/* * 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.Runtime.InteropServices; using System.Security; using System.Text; using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { // Classes to allow some type checking for the API // These hold pointers to allocated objects in the unmanaged space. // The physics engine controller class created at initialization public struct BulletSim { public BulletSim(uint worldId, BSScene bss, IntPtr xx) { ptr = xx; worldID = worldId; physicsScene = bss; } public IntPtr ptr; public uint worldID; // The scene is only in here so very low level routines have a handle to print debug/error messages public BSScene physicsScene; } // An allocated Bullet btRigidBody public struct BulletBody { public BulletBody(uint id, IntPtr xx) { ID = id; ptr = xx; collisionFilter = 0; collisionMask = 0; } public IntPtr ptr; public uint ID; public CollisionFilterGroups collisionFilter; public CollisionFilterGroups collisionMask; public override string ToString() { StringBuilder buff = new StringBuilder(); buff.Append(""); return buff.ToString(); } } public struct BulletShape { public BulletShape(IntPtr xx) { ptr = xx; type=PhysicsShapeType.SHAPE_UNKNOWN; shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; isNativeShape = false; } public BulletShape(IntPtr xx, PhysicsShapeType typ) { ptr = xx; type = typ; shapeKey = 0; isNativeShape = false; } public IntPtr ptr; public PhysicsShapeType type; public System.UInt64 shapeKey; public bool isNativeShape; public override string ToString() { StringBuilder buff = new StringBuilder(); buff.Append(""); return buff.ToString(); } } // Constraint type values as defined by Bullet public enum ConstraintType : int { POINT2POINT_CONSTRAINT_TYPE = 3, HINGE_CONSTRAINT_TYPE, CONETWIST_CONSTRAINT_TYPE, D6_CONSTRAINT_TYPE, SLIDER_CONSTRAINT_TYPE, CONTACT_CONSTRAINT_TYPE, D6_SPRING_CONSTRAINT_TYPE, MAX_CONSTRAINT_TYPE } // An allocated Bullet btConstraint public struct BulletConstraint { public BulletConstraint(IntPtr xx) { ptr = xx; } public IntPtr ptr; } // An allocated HeightMapThing which holds various heightmap info. // Made a class rather than a struct so there would be only one // instance of this and C# will pass around pointers rather // than making copies. public class BulletHeightMapInfo { public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) { ID = id; Ptr = xx; heightMap = hm; terrainRegionBase = new Vector2(0f, 0f); minCoords = new Vector3(100f, 100f, 25f); maxCoords = new Vector3(101f, 101f, 26f); minZ = maxZ = 0f; sizeX = sizeY = 256f; } public uint ID; public IntPtr Ptr; public float[] heightMap; public Vector2 terrainRegionBase; public Vector3 minCoords; public Vector3 maxCoords; public float sizeX, sizeY; public float minZ, maxZ; public BulletShape terrainShape; public BulletBody terrainBody; } // =============================================================================== [StructLayout(LayoutKind.Sequential)] public struct ConvexHull { Vector3 Offset; int VertexCount; Vector3[] Vertices; } public enum PhysicsShapeType { SHAPE_UNKNOWN = 0, SHAPE_AVATAR = 1, SHAPE_BOX = 2, SHAPE_CONE = 3, SHAPE_CYLINDER = 4, SHAPE_SPHERE = 5, SHAPE_MESH = 6, SHAPE_HULL = 7, // following defined by BulletSim SHAPE_GROUNDPLANE = 20, SHAPE_TERRAIN = 21, SHAPE_COMPOUND = 22, SHAPE_HEIGHTMAP = 23, }; // The native shapes have predefined shape hash keys public enum FixedShapeKey : ulong { KEY_NONE = 0, KEY_BOX = 1, KEY_SPHERE = 2, KEY_CONE = 3, KEY_CYLINDER = 4, KEY_CAPSULE = 5, } [StructLayout(LayoutKind.Sequential)] public struct ShapeData { public uint ID; public PhysicsShapeType Type; public Vector3 Position; public Quaternion Rotation; public Vector3 Velocity; public Vector3 Scale; public float Mass; public float Buoyancy; public System.UInt64 HullKey; public System.UInt64 MeshKey; public float Friction; public float Restitution; public float Collidable; // true of things bump into this public float Static; // true if a static object. Otherwise gravity, etc. public float Solid; // true if object cannot be passed through public Vector3 Size; // note that bools are passed as floats since bool size changes by language and architecture public const float numericTrue = 1f; public const float numericFalse = 0f; } [StructLayout(LayoutKind.Sequential)] public struct SweepHit { public uint ID; public float Fraction; public Vector3 Normal; public Vector3 Point; } [StructLayout(LayoutKind.Sequential)] public struct RaycastHit { public uint ID; public float Fraction; public Vector3 Normal; } [StructLayout(LayoutKind.Sequential)] public struct CollisionDesc { public uint aID; public uint bID; public Vector3 point; public Vector3 normal; } [StructLayout(LayoutKind.Sequential)] public struct EntityProperties { public uint ID; public Vector3 Position; public Quaternion Rotation; public Vector3 Velocity; public Vector3 Acceleration; public Vector3 RotationalVelocity; } // Format of this structure must match the definition in the C++ code [StructLayout(LayoutKind.Sequential)] public struct ConfigurationParameters { public float defaultFriction; public float defaultDensity; public float defaultRestitution; public float collisionMargin; public float gravity; public float linearDamping; public float angularDamping; public float deactivationTime; public float linearSleepingThreshold; public float angularSleepingThreshold; public float ccdMotionThreshold; public float ccdSweptSphereRadius; public float contactProcessingThreshold; public float terrainFriction; public float terrainHitFraction; public float terrainRestitution; public float avatarFriction; public float avatarStandingFriction; public float avatarDensity; public float avatarRestitution; public float avatarCapsuleRadius; public float avatarCapsuleHeight; public float avatarContactProcessingThreshold; public float maxPersistantManifoldPoolSize; public float maxCollisionAlgorithmPoolSize; public float shouldDisableContactPoolDynamicAllocation; public float shouldForceUpdateAllAabbs; public float shouldRandomizeSolverOrder; public