/* * 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) { worldID = worldId; scene = bss; Ptr = xx; } public uint worldID; // The scene is only in here so very low level routines have a handle to print debug/error messages public BSScene scene; public IntPtr Ptr; } public struct BulletShape { public BulletShape(IntPtr xx) { Ptr = xx; } public IntPtr Ptr; } // An allocated Bullet btRigidBody public struct BulletBody { public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } public IntPtr Ptr; public uint ID; } // An allocated Bullet btConstraint public struct BulletConstraint { public BulletConstraint(IntPtr xx) { Ptr = xx; } public IntPtr Ptr; } // An allocated HeightMapThing which hold 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; } [StructLayout(LayoutKind.Sequential)] public struct ShapeData { 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 }; 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. // 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 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 linkConstraintUseFrameOffset; public float linkConstraintEnableTransMotor; public float linkConstraintTransMotorMaxVel; public float linkConstraintTransMotorMaxForce; public float linkConstraintERP; public float linkConstraintCFM; 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 } // 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_VOLUME_DETECT_OBJECT = 1 << 11, BS_PHANTOM_OBJECT = 1 << 12, BS_PHYSICAL_OBJECT = 1 << 13, BS_TERRAIN_OBJECT = 1 << 14, BS_NONE = 0, BS_ALL = 0xFFFFFFFF }; // Values for collisions groups and masks public enum CollisionFilterGroups : uint { NoneFilter = 0, DefaultFilter = 1 << 0, StaticFilter = 1 << 1, KinematicFilter = 1 << 2, DebrisFilter = 1 << 3, SensorTrigger = 1 << 4, CharacterFilter = 1 << 5, AllFilter = 0xFFFFFFFF, // Filter groups defined by BulletSim GroundPlaneFilter = 1 << 10, TerrainFilter = 1 << 11, RaycastFilter = 1 << 12, SolidFilter = 1 << 13, }; // For each type, we first clear and then set the collision flags public enum ClearCollisionFlag : uint { Terrain = CollisionFlags.BS_ALL, Phantom = CollisionFlags.BS_ALL, VolumeDetect = CollisionFlags.BS_ALL, PhysicalObject = CollisionFlags.BS_ALL, StaticObject = CollisionFlags.BS_ALL } public enum SetCollisionFlag : uint { Terrain = CollisionFlags.CF_STATIC_OBJECT | CollisionFlags.BS_TERRAIN_OBJECT, Phantom = CollisionFlags.CF_STATIC_OBJECT | CollisionFlags.BS_PHANTOM_OBJECT | CollisionFlags.CF_NO_CONTACT_RESPONSE, VolumeDetect = CollisionFlags.CF_STATIC_OBJECT | CollisionFlags.BS_VOLUME_DETECT_OBJECT | CollisionFlags.CF_NO_CONTACT_RESPONSE, PhysicalObject = CollisionFlags.BS_PHYSICAL_OBJECT, StaticObject = CollisionFlags.CF_STATIC_OBJECT, } // Collision filters used for different types of objects public enum SetCollisionFilter : uint { Terrain = CollisionFilterGroups.AllFilter, Phantom = CollisionFilterGroups.GroundPlaneFilter | CollisionFilterGroups.TerrainFilter, VolumeDetect = CollisionFilterGroups.AllFilter, PhysicalObject = CollisionFilterGroups.AllFilter, StaticObject = CollisionFilterGroups.AllFilter, } // Collision masks used for different types of objects public enum SetCollisionMask : uint { Terrain = CollisionFilterGroups.AllFilter, Phantom = CollisionFilterGroups.GroundPlaneFilter | CollisionFilterGroups.TerrainFilter, VolumeDetect = CollisionFilterGroups.AllFilter, PhysicalObject = CollisionFilterGroups.AllFilter, StaticObject = CollisionFilterGroups.AllFilter } // 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); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [return: MarshalAs(UnmanagedType.LPStr)] public static extern string GetVersion(); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, int maxCollisions, IntPtr collisionArray, int maxUpdates, IntPtr updateArray, DebugLogCallback logRoutine); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void Shutdown(uint worldID); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool UpdateParameter(uint worldID, uint localID, [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value); // =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int PhysicsStep(uint worldID, 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 CreateHull(uint worldID, System.UInt64 meshKey, int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CreateObject(uint worldID, ShapeData shapeData); /* Remove old functionality [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void AddConstraint(uint worldID, uint id1, uint id2, Vector3 frame1, Quaternion frame1rot, Vector3 frame2, Quaternion frame2rot, Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool RemoveConstraintByID(uint worldID, uint id1); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetObjectPosition(uint WorldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Quaternion GetObjectOrientation(uint WorldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity); // Set the current force acting on the object [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool HasObject(uint worldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyObject(uint worldID, uint id); // =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 RecoverFromPenetration(uint worldID, uint id); // =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpBulletStatistics(); // Log a debug message [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetDebugLogCallback(DebugLogCallback callback); // =============================================================================== // =============================================================================== // =============================================================================== // A new version of the API that enables moving all the logic out of the C++ code and into // the C# code. This will make modifications easier for the next person. // This interface passes the actual pointers to the objects in the unmanaged // address space. All the management (calls for creation/destruction/lookup) // is done in the C# code. // The names have a "2" tacked on. This will be removed as the C# code gets rebuilt // and the old code is removed. // Functions use while converting from API1 to API2. Can be removed when totally converted. [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetSimHandle2(uint worldID); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); // =============================================================================== // 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); [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 BuildHullShape2(IntPtr world, IntPtr meshShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildNativeShape2(IntPtr world, float shapeType, float collisionMargin, Vector3 scale); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, 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 void DumpMapInfo(IntPtr sim, IntPtr manInfo); [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 GetCcdSweepSphereRadius2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetCcdSweepSphereRadius2(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 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 Vector3 GetDeltaLinearVelocity2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetDeltaAngularVelocity2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetPushVelocity2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetTurnVelocity2(IntPtr obj); // ===================================================================================== // 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 void CalculateLocalInertia2(IntPtr shape, float mass, Vector3 inertia); [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); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint mask); // ===================================================================================== // Debugging [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpPhysicsStatistics2(IntPtr sim); } }