aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
blob: 28fae13827ba74e34bf20fca6d734a580c57bb07 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
/*
 * Copyright (c) Contributors, http://opensimulator.org/
 * See CONTRIBUTORS.TXT for a full list of copyright holders.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyrightD
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the OpenSimulator Project nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
using System;
using System.Runtime.InteropServices;
using System.Security;
using System.Text;
using OpenMetaverse;

namespace OpenSim.Region.Physics.BulletSPlugin {

// Classes to allow some type checking for the API
// These hold pointers to allocated objects in the unmanaged space.

// The physics engine controller class created at initialization
public struct BulletSim
{
    public BulletSim(uint worldId, BSScene bss, IntPtr xx)
    {
        ptr = xx;
        worldID = worldId;
        physicsScene = bss;
    }
    public IntPtr ptr;
    public uint worldID;
    // The scene is only in here so very low level routines have a handle to print debug/error messages
    public BSScene physicsScene;
}

// An allocated Bullet btRigidBody
public struct BulletBody
{
    public BulletBody(uint id, IntPtr xx)
    {
        ID = id;
        ptr = xx;
        collisionFilter = 0;
        collisionMask = 0;
    }
    public IntPtr ptr;
    public uint ID;
    public CollisionFilterGroups collisionFilter;
    public CollisionFilterGroups collisionMask;
    public override string ToString()
    {
        StringBuilder buff = new StringBuilder();
        buff.Append("<id=");
        buff.Append(ID.ToString());
        buff.Append(",p=");
        buff.Append(ptr.ToString("X"));
        if (collisionFilter != 0 || collisionMask != 0)
        {
            buff.Append(",f=");
            buff.Append(collisionFilter.ToString("X"));
            buff.Append(",m=");
            buff.Append(collisionMask.ToString("X"));
        }
        buff.Append(">");
        return buff.ToString();
    }
}

public struct BulletShape
{
    public BulletShape(IntPtr xx)
    {
        ptr = xx;
        type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
        shapeKey = 0;
        isNativeShape = false;
    }
    public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ)
    {
        ptr = xx;
        type = typ;
        shapeKey = 0;
        isNativeShape = false;
    }
    public IntPtr ptr;
    public ShapeData.PhysicsShapeType type;
    public System.UInt64 shapeKey;
    public bool isNativeShape;
    public override string ToString()
    {
        StringBuilder buff = new StringBuilder();
        buff.Append("<p=");
        buff.Append(ptr.ToString("X"));
        buff.Append(",s=");
        buff.Append(type.ToString());
        buff.Append(",k=");
        buff.Append(shapeKey.ToString("X"));
        buff.Append(",n=");
        buff.Append(isNativeShape.ToString());
        buff.Append(">");
        return buff.ToString();
    }
}

    // Constraint type values as defined by Bullet
public enum ConstraintType : int
{
	POINT2POINT_CONSTRAINT_TYPE = 3,
	HINGE_CONSTRAINT_TYPE,
	CONETWIST_CONSTRAINT_TYPE,
	D6_CONSTRAINT_TYPE,
	SLIDER_CONSTRAINT_TYPE,
	CONTACT_CONSTRAINT_TYPE,
	D6_SPRING_CONSTRAINT_TYPE,
	MAX_CONSTRAINT_TYPE
}

// An allocated Bullet btConstraint
public struct BulletConstraint
{
    public BulletConstraint(IntPtr xx)
    {
        ptr = xx;
    }
    public IntPtr ptr;
}

// An allocated HeightMapThing which holds various heightmap info.
// Made a class rather than a struct so there would be only one
//      instance of this and C# will pass around pointers rather
//      than making copies.
public class BulletHeightMapInfo
{
    public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
        ID = id;
        Ptr = xx;
        heightMap = hm;
        terrainRegionBase = new Vector2(0f, 0f);
        minCoords = new Vector3(100f, 100f, 25f);
        maxCoords = new Vector3(101f, 101f, 26f);
        minZ = maxZ = 0f;
        sizeX = sizeY = 256f;
    }
    public uint ID;
    public IntPtr Ptr;
    public float[] heightMap;
    public Vector2 terrainRegionBase;
    public Vector3 minCoords;
    public Vector3 maxCoords;
    public float sizeX, sizeY;
    public float minZ, maxZ;
    public BulletShape terrainShape;
    public BulletBody terrainBody;
}

