From 134f86e8d5c414409631b25b8c6f0ee45fbd8631 Mon Sep 17 00:00:00 2001 From: David Walter Seikel Date: Thu, 3 Nov 2016 21:44:39 +1000 Subject: Initial update to OpenSim 0.8.2.1 source code. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 1839 -------------------- 1 file changed, 1839 deletions(-) delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs deleted file mode 100755 index 8c6e7d6..0000000 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ /dev/null @@ -1,1839 +0,0 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Reflection; -using System.Runtime.InteropServices; -using System.Security; -using System.Text; - -using OpenSim.Framework; - -using OpenMetaverse; - -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; -private GCHandle m_updateArrayPinnedHandle; - -// Handle to the callback used by the unmanaged code to call into the managed code. -// Used for debug logging. -// Need to store the handle in a persistant variable so it won't be freed. -private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle; - -private BSScene PhysicsScene { get; set; } - -public override string BulletEngineName { get { return "BulletUnmanaged"; } } -public override string BulletEngineVersion { get; protected set; } - -public BSAPIUnman(string paramName, BSScene physScene) -{ - PhysicsScene = physScene; - - // Do something fancy with the paramName to get the right DLL implementation - // like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc. - if (Util.IsWindows()) - Util.LoadArchSpecificWindowsDll("BulletSim.dll"); - // If not Windows, loading is performed by the - // Mono loader as specified in - // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config". -} - -// Initialization and simulation -public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, - int maxCollisions, ref CollisionDesc[] collisionArray, - int maxUpdates, ref EntityProperties[] updateArray - ) -{ - // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code - m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned); - m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned); - m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned); - - // If Debug logging level, enable logging from the unmanaged code - m_DebugLogCallbackHandle = null; - if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled) - { - BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader); - if (PhysicsScene.PhysicsLogging.Enabled) - // The handle is saved in a variable to make sure it doesn't get freed after this call - m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog); - else - m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger); - } - - // Get the version of the DLL - // TODO: this doesn't work yet. Something wrong with marshaling the returned string. - // BulletEngineVersion = BulletSimAPI.GetVersion2(); - BulletEngineVersion = ""; - - // Call the unmanaged code with the buffers and other information - return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(), - maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), - maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(), - m_DebugLogCallbackHandle)); - -} - -// Called directly from unmanaged code so don't do much -private void BulletLogger(string msg) -{ - BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg); -} - -// Called directly from unmanaged code so don't do much -private void BulletLoggerPhysLog(string msg) -{ - PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg); -} - -public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, out int collidersCount) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount); -} - -public override void Shutdown(BulletWorld world) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - BSAPICPP.Shutdown2(worldu.ptr); -} - -public override bool PushUpdate(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.PushUpdate2(bodyu.ptr); -} - -public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value); -} - -// ===================================================================================== -// Mesh, hull, shape and body creation helper routines -public override BulletShape CreateMeshShape(BulletWorld world, - int indicesCount, int[] indices, - int verticesCount, float[] 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) -{ - 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) -{ - 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) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type); -} - -public override bool IsNativeShape(BulletShape shape) -{ - 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) -{ - 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) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - return new BulletShapeUnman( - BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale), - BSPhysicsShapeType.SHAPE_CAPSULE); -} - -public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - return new BulletShapeUnman( - BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree), - BSPhysicsShapeType.SHAPE_COMPOUND); - -} - -public override int GetNumberOfCompoundChildren(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - if (shapeu != null && shapeu.HasPhysicalShape) - return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr); - return 0; -} - -public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - BulletShapeUnman addShapeu = addShape as BulletShapeUnman; - BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot); -} - -public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN); -} - -public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN); -} - -public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman; - BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr); -} - -public override void RecalculateCompoundShapeLocalAabb(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr); -} - -public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id) -{ - 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) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr); -} - -public override CollisionObjectTypes GetBodyType(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr); -} - -public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion 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) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot)); -} - -public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion 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 world, BulletBody obj) -{ - 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 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 BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin), - BSPhysicsShapeType.SHAPE_TERRAIN); -} - -// ===================================================================================== -// Constraint creation and helper routines -public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 frame1loc, Quaternion frame1rot, - Vector3 frame2loc, Quaternion frame2rot, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) -{ - 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)); -} - -public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 joinPoint, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) -{ - 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)); -} - -public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 pivotinA, Vector3 pivotinB, - Vector3 axisInA, Vector3 axisInB, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) -{ - 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) -{ - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - BSAPICPP.SetConstraintEnable2(constrainu.ptr, numericTrueFalse); -} - -public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float 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) -{ - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - return BSAPICPP.SetFrames2(constrainu.ptr, frameA, frameArot, frameB, frameBrot); -} - -public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) -{ - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - return BSAPICPP.SetLinearLimits2(constrainu.ptr, low, hi); -} - -public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) -{ - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - return BSAPICPP.SetAngularLimits2(constrainu.ptr, low, hi); -} - -public override bool UseFrameOffset(BulletConstraint constrain, float enable) -{ - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - return BSAPICPP.UseFrameOffset2(constrainu.ptr, enable); -} - -public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce) -{ - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - return BSAPICPP.TranslationalLimitMotor2(constrainu.ptr, enable, targetVel, maxMotorForce); -} - -public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold) -{ - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold); -} - -public override bool CalculateTransforms(BulletConstraint constrain) -{ - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - return BSAPICPP.CalculateTransforms2(constrainu.ptr); -} - -public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis) -{ - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis); -} - -public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain) -{ - 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) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr); -} - -public override void UpdateAabbs(BulletWorld world) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - BSAPICPP.UpdateAabbs2(worldu.ptr); -} - -public override bool GetForceUpdateAllAabbs(BulletWorld world) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr); -} - -public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force); -} - -// ===================================================================================== -// btDynamicsWorld entries -public override bool AddObjectToWorld(BulletWorld world, BulletBody obj) -{ - // Bullet resets several variables when an object is added to the world. - // Gravity is reset to world default depending on the static/dynamic - // type. Of course, the collision flags in the broadphase proxy are initialized to default. - BulletWorldUnman worldu = world as BulletWorldUnman; - BulletBodyUnman bodyu = obj as BulletBodyUnman; - - Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr); - - bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr); - - if (ret) - { - BSAPICPP.SetGravity2(bodyu.ptr, origGrav); - obj.ApplyCollisionMask(world.physicsScene); - } - return ret; -} - -public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj) -{ - 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) -{ - 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) -{ - 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) -{ - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - return BSAPICPP.GetAnisotripicFriction2(constrainu.ptr); -} - -public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict) -{ - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - return BSAPICPP.SetAnisotripicFriction2(constrainu.ptr, frict); -} - -public override bool HasAnisotripicFriction(BulletConstraint constrain) -{ - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - return BSAPICPP.HasAnisotripicFriction2(constrainu.ptr); -} - -public override void SetContactProcessingThreshold(BulletBody obj, float val) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetContactProcessingThreshold2(bodyu.ptr, val); -} - -public override float GetContactProcessingThreshold(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetContactProcessingThreshold2(bodyu.ptr); -} - -public override bool IsStaticObject(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.IsStaticObject2(bodyu.ptr); -} - -public override bool IsKinematicObject(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.IsKinematicObject2(bodyu.ptr); -} - -public override bool IsStaticOrKinematicObject(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.IsStaticOrKinematicObject2(bodyu.ptr); -} - -public override bool HasContactResponse(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.HasContactResponse2(bodyu.ptr); -} - -public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape) -{ - 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) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return new BulletShapeUnman(BSAPICPP.GetCollisionShape2(bodyu.ptr), BSPhysicsShapeType.SHAPE_UNKNOWN); -} - -public override