float shouldSplitSimulationIslands; public float shouldEnableFrictionCaching; public float numberOfSolverIterations; public float linksetImplementation; public float linkConstraintUseFrameOffset; public float linkConstraintEnableTransMotor; public float linkConstraintTransMotorMaxVel; public float linkConstraintTransMotorMaxForce; public float linkConstraintERP; public float linkConstraintCFM; public float linkConstraintSolverIterations; public float physicsLoggingFrames; public const float numericTrue = 1f; public const float numericFalse = 0f; } // The states a bullet collision object can have public enum ActivationState : uint { ACTIVE_TAG = 1, ISLAND_SLEEPING, WANTS_DEACTIVATION, DISABLE_DEACTIVATION, DISABLE_SIMULATION, } public enum CollisionObjectTypes : int { CO_COLLISION_OBJECT = 1 << 0, CO_RIGID_BODY = 1 << 1, CO_GHOST_OBJECT = 1 << 2, CO_SOFT_BODY = 1 << 3, CO_HF_FLUID = 1 << 4, CO_USER_TYPE = 1 << 5, } // Values used by Bullet and BulletSim to control object properties. // Bullet's "CollisionFlags" has more to do with operations on the // object (if collisions happen, if gravity effects it, ...). public enum CollisionFlags : uint { CF_STATIC_OBJECT = 1 << 0, CF_KINEMATIC_OBJECT = 1 << 1, CF_NO_CONTACT_RESPONSE = 1 << 2, CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3, CF_CHARACTER_OBJECT = 1 << 4, CF_DISABLE_VISUALIZE_OBJECT = 1 << 5, CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, // Following used by BulletSim to control collisions BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, BS_FLOATS_ON_WATER = 1 << 11, BS_NONE = 0, BS_ALL = 0xFFFFFFFF, // These are the collision flags switched depending on physical state. // The other flags are used for other things and should not be fooled with. BS_ACTIVE = CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE }; // Values for collisions groups and masks public enum CollisionFilterGroups : uint { // Don't use the bit definitions!! Define the use in a // filter/mask definition below. This way collision interactions // are more easily debugged. BNoneFilter = 0, BDefaultFilter = 1 << 0, BStaticFilter = 1 << 1, BKinematicFilter = 1 << 2, BDebrisFilter = 1 << 3, BSensorTrigger = 1 << 4, BCharacterFilter = 1 << 5, BAllFilter = 0xFFFFFFFF, // Filter groups defined by BulletSim BGroundPlaneFilter = 1 << 10, BTerrainFilter = 1 << 11, BRaycastFilter = 1 << 12, BSolidFilter = 1 << 13, BLinksetFilter = 1 << 14, // The collsion filters and masked are defined in one place -- don't want them scattered AvatarFilter = BCharacterFilter, AvatarMask = BAllFilter, ObjectFilter = BSolidFilter, ObjectMask = BAllFilter, StaticObjectFilter = BStaticFilter, StaticObjectMask = BAllFilter, LinksetFilter = BLinksetFilter, LinksetMask = BAllFilter & ~BLinksetFilter, VolumeDetectFilter = BSensorTrigger, VolumeDetectMask = ~BSensorTrigger, TerrainFilter = BTerrainFilter, TerrainMask = BAllFilter & ~BStaticFilter, GroundPlaneFilter = BGroundPlaneFilter, GroundPlaneMask = BAllFilter }; // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. public enum ConstraintParams : int { BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730 BT_CONSTRAINT_STOP_ERP, BT_CONSTRAINT_CFM, BT_CONSTRAINT_STOP_CFM, }; public enum ConstraintParamAxis : int { AXIS_LINEAR_X = 0, AXIS_LINEAR_Y, AXIS_LINEAR_Z, AXIS_ANGULAR_X, AXIS_ANGULAR_Y, AXIS_ANGULAR_Z, AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls AXIS_ANGULAR_ALL, AXIS_ALL }; // =============================================================================== static class BulletSimAPI { // 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 bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 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 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); // ===================================================================================== // Mesh, hull, shape and body creation helper routines [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateMeshShape2(IntPtr world, int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateHullShape2(IntPtr world, int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsNativeShape2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int GetNumberOfCompoundChildren2(IntPtr cShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo); [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 IntPtr AllocateBodyInfo2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ReleaseBodyInfo2(IntPtr obj); [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 CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo); [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(IntPtr mapInfo); // ===================================================================================== // Constraint creation and helper routines [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 frame1loc, Quaternion frame1rot, Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 pivotinA, Vector3 pivotinB, Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetFrames2(IntPtr constrain, Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool UseFrameOffset2(IntPtr constrain, float enable); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CalculateTransforms2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); // ===================================================================================== // btCollisionWorld entries [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void UpdateAabbs2(IntPtr world); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool GetForceUpdateAllAabbs2(IntPtr world); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force); // ===================================================================================== // btDynamicsWorld entries [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain); // ===================================================================================== // btCollisionObject entries [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool HasAnisotripicFriction2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetContactProcessingThreshold2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetContactProcessingThreshold2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsStaticObject2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsKinematicObject2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsStaticOrKinematicObject2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool HasContactResponse2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetCollisionShape2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int GetActivationState2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetActivationState2(IntPtr obj, int state); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetDeactivationTime2(IntPtr obj, float dtime); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetDeactivationTime2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ForceActivationState2(IntPtr obj, ActivationState state); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void Activate2(IntPtr obj, bool forceActivation); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsActive2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetRestitution2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetRestitution2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetFriction2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetFriction2(IntPtr obj); /* Haven't defined the type 'Transform' [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Transform GetWorldTransform2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void setWorldTransform2(IntPtr obj, Transform trans); */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetPosition2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Quaternion GetOrientation2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetBroadphaseHandle2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle); /* [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Transform GetInterpolationWorldTransform2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetHitFraction2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetHitFraction2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetCcdMotionThreshold2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetCcdMotionThreshold2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetCcdSweptSphereRadius2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetUserPointer2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetUserPointer2(IntPtr obj, IntPtr val); // ===================================================================================== // btRigidBody entries [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ApplyGravity2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetGravity2(IntPtr obj, Vector3 val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetGravity2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetLinearDamping2(IntPtr obj, float lin_damping); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetAngularDamping2(IntPtr obj, float ang_damping); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetLinearDamping2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetAngularDamping2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetLinearSleepingThreshold2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetAngularSleepingThreshold2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ApplyDamping2(IntPtr obj, float timeStep); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetLinearFactor2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor); /* [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans); */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot); // Add a force to the object as if its mass is one. [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force); // Set the force being applied to the object as if its mass is one. [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetObjectForce2(IntPtr obj, Vector3 force); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetTotalForce2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetTotalTorque2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ApplyTorque2(IntPtr obj, Vector3 torque); // Apply force at the given point. Will add torque to the object. [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos); // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp); // Apply impulse to the object's torque. Force is scaled by object's mass. [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp); // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ClearForces2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ClearAllForces2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void UpdateInertiaTensor2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj); /* [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Transform GetCenterOfMassTransform2(IntPtr obj); */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetLinearVelocity2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetAngularVelocity2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void Translate2(IntPtr obj, Vector3 trans); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void UpdateDeactivation2(IntPtr obj, float timeStep); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool WantsSleeping2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetAngularFactor2(IntPtr obj, float factor); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetAngularFactor2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsInWorld2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetConstraintRef2(IntPtr obj, int index); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int GetNumConstraintRefs2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetCollisionFilterMask2(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 DumpConstraint2(IntPtr sim, IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpAllInfo2(IntPtr sim); [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 DumpPhysicsStatistics2(IntPtr sim); } }