From 38e79b80a87d213748d55d66e8b72021999d3945 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 9 Aug 2012 15:01:05 -0700 Subject: BulletSim: separate out the constraints by type. The linksets use 6dof constraint but eventually others will be exposed so future features can use all the Bullet capabilities. Force children to generate a position update when unlinked. --- .../Physics/BulletSPlugin/BS6DofConstraint.cs | 80 ++++++++++++++++++++++ .../Region/Physics/BulletSPlugin/BSConstraint.cs | 60 +++------------- .../BulletSPlugin/BSConstraintCollection.cs | 10 --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 38 +++++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 15 ++-- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 37 +++++----- 6 files changed, 146 insertions(+), 94 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs new file mode 100755 index 0000000..72df6b9 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs @@ -0,0 +1,80 @@ +/* + * 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.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public class BS6DofConstraint : BSConstraint +{ + // Create a btGeneric6DofConstraint + public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot ) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + m_constraint = new BulletConstraint( + BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, + frame1, frame1rot, + frame2, frame2rot, + true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/)); + m_enabled = true; + } + + public bool SetCFMAndERP(float cfm, float erp) + { + bool ret = true; + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + return ret; + } + + public bool UseFrameOffset(bool useOffset) + { + bool ret = false; + float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); + return ret; + } + + public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) + { + bool ret = false; + float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); + return ret; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index ea3093a..a17efea 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -32,30 +32,19 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSConstraint : IDisposable +public abstract class BSConstraint : IDisposable { - private BulletSim m_world; - private BulletBody m_body1; - private BulletBody m_body2; - private BulletConstraint m_constraint; - private bool m_enabled = false; + protected BulletSim m_world; + protected BulletBody m_body1; + protected BulletBody m_body2; + protected BulletConstraint m_constraint; + protected bool m_enabled = false; - public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, - Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot - ) + public BSConstraint() { - m_world = world; - m_body1 = obj1; - m_body2 = obj2; - m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, - frame1, frame1rot, - frame2, frame2rot, - true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/)); - m_enabled = true; } - public void Dispose() + public virtual void Dispose() { if (m_enabled) { @@ -68,7 +57,7 @@ public class BSConstraint : IDisposable public BulletBody Body1 { get { return m_body1; } } public BulletBody Body2 { get { return m_body2; } } - public bool SetLinearLimits(Vector3 low, Vector3 high) + public virtual bool SetLinearLimits(Vector3 low, Vector3 high) { bool ret = false; if (m_enabled) @@ -76,7 +65,7 @@ public class BSConstraint : IDisposable return ret; } - public bool SetAngularLimits(Vector3 low, Vector3 high) + public virtual bool SetAngularLimits(Vector3 low, Vector3 high) { bool ret = false; if (m_enabled) @@ -84,34 +73,7 @@ public class BSConstraint : IDisposable return ret; } - public bool SetCFMAndERP(float cfm, float erp) - { - bool ret = true; - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - return ret; - } - - public bool UseFrameOffset(bool useOffset) - { - bool ret = false; - float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; - if (m_enabled) - ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); - return ret; - } - - public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) - { - bool ret = false; - float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; - if (m_enabled) - ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); - return ret; - } - - public bool CalculateTransforms() + public virtual bool CalculateTransforms() { bool ret = false; if (m_enabled) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index c88e645..397045a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -63,16 +63,6 @@ public class BSConstraintCollection : IDisposable m_constraints.Clear(); } - public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, - Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot) - { - BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot); - - this.AddConstraint(constrain); - return constrain; - } - public bool AddConstraint(BSConstraint cons) { // There is only one constraint between any bodies. Remove any old just to make sure. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index d19c4b8..e265d6d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -101,7 +101,7 @@ public class BSLinkset { // Note that we don't do a foreach because the remove routine // takes it out of the list. - RemoveChildFromLinkset(m_children[0]); + RemoveChildFromOtherLinkset(m_children[0]); } m_children.Clear(); // just to make sure } @@ -124,6 +124,7 @@ public class BSLinkset lock (m_linksetActivityLock) { + // The body pointer is refetched in case anything has moved. System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID); if (aPtr == System.IntPtr.Zero) { @@ -155,7 +156,7 @@ public class BSLinkset } foreach (BSPrim bsp in toRemove) { - RemoveChildFromLinkset(bsp); + RemoveChildFromOtherLinkset(bsp); } } } @@ -208,7 +209,8 @@ public class BSLinkset com += bp.Position * bp.MassRaw; totalMass += bp.MassRaw; } - com /= totalMass; + if (totalMass != 0f) + com /= totalMass; return com; } @@ -221,7 +223,7 @@ public class BSLinkset { com += bp.Position * bp.MassRaw; } - com /= m_children.Count + 1; + com /= (m_children.Count + 1); return com; } @@ -237,13 +239,24 @@ public class BSLinkset m_scene.TaintedObject(delegate() { DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); - DetailLog("{0},AddChildToLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID); + DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID); PhysicallyLinkAChildToRoot(pchild); // build the physical binding between me and the child }); } return; } + // Forcefully removing a child from a linkset. + // This is not being called by the child so we have to make sure the child doesn't think + // it's still connected to the linkset. + // Normal OpenSimulator operation will never do