int GetActivationState(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetActivationState2(bodyu.ptr); -} - -public override void SetActivationState(BulletBody obj, int state) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetActivationState2(bodyu.ptr, state); -} - -public override void SetDeactivationTime(BulletBody obj, float dtime) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetDeactivationTime2(bodyu.ptr, dtime); -} - -public override float GetDeactivationTime(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetDeactivationTime2(bodyu.ptr); -} - -public override void ForceActivationState(BulletBody obj, ActivationState state) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.ForceActivationState2(bodyu.ptr, state); -} - -public override void Activate(BulletBody obj, bool forceActivation) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.Activate2(bodyu.ptr, forceActivation); -} - -public override bool IsActive(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.IsActive2(bodyu.ptr); -} - -public override void SetRestitution(BulletBody obj, float val) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetRestitution2(bodyu.ptr, val); -} - -public override float GetRestitution(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetRestitution2(bodyu.ptr); -} - -public override void SetFriction(BulletBody obj, float val) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetFriction2(bodyu.ptr, val); -} - -public override float GetFriction(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetFriction2(bodyu.ptr); -} - -public override Vector3 GetPosition(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetPosition2(bodyu.ptr); -} - -public override Quaternion GetOrientation(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetOrientation2(bodyu.ptr); -} - -public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetTranslation2(bodyu.ptr, position, rotation); -} - - /* -public override IntPtr GetBroadphaseHandle(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetBroadphaseHandle2(bodyu.ptr); -} - -public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetUserPointer2(bodyu.ptr, handle); -} - */ - -public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetInterpolationLinearVelocity2(bodyu.ptr, vel); -} - -public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetInterpolationAngularVelocity2(bodyu.ptr, vel); -} - -public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetInterpolationVelocity2(bodyu.ptr, linearVel, angularVel); -} - -public override float GetHitFraction(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetHitFraction2(bodyu.ptr); -} - -public override void SetHitFraction(BulletBody obj, float val) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetHitFraction2(bodyu.ptr, val); -} - -public override CollisionFlags GetCollisionFlags(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetCollisionFlags2(bodyu.ptr); -} - -public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.SetCollisionFlags2(bodyu.ptr, flags); -} - -public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.AddToCollisionFlags2(bodyu.ptr, flags); -} - -public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.RemoveFromCollisionFlags2(bodyu.ptr, flags); -} - -public override float GetCcdMotionThreshold(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetCcdMotionThreshold2(bodyu.ptr); -} - - -public override void SetCcdMotionThreshold(BulletBody obj, float val) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetCcdMotionThreshold2(bodyu.ptr, val); -} - -public override float GetCcdSweptSphereRadius(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetCcdSweptSphereRadius2(bodyu.ptr); -} - -public override void SetCcdSweptSphereRadius(BulletBody obj, float val) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetCcdSweptSphereRadius2(bodyu.ptr, val); -} - -public override IntPtr GetUserPointer(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetUserPointer2(bodyu.ptr); -} - -public override void SetUserPointer(BulletBody obj, IntPtr val) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetUserPointer2(bodyu.ptr, val); -} - -// ===================================================================================== -// btRigidBody entries -public override void ApplyGravity(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.ApplyGravity2(bodyu.ptr); -} - -public override void SetGravity(BulletBody obj, Vector3 val) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetGravity2(bodyu.ptr, val); -} - -public override Vector3 GetGravity(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetGravity2(bodyu.ptr); -} - -public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetDamping2(bodyu.ptr, lin_damping, ang_damping); -} - -public override void SetLinearDamping(BulletBody obj, float lin_damping) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetLinearDamping2(bodyu.ptr, lin_damping); -} - -public override void SetAngularDamping(BulletBody obj, float ang_damping) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetAngularDamping2(bodyu.ptr, ang_damping); -} - -public override float GetLinearDamping(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetLinearDamping2(bodyu.ptr); -} - -public override float GetAngularDamping(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetAngularDamping2(bodyu.ptr); -} - -public override float GetLinearSleepingThreshold(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetLinearSleepingThreshold2(bodyu.ptr); -} - -public override void ApplyDamping(BulletBody obj, float timeStep) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.ApplyDamping2(bodyu.ptr, timeStep); -} - -public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetMassProps2(bodyu.ptr, mass, inertia); -} - -public override Vector3 GetLinearFactor(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetLinearFactor2(bodyu.ptr); -} - -public override void SetLinearFactor(BulletBody obj, Vector3 factor) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetLinearFactor2(bodyu.ptr, factor); -} - -public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion 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) -{ - 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) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetObjectForce2(bodyu.ptr, force); -} - -public override Vector3 GetTotalForce(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetTotalForce2(bodyu.ptr); -} - -public override Vector3 GetTotalTorque(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetTotalTorque2(bodyu.ptr); -} - -public override Vector3 GetInvInertiaDiagLocal(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetInvInertiaDiagLocal2(bodyu.ptr); -} - -public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetInvInertiaDiagLocal2(bodyu.ptr, inert); -} - -public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold); -} - -public override void ApplyTorque(BulletBody obj, Vector3 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) -{ - 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) -{ - 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) -{ - 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) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.ApplyImpulse2(bodyu.ptr, imp, pos); -} - -public override void ClearForces(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.ClearForces2(bodyu.ptr); -} - -public override void ClearAllForces(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.ClearAllForces2(bodyu.ptr); -} - -public override void UpdateInertiaTensor(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.UpdateInertiaTensor2(bodyu.ptr); -} - -public override Vector3 GetLinearVelocity(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetLinearVelocity2(bodyu.ptr); -} - -public override Vector3 GetAngularVelocity(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetAngularVelocity2(bodyu.ptr); -} - -public override void SetLinearVelocity(BulletBody obj, Vector3 vel) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetLinearVelocity2(bodyu.ptr, vel); -} - -public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetAngularVelocity2(bodyu.ptr, angularVelocity); -} - -public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetVelocityInLocalPoint2(bodyu.ptr, pos); -} - -public override void Translate(BulletBody obj, Vector3 trans) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.Translate2(bodyu.ptr, trans); -} - -public override void UpdateDeactivation(BulletBody obj, float timeStep) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.UpdateDeactivation2(bodyu.ptr, timeStep); -} - -public override bool WantsSleeping(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.WantsSleeping2(bodyu.ptr); -} - -public override void SetAngularFactor(BulletBody obj, float factor) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetAngularFactor2(bodyu.ptr, factor); -} - -public override void SetAngularFactorV(BulletBody obj, Vector3 factor) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BSAPICPP.SetAngularFactorV2(bodyu.ptr, factor); -} - -public override Vector3 GetAngularFactor(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetAngularFactor2(bodyu.ptr); -} - -public override bool IsInWorld(BulletWorld world, BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.IsInWorld2(bodyu.ptr); -} - -public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - BSAPICPP.AddConstraintRef2(bodyu.ptr, constrainu.ptr); -} - -public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - BSAPICPP.RemoveConstraintRef2(bodyu.ptr, constrainu.ptr); -} - -public override BulletConstraint GetConstraintRef(BulletBody obj, int index) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return new BulletConstraintUnman(BSAPICPP.GetConstraintRef2(bodyu.ptr, index)); -} - -public override int GetNumConstraintRefs(BulletBody obj) -{ - BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetNumConstraintRefs2(bodyu.ptr); -} - -public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask) -{ - BulletBodyUnman bodyu = body as BulletBodyUnman; - return BSAPICPP.SetCollisionGroupMask2(bodyu.ptr, filter, mask); -} - -// ===================================================================================== -// btCollisionShape entries - -public override float GetAngularMotionDisc(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.GetAngularMotionDisc2(shapeu.ptr); -} - -public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.GetContactBreakingThreshold2(shapeu.ptr, defaultFactor); -} - -public override bool IsPolyhedral(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.IsPolyhedral2(shapeu.ptr); -} - -public override bool IsConvex2d(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.IsConvex2d2(shapeu.ptr); -} - -public override bool IsConvex(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.IsConvex2(shapeu.ptr); -} - -public override bool IsNonMoving(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.IsNonMoving2(shapeu.ptr); -} - -public override bool IsConcave(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.IsConcave2(shapeu.ptr); -} - -public override bool IsCompound(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.IsCompound2(shapeu.ptr); -} - -public override bool IsSoftBody(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.IsSoftBody2(shapeu.ptr); -} - -public override bool IsInfinite(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.IsInfinite2(shapeu.ptr); -} - -public override void SetLocalScaling(BulletShape shape, Vector3 scale) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - BSAPICPP.SetLocalScaling2(shapeu.ptr, scale); -} - -public override Vector3 GetLocalScaling(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.GetLocalScaling2(shapeu.ptr); -} - -public override Vector3 CalculateLocalInertia(BulletShape shape, float mass) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.CalculateLocalInertia2(shapeu.ptr, mass); -} - -public override int GetShapeType(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.GetShapeType2(shapeu.ptr); -} - -public override void SetMargin(BulletShape shape, float val) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - BSAPICPP.SetMargin2(shapeu.ptr, val); -} - -public override float GetMargin(BulletShape shape) -{ - BulletShapeUnman shapeu = shape as BulletShapeUnman; - return