/* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyrightD * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the name of the OpenSimulator Project nor the * names of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ using System; using System.Collections.Generic; using System.Runtime.InteropServices; using System.Security; using System.Text; using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { // 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 } // =============================================================================== [StructLayout(LayoutKind.Sequential)] public struct ConvexHull { Vector3 Offset; int VertexCount; Vector3[] Vertices; } public enum BSPhysicsShapeType { SHAPE_UNKNOWN = 0, SHAPE_CAPSULE = 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, SHAPE_AVATAR = 24, }; // 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, KEY_AVATAR = 6, } [StructLayout(LayoutKind.Sequential)] public struct ShapeData { public uint ID; public BSPhysicsShapeType 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 // NOTE: adding the X causes compile breaks if used. These are unused symbols // that can be removed from both here and the unmanaged definition of this structure. [StructLayout(LayoutKind.Sequential)] public struct ConfigurationParameters { public float defaultFriction; public float defaultDensity; public float defaultRestitution; public float collisionMargin; public float gravity; public float XlinearDamping; public float XangularDamping; public float XdeactivationTime; public float XlinearSleepingThreshold; public float XangularSleepingThreshold; public float XccdMotionThreshold; public float XccdSweptSphereRadius; public float XcontactProcessingThreshold; public float XterrainImplementation; public float XterrainFriction; public float XterrainHitFraction; public float XterrainRestitution; public float XterrainCollisionMargin; public float XavatarFriction; public float XavatarStandingFriction; public float XavatarDensity; public float XavatarRestitution; public float XavatarCapsuleWidth; public float XavatarCapsuleDepth; public float XavatarCapsuleHeight; public float XavatarContactProcessingThreshold; public float XvehicleAngularDamping; 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 XlinksetImplementation; public float XlinkConstraintUseFrameOffset; public float XlinkConstraintEnableTransMotor; public float XlinkConstraintTransMotorMaxVel; public float XlinkConstraintTransMotorMaxForce; public float XlinkConstraintERP; public float XlinkConstraintCFM; public float XlinkConstraintSolverIterations; 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 and updates BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, BS_FLOATS_ON_WATER = 1 << 11, BS_VEHICLE_COLLISIONS = 1 << 12, BS_NONE = 0, BS_ALL = 0xFFFFFFFF }; // Values f 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 found and debugged. BNoneGroup = 0, BDefaultGroup = 1 << 0, // 0001 BStaticGroup = 1 << 1, // 0002 BKinematicGroup = 1 << 2, // 0004 BDebrisGroup = 1 << 3, // 0008 BSensorTrigger = 1 << 4, // 0010 BCharacterGroup = 1 << 5, // 0020 BAllGroup = 0x000FFFFF, // Filter groups defined by BulletSim BGroundPlaneGroup = 1 << 10, // 0400 BTerrainGroup = 1 << 11, // 0800 BRaycastGroup = 1 << 12, // 1000 BSolidGroup = 1 << 13, // 2000 // BLinksetGroup = xx // a linkset proper is either static or dynamic BLinksetChildGroup = 1 << 14, // 4000 }; // 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 }; public abstract class BulletSimAPITemplate { // Initialization and simulation public abstract BulletWorld Initialize2(Vector3 maxPosition, IntPtr parms, int maxCollisions, IntPtr collisionArray, int maxUpdates, IntPtr updateArray ); public abstract bool UpdateParameter2(BulletWorld world, uint localID, String parm, float value); public abstract void SetHeightMap2(BulletWorld world, float[] heightmap); public abstract void Shutdown2(BulletWorld sim); public abstract int PhysicsStep2(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out IntPtr updatedEntitiesPtr, out int collidersCount, out IntPtr collidersPtr); public abstract bool PushUpdate2(BulletBody obj); // ===================================================================================== // Mesh, hull, shape and body creation helper routines public abstract BulletShape CreateMeshShape2(BulletWorld world, int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); public abstract BulletShape CreateHullShape2(BulletWorld world, int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); public abstract BulletShape BuildHullShapeFromMesh2(BulletWorld world, BulletShape meshShape); public abstract BulletShape BuildNativeShape2(BulletWorld world, ShapeData shapeData); public abstract bool IsNativeShape2(BulletShape shape); public abstract void SetShapeCollisionMargin(BulletShape shape, float margin); public abstract BulletShape