this because other SceneObjectPart information + // has to be updated also (like pointer to prim's parent). + public void RemoveChildFromOtherLinkset(BSPrim pchild) + { + pchild.Linkset = new BSLinkset(m_scene, pchild); + RemoveChildFromLinkset(pchild); + } + // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. public void RemoveChildFromLinkset(BSPrim pchild) @@ -255,7 +268,7 @@ public class BSLinkset m_scene.TaintedObject(delegate() { DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); - DetailLog("{0},RemoveChildFromLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID); + DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID); if (m_children.Count == 0) { @@ -294,13 +307,14 @@ public class BSLinkset // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); - BSConstraint constrain = m_scene.Constraints.CreateConstraint( + BS6DofConstraint constrain = new BS6DofConstraint( m_scene.World, m_linksetRoot.Body, childPrim.Body, childRelativePosition, childRelativeRotation, OMV.Vector3.Zero, -childRelativeRotation ); + m_scene.Constraints.AddConstraint(constrain); // zero linear and angular limits makes the objects unable to move in relation to each other constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); @@ -319,11 +333,13 @@ public class BSLinkset // Called at taint time! private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim) { - DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", - LogHeader, m_linksetRoot.LocalID, childPrim.LocalID); + // DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", + // LogHeader, m_linksetRoot.LocalID, childPrim.LocalID); DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); - // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); + m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body); + // Make the child refresh its location + BulletSimAPI.PushUpdate2(childPrim.Body.Ptr); } // Remove linkage between myself and any possible children I might have @@ -332,8 +348,8 @@ public class BSLinkset { // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader); DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID); + m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body); - // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); } // Invoke the detailed logger and output something if it's enabled. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 98b69b1..e0f6ed2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -224,10 +224,12 @@ public sealed class BSPrim : PhysicsActor // link me to the specified parent public override void link(PhysicsActor obj) { BSPrim parent = obj as BSPrim; - DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); - DetailLog("{0},link,parent={1}", LocalID, obj.LocalID); - - _linkset = _linkset.AddMeToLinkset(this, parent); + if (parent != null) + { + DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID); + DetailLog("{0},link,parent={1}", LocalID, parent.LocalID); + _linkset = _linkset.AddMeToLinkset(this, parent); + } return; } @@ -478,7 +480,6 @@ public sealed class BSPrim : PhysicsActor // Make gravity work if the object is physical and not selected // No locking here because only called when it is safe - // Only called at taint time so it is save to call into Bullet. private void SetObjectDynamic() { // RA: remove this for the moment. @@ -982,7 +983,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) { - DetailLog("{0},CreateGeom,sphere", LocalID); + DetailLog("{0},CreateGeom,sphere (force={1}", LocalID, forceRebuild); _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; // Bullet native objects are scaled by the Bullet engine so pass the size in _scale = _size; @@ -996,7 +997,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)) { - DetailLog("{0},CreateGeom,box", LocalID); + DetailLog("{0},CreateGeom,box (force={1})", LocalID, forceRebuild); _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; _scale = _size; // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 86fc9d2..c016402 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -363,7 +363,7 @@ public static extern IntPtr GetSimHandle2(uint worldID); public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id); +public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); // =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -372,40 +372,43 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, int maxUpdates, IntPtr updateArray); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UpdateParameter2(IntPtr sim, uint localID, String parm, float value); +public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetHeightmap2(IntPtr sim, float[] heightmap); +public static extern void SetHeightmap2(IntPtr world, float[] heightmap); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void Shutdown2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int PhysicsStep2(IntPtr sim, float timeStep, int maxSubSteps, float fixedTimeStep, +public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out IntPtr updatedEntitiesPtr, out int collidersCount, out IntPtr collidersPtr); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool PushUpdate2(IntPtr obj); + /* [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateMesh2(IntPtr sim, int indicesCount, int* indices, int verticesCount, float* vertices ); +public static extern IntPtr CreateMesh2(IntPtr world, int indicesCount, int* indices, int verticesCount, float* vertices ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool BuildHull2(IntPtr sim, IntPtr mesh); +public static extern bool BuildHull2(IntPtr world, IntPtr mesh); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool ReleaseHull2(IntPtr sim, IntPtr mesh); +public static extern bool ReleaseHull2(IntPtr world, IntPtr mesh); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyMesh2(IntPtr sim, IntPtr mesh); +public static extern bool DestroyMesh2(IntPtr world, IntPtr mesh); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); +public static extern IntPtr CreateObject2(IntPtr world, ShapeData shapeData); */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, +public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 frame1loc, Quaternion frame1rot, Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); @@ -429,7 +432,13 @@ public static extern bool CalculateTransforms2(IntPtr constrain); 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 sim, IntPtr constrain); +public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetPosition2(IntPtr obj); @@ -510,12 +519,6 @@ public static extern bool SetMargin2(IntPtr obj, float val); public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); [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 DestroyObject2(IntPtr world, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1