BSAPICPP.GetMargin2(shapeu.ptr); -} - -// ===================================================================================== -// Debugging -public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - BulletBodyUnman bodyu = collisionObject as BulletBodyUnman; - BSAPICPP.DumpRigidBody2(worldu.ptr, bodyu.ptr); -} - -public override void DumpCollisionShape(BulletWorld world, BulletShape collisionShape) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - BulletShapeUnman shapeu = collisionShape as BulletShapeUnman; - BSAPICPP.DumpCollisionShape2(worldu.ptr, shapeu.ptr); -} - -public override void DumpConstraint(BulletWorld world, BulletConstraint constrain) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; - BSAPICPP.DumpConstraint2(worldu.ptr, constrainu.ptr); -} - -public override void DumpActivationInfo(BulletWorld world) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - BSAPICPP.DumpActivationInfo2(worldu.ptr); -} - -public override void DumpAllInfo(BulletWorld world) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - BSAPICPP.DumpAllInfo2(worldu.ptr); -} - -public override void DumpPhysicsStatistics(BulletWorld world) -{ - BulletWorldUnman worldu = world as BulletWorldUnman; - BSAPICPP.DumpPhysicsStatistics2(worldu.ptr); -} - -// ===================================================================================== -// ===================================================================================== -// ===================================================================================== -// ===================================================================================== -// ===================================================================================== -// The actual interface to the unmanaged code -static class BSAPICPP -{ -// =============================================================================== -// Link back to the managed code for outputting log messages -[UnmanagedFunctionPointer(CallingConvention.Cdecl)] -public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); - -// =============================================================================== -// Initialization and simulation -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, - int maxCollisions, IntPtr collisionArray, - int maxUpdates, IntPtr updateArray, - DebugLogCallback logRoutine); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, out int collidersCount); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void Shutdown2(IntPtr sim); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool PushUpdate2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); - -// ===================================================================================== -// Mesh, hull, shape and body creation helper routines -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateMeshShape2(IntPtr world, - int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, - int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateHullShape2(IntPtr world, - int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsNativeShape2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetNumberOfCompoundChildren2(IntPtr cShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetBodyType2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DestroyObject2(IntPtr sim, IntPtr obj); - -// ===================================================================================== -// Terrain creation and helper routines -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, - float scaleFactor, float collisionMargin); - -// ===================================================================================== -// Constraint creation and helper routines -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, - Vector3 frame1loc, Quaternion frame1rot, - Vector3 frame2loc, Quaternion frame2rot, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2, - Vector3 joinPoint, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, - Vector3 pivotinA, Vector3 pivotinB, - Vector3 axisInA, Vector3 axisInB, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetFrames2(IntPtr constrain, - Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UseFrameOffset2(IntPtr constrain, float enable); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool CalculateTransforms2(IntPtr constrain); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); - -// ===================================================================================== -// btCollisionWorld entries -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void UpdateAabbs2(IntPtr world); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool GetForceUpdateAllAabbs2(IntPtr world); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force); - -// ===================================================================================== -// btDynamicsWorld entries -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain); -// ===================================================================================== -// btCollisionObject entries -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool HasAnisotripicFriction2(IntPtr constrain); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetContactProcessingThreshold2(IntPtr obj, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetContactProcessingThreshold2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsStaticObject2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsKinematicObject2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsStaticOrKinematicObject2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool HasContactResponse2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetCollisionShape2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetActivationState2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetActivationState2(IntPtr obj, int state); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetDeactivationTime2(IntPtr obj, float dtime); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetDeactivationTime2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ForceActivationState2(IntPtr obj, ActivationState state); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void Activate2(IntPtr obj, bool