From b0eccd5044b1a20b995a62d6fb76fdd73b712f9a Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 2 Nov 2012 09:53:41 -0700
Subject: BulletSim: debugging of compound shape implementation of linksets.
 Add compound shape creation and freeing in shape manager. Add optional
 taint-time execution method and update code to use it. Add API2 linkage for
 more compound shape methods (get num, get/remove by index, ...) Modify
 perferred shape return so linkset children can have differet shapes than
 root. Add Position and Orientation calls to linksets so children can be moved
 around by     the linkset by its own calculation. Allows for very general
 linkset implementations.

---
 OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 3b6355c..143b8be 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -399,8 +399,6 @@ public enum CollisionFilterGroups : uint
 
 };
 
-
-
 // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
 // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
 public enum ConstraintParams : int
@@ -618,10 +616,19 @@ public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float
 public static extern IntPtr CreateCompoundShape2(IntPtr sim);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
-public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
+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 RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
+public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
 
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
-- 
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