BuildCapsuleShape2(BulletWorld world, float radius, float height, Vector3 scale); public abstract BulletShape CreateCompoundShape2(BulletWorld sim, bool enableDynamicAabbTree); public abstract int GetNumberOfCompoundChildren2(BulletShape cShape); public abstract void AddChildShapeToCompoundShape2(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot); public abstract BulletShape GetChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx); public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx); public abstract void RemoveChildShapeFromCompoundShape2(BulletShape cShape, BulletShape removeShape); public abstract void RecalculateCompoundShapeLocalAabb2(BulletShape cShape); public abstract BulletShape DuplicateCollisionShape2(BulletWorld sim, BulletShape srcShape, uint id); public abstract BulletBody CreateBodyFromShapeAndInfo2(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo); public abstract bool DeleteCollisionShape2(BulletWorld world, BulletShape shape); public abstract int GetBodyType2(BulletBody obj); public abstract BulletBody CreateBodyFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); public abstract BulletBody CreateBodyWithDefaultMotionState2(BulletShape shape, uint id, Vector3 pos, Quaternion rot); public abstract BulletBody CreateGhostFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); public abstract IntPtr AllocateBodyInfo2(BulletBody obj); public abstract void ReleaseBodyInfo2(IntPtr obj); public abstract void DestroyObject2(BulletWorld sim, BulletBody obj); // ===================================================================================== // Terrain creation and helper routines public abstract IntPtr CreateHeightMapInfo2(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); public abstract IntPtr FillHeightMapInfo2(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); public abstract bool ReleaseHeightMapInfo2(IntPtr heightMapInfo); public abstract BulletBody CreateGroundPlaneShape2(uint id, float height, float collisionMargin); public abstract BulletBody CreateTerrainShape2(IntPtr mapInfo); // ===================================================================================== // Constraint creation and helper routines public abstract BulletConstraint Create6DofConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 frame1loc, Quaternion frame1rot, Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); public abstract BulletConstraint Create6DofConstraintToPoint2(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); public abstract BulletConstraint CreateHingeConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 pivotinA, Vector3 pivotinB, Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); public abstract void SetConstraintEnable2(BulletConstraint constrain, float numericTrueFalse); public abstract void SetConstraintNumSolverIterations2(BulletConstraint constrain, float iterations); public abstract bool SetFrames2(BulletConstraint constrain, Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); public abstract bool SetLinearLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi); public abstract bool SetAngularLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi); public abstract bool UseFrameOffset2(BulletConstraint constrain, float enable); public abstract bool TranslationalLimitMotor2(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce); public abstract bool SetBreakingImpulseThreshold2(BulletConstraint constrain, float threshold); public abstract bool CalculateTransforms2(BulletConstraint constrain); public abstract bool SetConstraintParam2(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); public abstract bool DestroyConstraint2(BulletWorld world, BulletConstraint constrain); // ===================================================================================== // btCollisionWorld entries public abstract void UpdateSingleAabb2(BulletWorld world, BulletBody obj); public abstract void UpdateAabbs2(BulletWorld world); public abstract bool GetForceUpdateAllAabbs2(BulletWorld world); public abstract void SetForceUpdateAllAabbs2(BulletWorld world, bool force); // ===================================================================================== // btDynamicsWorld entries public abstract bool AddObjectToWorld2(BulletWorld world, BulletBody obj); public abstract bool RemoveObjectFromWorld2(BulletWorld world, BulletBody obj); public abstract bool AddConstraintToWorld2(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects); public abstract bool RemoveConstraintFromWorld2(BulletWorld world, BulletConstraint constrain); // ===================================================================================== // btCollisionObject entries public abstract Vector3 GetAnisotripicFriction2(BulletConstraint constrain); public abstract Vector3 SetAnisotripicFriction2(BulletConstraint constrain, Vector3 frict); public abstract