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. --- .../Region/PhysicsModules/BulletS/BSAPIUnman.cs | 2120 ++++++++++++++++++++ 1 file changed, 2120 insertions(+) create mode 100755 OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs (limited to 'OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs') diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs b/OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs new file mode 100755 index 0000000..c4a923c --- /dev/null +++ b/OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs @@ -0,0 +1,2120 @@ +/* + * 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.PhysicsModule.BulletS +{ +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; + shapeType = 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, shapeType); + } + 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); + + if (m_paramsHandle.IsAllocated) + { + m_paramsHandle.Free(); + } + if (m_collisionArrayPinnedHandle.IsAllocated) + { + m_collisionArrayPinnedHandle.Free(); + } + if (m_updateArrayPinnedHandle.IsAllocated) + { + m_updateArrayPinnedHandle.Free(); + } +} + +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 CreateGImpactShape(BulletWorld world, + int indicesCount, int[] indices, + int verticesCount, float[] vertices) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateGImpactShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices), + BSPhysicsShapeType.SHAPE_GIMPACT); +} + +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, HACDParams parms) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = meshShape as BulletShapeUnman; + return new BulletShapeUnman( + BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr, parms), + BSPhysicsShapeType.SHAPE_HULL); +} + +public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = meshShape as BulletShapeUnman; + return new BulletShapeUnman( + BSAPICPP.BuildConvexHullShapeFromMesh2(worldu.ptr, shapeu.ptr), + BSPhysicsShapeType.SHAPE_CONVEXHULL); +} + +public override BulletShape CreateConvexHullShape(BulletWorld world, + int indicesCount, int[] indices, + int verticesCount, float[] vertices) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateConvexHullShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices), + BSPhysicsShapeType.SHAPE_CONVEXHULL); +} + +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.SetShapeCollisionMargin(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 UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) +{ + BulletShapeUnman shapeu = pShape as BulletShapeUnman; + BSAPICPP.UpdateChildTransform2(shapeu.ptr, childIndex, pos, rot, shouldRecalculateLocalAabb); +} + +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.shapeType); +} + +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 Create6DofConstraintFixed(BulletWorld world, BulletBody obj1, + Vector3 frameInBloc, Quaternion frameInBrot, + bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintFixed2(worldu.ptr, bodyu1.ptr, + frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies)); +} + +public override BulletConstraint Create6DofSpringConstraint(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.Create6DofSpringConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, + frame2loc, frame2rot, 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 BulletConstraint CreateSliderConstraint(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.CreateSliderConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, + frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); +} + +public override BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + bool disableCollisionsBetweenLinkedBodies) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.CreateConeTwistConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, + frame2loc, frame2rot, disableCollisionsBetweenLinkedBodies)); +} + +public override BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 axisInA, Vector3 axisInB, + float ratio, bool disableCollisionsBetweenLinkedBodies) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.CreateGearConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, axisInA, axisInB, + ratio, disableCollisionsBetweenLinkedBodies)); +} + +public override BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 pivotInA, Vector3 pivotInB, + bool disableCollisionsBetweenLinkedBodies) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.CreatePoint2PointConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, pivotInA, pivotInB, + 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 HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.HingeSetLimits2(constrainu.ptr, low, high, softness, bias, relaxation); +} + +public override bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.ConstraintSpringEnable2(constrainu.ptr, index, numericTrueFalse); +} + +public override bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.ConstraintSpringSetEquilibriumPoint2(constrainu.ptr, index, equilibriumPoint); +} + +public override bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.ConstraintSpringSetStiffness2(constrainu.ptr, index, stiffnesss); +} + +public override bool SpringSetDamping(BulletConstraint constrain, int index, float damping) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.ConstraintSpringSetDamping2(constrainu.ptr, index, damping); +} + +public override bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SliderSetLimits2(constrainu.ptr, lowerUpper, linAng, val); +} + +public override bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SliderSet2(constrainu.ptr, softRestDamp, dirLimOrtho, linAng, val); +} + +public override bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SliderMotorEnable2(constrainu.ptr, linAng, numericTrueFalse); +} + +public override bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SliderMotor2(constrainu.ptr, forceVel, linAng, val); +} + +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) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + + // 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. + 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 ClearCollisionProxyCache(BulletWorld world, BulletBody obj) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.ClearCollisionProxyCache2(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. +// Deep down in Bullet: m_totalForce += force*m_linearFactor; +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); +} + +// Deep down in Bullet: m_totalTorque += torque*m_angularFactor; +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. +// Deep down in Bullet: applyCentralForce(force); +// applyTorque(rel_pos.cross(force*m_linearFactor)); +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. +// Deep down in Bullet: m_linearVelocity += impulse *m_linearFactor * m_inverseMass; +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. +// Deep down in Bullet: m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; +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. +// Deep down in Bullet: applyCentralImpulse(impulse); +// applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor)); +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); +} +public override void ResetBroadphasePool(BulletWorld world) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.ResetBroadphasePool(worldu.ptr); +} +public override void ResetConstraintSolver(BulletWorld world) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.ResetConstraintSolver(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 CreateGImpactShape2(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, HACDParams parms); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr BuildConvexHullShapeFromMesh2(IntPtr world, IntPtr meshShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateConvexHullShape2(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 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 SetShapeCollisionMargin(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 UpdateChildTransform2(IntPtr pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb); + +[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 Create6DofConstraintFixed2(IntPtr world, IntPtr obj1, + Vector3 frameInBloc, Quaternion frameInBrot, + bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr Create6DofSpringConstraint2(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 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 IntPtr CreateSliderConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 frameInAloc, Quaternion frameInArot, + Vector3 frameInBloc, Quaternion frameInBrot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateConeTwistConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 frameInAloc, Quaternion frameInArot, + Vector3 frameInBloc, Quaternion frameInBrot, + bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateGearConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 axisInA, Vector3 axisInB, + float ratio, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreatePoint2PointConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 pivotInA, Vector3 pivotInB, + 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 HingeSetLimits2(IntPtr constrain, float low, float high, float softness, float bias, float relaxation); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ConstraintSpringEnable2(IntPtr constrain, int index, float numericTrueFalse); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ConstraintSpringSetEquilibriumPoint2(IntPtr constrain, int index, float equilibriumPoint); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ConstraintSpringSetStiffness2(IntPtr constrain, int index, float stiffness); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ConstraintSpringSetDamping2(IntPtr constrain, int index, float damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SliderSetLimits2(IntPtr constrain, int lowerUpper, int linAng, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SliderSet2(IntPtr constrain, int softRestDamp, int dirLimOrtho, int linAng, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SliderMotorEnable2(IntPtr constrain, int linAng, float numericTrueFalse); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SliderMotor2(IntPtr constrain, int forceVel, int linAng, float val); + +[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 ClearCollisionProxyCache2(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); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ResetBroadphasePool(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ResetConstraintSolver(IntPtr sim); + +} + +} + +} -- cgit v1.1