forceActivation); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsActive2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetRestitution2(IntPtr obj, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetRestitution2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetFriction2(IntPtr obj, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetFriction2(IntPtr obj); - - /* Haven't defined the type 'Transform' -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Transform GetWorldTransform2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void setWorldTransform2(IntPtr obj, Transform trans); - */ - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetPosition2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Quaternion GetOrientation2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetBroadphaseHandle2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle); - - /* -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Transform GetInterpolationWorldTransform2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); - */ - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetHitFraction2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetHitFraction2(IntPtr obj, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetCcdMotionThreshold2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCcdMotionThreshold2(IntPtr obj, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetCcdSweptSphereRadius2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetUserPointer2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetUserPointer2(IntPtr obj, IntPtr val); - -// ===================================================================================== -// btRigidBody entries -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyGravity2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetGravity2(IntPtr obj, Vector3 val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetGravity2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetLinearDamping2(IntPtr obj, float lin_damping); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetAngularDamping2(IntPtr obj, float ang_damping); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetLinearDamping2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetAngularDamping2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetLinearSleepingThreshold2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetAngularSleepingThreshold2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyDamping2(IntPtr obj, float timeStep); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetLinearFactor2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor); - - /* -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans); - */ - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot); - -// Add a force to the object as if its mass is one. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force); - -// Set the force being applied to the object as if its mass is one. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetObjectForce2(IntPtr obj, Vector3 force); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetTotalForce2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetTotalTorque2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyTorque2(IntPtr obj, Vector3 torque); - -// Apply force at the given point. Will add torque to the object. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos); - -// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp); - -// Apply impulse to the object's torque. Force is scaled by object's mass. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp); - -// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ClearForces2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ClearAllForces2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void UpdateInertiaTensor2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj); - - /* -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Transform GetCenterOfMassTransform2(IntPtr obj); - */ - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetLinearVelocity2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetAngularVelocity2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void Translate2(IntPtr obj, Vector3 trans); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void UpdateDeactivation2(IntPtr obj, float timeStep); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool WantsSleeping2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetAngularFactor2(IntPtr obj, float factor); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetAngularFactor2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsInWorld2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetConstraintRef2(IntPtr obj, int index); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetNumConstraintRefs2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask); - -// ===================================================================================== -// btCollisionShape entries - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetAngularMotionDisc2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsPolyhedral2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsConvex2d2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsConvex2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsNonMoving2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsConcave2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsCompound2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsSoftBody2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsInfinite2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetLocalScaling2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetShapeType2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetMargin2(IntPtr shape, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetMargin2(IntPtr shape); - -// ===================================================================================== -// Debugging -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpActivationInfo2(IntPtr sim); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpAllInfo2(IntPtr sim); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpPhysicsStatistics2(IntPtr sim); - -} - -} - -} -- cgit v1.1