bool HasAnisotripicFriction2(BulletConstraint constrain); public abstract void SetContactProcessingThreshold2(BulletBody obj, float val); public abstract float GetContactProcessingThreshold2(BulletBody obj); public abstract bool IsStaticObject2(BulletBody obj); public abstract bool IsKinematicObject2(BulletBody obj); public abstract bool IsStaticOrKinematicObject2(BulletBody obj); public abstract bool HasContactResponse2(BulletBody obj); public abstract void SetCollisionShape2(BulletWorld sim, BulletBody obj, BulletBody shape); public abstract BulletShape GetCollisionShape2(BulletBody obj); public abstract int GetActivationState2(BulletBody obj); public abstract void SetActivationState2(BulletBody obj, int state); public abstract void SetDeactivationTime2(BulletBody obj, float dtime); public abstract float GetDeactivationTime2(BulletBody obj); public abstract void ForceActivationState2(BulletBody obj, ActivationState state); public abstract void Activate2(BulletBody obj, bool forceActivation); public abstract bool IsActive2(BulletBody obj); public abstract void SetRestitution2(BulletBody obj, float val); public abstract float GetRestitution2(BulletBody obj); public abstract void SetFriction2(BulletBody obj, float val); public abstract float GetFriction2(BulletBody obj); /* Haven't defined the type 'Transform' public abstract Transform GetWorldTransform2(BulletBody obj); public abstract void setWorldTransform2(BulletBody obj, Transform trans); */ public abstract Vector3 GetPosition2(BulletBody obj); public abstract Quaternion GetOrientation2(BulletBody obj); public abstract void SetTranslation2(BulletBody obj, Vector3 position, Quaternion rotation); public abstract IntPtr GetBroadphaseHandle2(BulletBody obj); public abstract void SetBroadphaseHandle2(BulletBody obj, IntPtr handle); /* public abstract Transform GetInterpolationWorldTransform2(IntPtr obj); public abstract void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); */ public abstract void SetInterpolationLinearVelocity2(BulletBody obj, Vector3 vel); public abstract void SetInterpolationAngularVelocity2(BulletBody obj, Vector3 vel); public abstract void SetInterpolationVelocity2(BulletBody obj, Vector3 linearVel, Vector3 angularVel); public abstract float GetHitFraction2(BulletBody obj); public abstract void SetHitFraction2(BulletBody obj, float val); public abstract CollisionFlags GetCollisionFlags2(BulletBody obj); public abstract CollisionFlags SetCollisionFlags2(BulletBody obj, CollisionFlags flags); public abstract CollisionFlags AddToCollisionFlags2(BulletBody obj, CollisionFlags flags); public abstract CollisionFlags RemoveFromCollisionFlags2(BulletBody obj, CollisionFlags flags); public abstract float GetCcdMotionThreshold2(BulletBody obj); public abstract void SetCcdMotionThreshold2(BulletBody obj, float val); public abstract float GetCcdSweptSphereRadius2(BulletBody obj); public abstract void SetCcdSweptSphereRadius2(BulletBody obj, float val); public abstract IntPtr GetUserPointer2(BulletBody obj); public abstract void SetUserPointer2(BulletBody obj, IntPtr val); // ===================================================================================== // btRigidBody entries public abstract void ApplyGravity2(BulletBody obj); public abstract void SetGravity2(BulletBody obj, Vector3 val); public abstract Vector3 GetGravity2(BulletBody obj); public abstract void SetDamping2(BulletBody obj, float lin_damping, float ang_damping); public abstract void SetLinearDamping2(BulletBody obj, float lin_damping); public abstract void SetAngularDamping2(BulletBody obj, float ang_damping); public abstract float GetLinearDamping2(BulletBody obj); public abstract float GetAngularDamping2(BulletBody obj); public abstract float GetLinearSleepingThreshold2(BulletBody obj); public abstract void ApplyDamping2(BulletBody obj, float timeStep); public abstract void SetMassProps2(BulletBody obj, float mass, Vector3 inertia); public abstract Vector3 GetLinearFactor2(BulletBody obj); public abstract void SetLinearFactor2(BulletBody obj, Vector3 factor); /* public abstract void SetCenterOfMassTransform2(BulletBody obj, Transform trans); */ public abstract void SetCenterOfMassByPosRot2(BulletBody obj, Vector3 pos, Quaternion rot); // Add a force to the object as if its mass is one. public abstract void ApplyCentralForce2(BulletBody obj, Vector3 force); // Set the force being applied to the object as if its mass is one. public abstract void SetObjectForce2(BulletBody obj, Vector3 force); public abstract Vector3 GetTotalForce2(BulletBody obj); public abstract Vector3 GetTotalTorque2(BulletBody obj); public abstract Vector3 GetInvInertiaDiagLocal2(BulletBody obj); public abstract void SetInvInertiaDiagLocal2(BulletBody obj, Vector3 inert); public abstract void SetSleepingThresholds2(BulletBody obj, float lin_threshold, float ang_threshold); public abstract