICPP.GetBroadphaseHandle2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetBroadphaseHandle2(bodyu.ptr); } public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle) { - BSAPICPP.SetUserPointer2(obj.ptr, handle); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetUserPointer2(bodyu.ptr, handle); } */ public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel) { - BSAPICPP.SetInterpolationLinearVelocity2(obj.ptr, vel); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetInterpolationLinearVelocity2(bodyu.ptr, vel); } public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel) { - BSAPICPP.SetInterpolationAngularVelocity2(obj.ptr, vel); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetInterpolationAngularVelocity2(bodyu.ptr, vel); } public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel) { - BSAPICPP.SetInterpolationVelocity2(obj.ptr, linearVel, angularVel); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetInterpolationVelocity2(bodyu.ptr, linearVel, angularVel); } public override float GetHitFraction(BulletBody obj) { - return BSAPICPP.GetHitFraction2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetHitFraction2(bodyu.ptr); } public override void SetHitFraction(BulletBody obj, float val) { - BSAPICPP.SetHitFraction2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetHitFraction2(bodyu.ptr, val); } public override CollisionFlags GetCollisionFlags(BulletBody obj) { - return BSAPICPP.GetCollisionFlags2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetCollisionFlags2(bodyu.ptr); } public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags) { - return BSAPICPP.SetCollisionFlags2(obj.ptr, flags); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.SetCollisionFlags2(bodyu.ptr, flags); } public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags) { - return BSAPICPP.AddToCollisionFlags2(obj.ptr, flags); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.AddToCollisionFlags2(bodyu.ptr, flags); } public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags) { - return BSAPICPP.RemoveFromCollisionFlags2(obj.ptr, flags); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.RemoveFromCollisionFlags2(bodyu.ptr, flags); } public override float GetCcdMotionThreshold(BulletBody obj) { - return BSAPICPP.GetCcdMotionThreshold2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetCcdMotionThreshold2(bodyu.ptr); } public override void SetCcdMotionThreshold(BulletBody obj, float val) { - BSAPICPP.SetCcdMotionThreshold2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetCcdMotionThreshold2(bodyu.ptr, val); } public override float GetCcdSweptSphereRadius(BulletBody obj) { - return BSAPICPP.GetCcdSweptSphereRadius2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetCcdSweptSphereRadius2(bodyu.ptr); } public override void SetCcdSweptSphereRadius(BulletBody obj, float val) { - BSAPICPP.SetCcdSweptSphereRadius2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetCcdSweptSphereRadius2(bodyu.ptr, val); } public override IntPtr GetUserPointer(BulletBody obj) { - return BSAPICPP.GetUserPointer2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetUserPointer2(bodyu.ptr); } public override void SetUserPointer(BulletBody obj, IntPtr val) { - BSAPICPP.SetUserPointer2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetUserPointer2(bodyu.ptr, val); } // ===================================================================================== // btRigidBody entries public override void ApplyGravity(BulletBody obj) { - BSAPICPP.ApplyGravity2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyGravity2(bodyu.ptr); } public override void SetGravity(BulletBody obj, Vector3 val) { - BSAPICPP.SetGravity2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetGravity2(bodyu.ptr, val); } public override Vector3 GetGravity(BulletBody obj) { - return BSAPICPP.GetGravity2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetGravity2(bodyu.ptr); } public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping) { - BSAPICPP.SetDamping2(obj.ptr, lin_damping, ang_damping); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetDamping2(bodyu.ptr, lin_damping, ang_damping); } public override void SetLinearDamping(BulletBody obj, float lin_damping) { - BSAPICPP.SetLinearDamping2(obj.ptr, lin_damping); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetLinearDamping2(bodyu.ptr, lin_damping); } public override void SetAngularDamping(BulletBody obj, float ang_damping) { - BSAPICPP.SetAngularDamping2(obj.ptr, ang_damping); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetAngularDamping2(bodyu.ptr, ang_damping); } public override float GetLinearDamping(BulletBody obj) { - return BSAPICPP.GetLinearDamping2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetLinearDamping2(bodyu.ptr); } public override float GetAngularDamping(BulletBody obj) { - return BSAPICPP.GetAngularDamping2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetAngularDamping2(bodyu.ptr); } public override float GetLinearSleepingThreshold(BulletBody obj) { - return BSAPICPP.GetLinearSleepingThreshold2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetLinearSleepingThreshold2(bodyu.ptr); } public override void ApplyDamping(BulletBody obj, float timeStep) { - BSAPICPP.ApplyDamping2(obj.ptr, timeStep); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyDamping2(bodyu.ptr, timeStep); } public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia) { - BSAPICPP.SetMassProps2(obj.ptr, mass, inertia); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetMassProps2(bodyu.ptr, mass, inertia); } public override Vector3 GetLinearFactor(BulletBody obj) { - return BSAPICPP.GetLinearFactor2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetLinearFactor2(bodyu.ptr); } public override void SetLinearFactor(BulletBody obj, Vector3 