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')
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]
--
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