void ApplyTorque2(BulletBody obj, Vector3 torque); // Apply force at the given point. Will add torque to the object. public abstract void ApplyForce2(BulletBody obj, Vector3 force, Vector3 pos); // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. public abstract void ApplyCentralImpulse2(BulletBody obj, Vector3 imp); // Apply impulse to the object's torque. Force is scaled by object's mass. public abstract void ApplyTorqueImpulse2(BulletBody obj, Vector3 imp); // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. public abstract void ApplyImpulse2(BulletBody obj, Vector3 imp, Vector3 pos); public abstract void ClearForces2(BulletBody obj); public abstract void ClearAllForces2(BulletBody obj); public abstract void UpdateInertiaTensor2(BulletBody obj); /* public abstract Transform GetCenterOfMassTransform2(BulletBody obj); */ public abstract Vector3 GetLinearVelocity2(BulletBody obj); public abstract Vector3 GetAngularVelocity2(BulletBody obj); public abstract void SetLinearVelocity2(BulletBody obj, Vector3 val); public abstract void SetAngularVelocity2(BulletBody obj, Vector3 angularVelocity); public abstract Vector3 GetVelocityInLocalPoint2(BulletBody obj, Vector3 pos); public abstract void Translate2(BulletBody obj, Vector3 trans); public abstract void UpdateDeactivation2(BulletBody obj, float timeStep); public abstract bool WantsSleeping2(BulletBody obj); public abstract void SetAngularFactor2(BulletBody obj, float factor); public abstract void SetAngularFactorV2(BulletBody obj, Vector3 factor); public abstract Vector3 GetAngularFactor2(BulletBody obj); public abstract bool IsInWorld2(BulletBody obj); public abstract void AddConstraintRef2(BulletBody obj, BulletConstraint constrain); public abstract void RemoveConstraintRef2(BulletBody obj, BulletConstraint constrain); public abstract BulletConstraint GetConstraintRef2(BulletBody obj, int index); public abstract int GetNumConstraintRefs2(BulletBody obj); public abstract bool SetCollisionGroupMask2(BulletBody body, uint filter, uint mask); // ===================================================================================== // btCollisionShape entries public abstract float GetAngularMotionDisc2(BulletShape shape); public abstract float GetContactBreakingThreshold2(BulletShape shape, float defaultFactor); public abstract bool IsPolyhedral2(BulletShape shape); public abstract bool IsConvex2d2(BulletShape shape); public abstract bool IsConvex2(BulletShape shape); public abstract bool IsNonMoving2(BulletShape shape); public abstract bool IsConcave2(BulletShape shape); public abstract bool IsCompound2(BulletShape shape); public abstract bool IsSoftBody2(BulletShape shape); public abstract bool IsInfinite2(BulletShape shape); public abstract void SetLocalScaling2(BulletShape shape, Vector3 scale); public abstract Vector3 GetLocalScaling2(BulletShape shape); public abstract Vector3 CalculateLocalInertia2(BulletShape shape, float mass); public abstract int GetShapeType2(BulletShape shape); public abstract void SetMargin2(BulletShape shape, float val); public abstract float GetMargin2(BulletShape shape); }; // =============================================================================== 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 void SetShapeCollisionMargin(IntPtr shape, float margin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int GetNumberOfCompoundChildren2(IntPtr cShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void 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 bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask); // ===================================================================================== // btCollisionShape entries [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetAngularMotionDisc2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsPolyhedral2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsConvex2d2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsConvex2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsNonMoving2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsConcave2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsCompound2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsSoftBody2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsInfinite2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetLocalScaling2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int GetShapeType2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetMargin2(IntPtr shape, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetMargin2(IntPtr shape); // ===================================================================================== // Debugging [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpActivationInfo2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpAllInfo2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpPhysicsStatistics2(IntPtr sim); } }