factor) { - BSAPICPP.SetLinearFactor2(obj.ptr, factor); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetLinearFactor2(bodyu.ptr, factor); } public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { - BSAPICPP.SetCenterOfMassByPosRot2(obj.ptr, pos, rot); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetCenterOfMassByPosRot2(bodyu.ptr, pos, rot); } // Add a force to the object as if its mass is one. public override void ApplyCentralForce(BulletBody obj, Vector3 force) { - BSAPICPP.ApplyCentralForce2(obj.ptr, force); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyCentralForce2(bodyu.ptr, force); } // Set the force being applied to the object as if its mass is one. public override void SetObjectForce(BulletBody obj, Vector3 force) { - BSAPICPP.SetObjectForce2(obj.ptr, force); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetObjectForce2(bodyu.ptr, force); } public override Vector3 GetTotalForce(BulletBody obj) { - return BSAPICPP.GetTotalForce2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetTotalForce2(bodyu.ptr); } public override Vector3 GetTotalTorque(BulletBody obj) { - return BSAPICPP.GetTotalTorque2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetTotalTorque2(bodyu.ptr); } public override Vector3 GetInvInertiaDiagLocal(BulletBody obj) { - return BSAPICPP.GetInvInertiaDiagLocal2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetInvInertiaDiagLocal2(bodyu.ptr); } public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert) { - BSAPICPP.SetInvInertiaDiagLocal2(obj.ptr, inert); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetInvInertiaDiagLocal2(bodyu.ptr, inert); } public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold) { - BSAPICPP.SetSleepingThresholds2(obj.ptr, lin_threshold, ang_threshold); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold); } public override void ApplyTorque(BulletBody obj, Vector3 torque) { - BSAPICPP.ApplyTorque2(obj.ptr, torque); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyTorque2(bodyu.ptr, torque); } // Apply force at the given point. Will add torque to the object. public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos) { - BSAPICPP.ApplyForce2(obj.ptr, force, pos); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyForce2(bodyu.ptr, force, pos); } // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp) { - BSAPICPP.ApplyCentralImpulse2(obj.ptr, imp); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyCentralImpulse2(bodyu.ptr, imp); } // Apply impulse to the object's torque. Force is scaled by object's mass. public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp) { - BSAPICPP.ApplyTorqueImpulse2(obj.ptr, imp); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyTorqueImpulse2(bodyu.ptr, imp); } // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos) { - BSAPICPP.ApplyImpulse2(obj.ptr, imp, pos); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyImpulse2(bodyu.ptr, imp, pos); } public override void ClearForces(BulletBody obj) { - BSAPICPP.ClearForces2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ClearForces2(bodyu.ptr); } public override void ClearAllForces(BulletBody obj) { - BSAPICPP.ClearAllForces2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ClearAllForces2(bodyu.ptr); } public override void UpdateInertiaTensor(BulletBody obj) { - BSAPICPP.UpdateInertiaTensor2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.UpdateInertiaTensor2(bodyu.ptr); } public override Vector3 GetLinearVelocity(BulletBody obj) { - return BSAPICPP.GetLinearVelocity2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetLinearVelocity2(bodyu.ptr); } public override Vector3 GetAngularVelocity(BulletBody obj) { - return BSAPICPP.GetAngularVelocity2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetAngularVelocity2(bodyu.ptr); } public override void SetLinearVelocity(BulletBody obj, Vector3 vel) { - BSAPICPP.SetLinearVelocity2(obj.ptr, vel); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetLinearVelocity2(bodyu.ptr, vel); } public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity) { - BSAPICPP.SetAngularVelocity2(obj.ptr, angularVelocity); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetAngularVelocity2(bodyu.ptr, angularVelocity); } public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos) { - return BSAPICPP.GetVelocityInLocalPoint2(obj.ptr, pos); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetVelocityInLocalPoint2(bodyu.ptr, pos); } public override void Translate(BulletBody obj, Vector3 trans) { - BSAPICPP.Translate2(obj.ptr, trans); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.Translate2(bodyu.ptr, trans); } public override void UpdateDeactivation(BulletBody obj, float timeStep) { - BSAPICPP.UpdateDeactivation2(obj.ptr, timeStep); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.UpdateDeactivation2(bodyu.ptr, timeStep); } public override bool WantsSleeping(BulletBody obj) { - return BSAPICPP.WantsSleeping2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.WantsSleeping2(bodyu.ptr); } public override void SetAngularFactor(BulletBody obj, float factor) { - BSAPICPP.SetAngularFactor2(obj.ptr, factor); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetAngularFactor2(bodyu.ptr, factor); } public override void SetAngularFactorV(BulletBody obj, Vector3 factor) { - BSAPICPP.SetAngularFactorV2(obj.ptr, factor); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetAngularFactorV2(bodyu.ptr, factor); } public override Vector3 GetAngularFactor(BulletBody obj) { - return BSAPICPP.GetAngularFactor2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetAngularFactor2(bodyu.ptr); } public override bool IsInWorld(BulletBody obj) { - return BSAPICPP.IsInWorld2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsInWorld2(bodyu.ptr); } public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain) { - BSAPICPP.AddConstraintRef2(obj.ptr, constrain.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.AddConstraintRef2(bodyu.ptr, constrainu.ptr); } public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain) { - BSAPICPP.RemoveConstraintRef2(obj.ptr, constrain.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.RemoveConstraintRef2(bodyu.ptr, constrainu.ptr); } public override BulletConstraint GetConstraintRef(BulletBody obj, int index) { - return new BulletConstraint(BSAPICPP.GetConstraintRef2(obj.ptr, index)); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.GetConstraintRef2(bodyu.ptr, index)); } public override int GetNumConstraintRefs(BulletBody obj) { - return BSAPICPP.GetNumConstraintRefs2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetNumConstraintRefs2(bodyu.ptr); } public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask) { - return BSAPICPP.SetCollisionGroupMask2(body.ptr, filter, mask); + BulletBodyUnman bodyu = body as BulletBodyUnman; + return BSAPICPP.SetCollisionGroupMask2(bodyu.ptr, filter, mask); } // ===================================================================================== @@ -855,114 +1104,139 @@ public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint ma public override float GetAngularMotionDisc(BulletShape shape) { - return BSAPICPP.GetAngularMotionDisc2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetAngularMotionDisc2(shapeu.ptr); } public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor) { - return BSAPICPP.GetContactBreakingThreshold2(shape.ptr, defaultFactor); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetContactBreakingThreshold2(shapeu.ptr, defaultFactor); } public override bool IsPolyhedral(BulletShape shape) { - return BSAPICPP.IsPolyhedral2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsPolyhedral2(shapeu.ptr); } public override bool IsConvex2d(BulletShape shape) { - return BSAPICPP.IsConvex2d2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsConvex2d2(shapeu.ptr); } public override bool IsConvex(BulletShape shape) { - return BSAPICPP.IsConvex2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsConvex2(shapeu.ptr); } public override bool IsNonMoving(BulletShape shape) { - return BSAPICPP.IsNonMoving2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsNonMoving2(shapeu.ptr); } public override bool IsConcave(BulletShape shape) { - return BSAPICPP.IsConcave2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsConcave2(shapeu.ptr); } public override bool IsCompound(BulletShape shape) { - return BSAPICPP.IsCompound2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsCompound2(shapeu.ptr); } public override bool IsSoftBody(BulletShape shape) { - return BSAPICPP.IsSoftBody2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsSoftBody2(shapeu.ptr); } public override bool IsInfinite(BulletShape shape) { - return BSAPICPP.IsInfinite2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsInfinite2(shapeu.ptr); } public override void SetLocalScaling(BulletShape shape, Vector3 scale) { - BSAPICPP.SetLocalScaling2(shape.ptr, scale); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BSAPICPP.SetLocalScaling2(shapeu.ptr, scale); } public override Vector3 GetLocalScaling(BulletShape shape) { - return BSAPICPP.GetLocalScaling2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetLocalScaling2(shapeu.ptr); } public override Vector3 CalculateLocalInertia(BulletShape shape, float mass) { - return BSAPICPP.CalculateLocalInertia2(shape.ptr, mass); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.CalculateLocalInertia2(shapeu.ptr, mass); } public override int GetShapeType(BulletShape shape) { - return BSAPICPP.GetShapeType2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetShapeType2(shapeu.ptr); } public override void SetMargin(BulletShape shape, float val) { - BSAPICPP.SetMargin2(shape.ptr, val); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BSAPICPP.SetMargin2(shapeu.ptr, val); } public override float GetMargin(BulletShape shape) { - return BSAPICPP.GetMargin2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetMargin2(shapeu.ptr); } // ===================================================================================== // Debugging -public override void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) +public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject) { - BSAPICPP.DumpRigidBody2(sim.ptr, collisionObject.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = collisionObject as BulletBodyUnman; + BSAPICPP.DumpRigidBody2(worldu.ptr, bodyu.ptr); } -public override void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape) +public override void DumpCollisionShape(BulletWorld world, BulletShape collisionShape) { - BSAPICPP.DumpCollisionShape2(sim.ptr, collisionShape.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = collisionShape as BulletShapeUnman; + BSAPICPP.DumpCollisionShape2(worldu.ptr, shapeu.ptr); } -public override void DumpConstraint(BulletWorld sim, BulletConstraint constrain) +public override void DumpConstraint(BulletWorld world, BulletConstraint constrain) { - BSAPICPP.DumpConstraint2(sim.ptr, constrain.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.DumpConstraint2(worldu.ptr, constrainu.ptr); } -public override void DumpActivationInfo(BulletWorld sim) +public override void DumpActivationInfo(BulletWorld world) { - BSAPICPP.DumpActivationInfo2(sim.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.DumpActivationInfo2(worldu.ptr); } -public override void DumpAllInfo(BulletWorld sim) +public override void DumpAllInfo(BulletWorld world) { - BSAPICPP.DumpAllInfo2(sim.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.DumpAllInfo2(worldu.ptr); } -public override void DumpPhysicsStatistics(BulletWorld sim) +public override void DumpPhysicsStatistics(BulletWorld world) { - BSAPICPP.DumpPhysicsStatistics2(sim.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.DumpPhysicsStatistics2(worldu.ptr); } -- cgit v1.1