// ===============================================================================
[StructLayout(LayoutKind.Sequential)]
public struct ConvexHull
{
	Vector3 Offset;
	int VertexCount;
	Vector3[] Vertices;
}
[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,
        // following defined by BulletSim
		SHAPE_GROUNDPLANE  = 20,
		SHAPE_TERRAIN   = 21,
		SHAPE_COMPOUND  = 22,
    };
    public uint ID;
    public PhysicsShapeType Type;
    public Vector3 Position;
    public Quaternion Rotation;
    public Vector3 Velocity;
    public Vector3 Scale;
    public float Mass;
    public float Buoyancy;
    public System.UInt64 HullKey;
    public System.UInt64 MeshKey;
    public float Friction;
    public float Restitution;
    public float Collidable;    // true of things bump into this
    public float Static;        // true if a static object. Otherwise gravity, etc.
    public float Solid;         // true if object cannot be passed through
    public Vector3 Size;

    // note that bools are passed as floats since bool size changes by language and architecture
    public const float numericTrue = 1f;
    public const float numericFalse = 0f;

    // The native shapes have predefined shape hash keys
    public enum FixedShapeKey : ulong
    {
        KEY_BOX         = 1,
        KEY_SPHERE      = 2,
        KEY_CONE        = 3,
        KEY_CYLINDER    = 4,
        KEY_CAPSULE     = 5,
    }
}
[StructLayout(LayoutKind.Sequential)]
public struct SweepHit
{
    public uint ID;
    public float Fraction;
    public Vector3 Normal;
    public Vector3 Point;
}
[StructLayout(LayoutKind.Sequential)]
public struct RaycastHit
{
    public uint ID;
    public float Fraction;
    public Vector3 Normal;
}
[StructLayout(LayoutKind.Sequential)]
public struct CollisionDesc
{
    public uint aID;
    public uint bID;
    public Vector3 point;
    public Vector3 normal;
}
[StructLayout(LayoutKind.Sequential)]
public struct EntityProperties
{
    public uint ID;
    public Vector3 Position;
    public Quaternion Rotation;
    public Vector3 Velocity;
    public Vector3 Acceleration;
    public Vector3 RotationalVelocity;
}

// Format of this structure must match the definition in the C++ code
[StructLayout(LayoutKind.Sequential)]
public struct ConfigurationParameters
{
    public float defaultFriction;
    public float defaultDensity;
    public float defaultRestitution;
    public float collisionMargin;
    public float gravity;

    public float linearDamping;
    public float angularDamping;
    public float deactivationTime;
    public float linearSleepingThreshold;
    public float angularSleepingThreshold;
	public float ccdMotionThreshold;
	public float ccdSweptSphereRadius;
    public float contactProcessingThreshold;

    public float terrainFriction;
    public float terrainHitFraction;
    public float terrainRestitution;
    public float avatarFriction;
    public float avatarStandingFriction;
    public float avatarDensity;
    public float avatarRestitution;
    public float avatarCapsuleRadius;
    public float avatarCapsuleHeight;
	public float avatarContactProcessingThreshold;

	public float maxPersistantManifoldPoolSize;
	public float maxCollisionAlgorithmPoolSize;
	public float shouldDisableContactPoolDynamicAllocation;
	public float shouldForceUpdateAllAabbs;
	public float shouldRandomizeSolverOrder;
	public float shouldSplitSimulationIslands;
	public float shouldEnableFrictionCaching;
	public float numberOfSolverIterations;

    public float linksetImplementation;
    public float linkConstraintUseFrameOffset;
    public float linkConstraintEnableTransMotor;
    public float linkConstraintTransMotorMaxVel;
    public float linkConstraintTransMotorMaxForce;
    public float linkConstraintERP;
    public float linkConstraintCFM;
    public float linkConstraintSolverIterations;

    public float physicsLoggingFrames;

    public const float numericTrue = 1f;
    public const float numericFalse = 0f;
}


// The states a bullet collision object can have
public enum ActivationState : uint
{
    ACTIVE_TAG = 1,
    ISLAND_SLEEPING,
    WANTS_DEACTIVATION,
    DISABLE_DEACTIVATION,
    DISABLE_SIMULATION,
}

public enum CollisionObjectTypes : int
{
    CO_COLLISION_OBJECT             = 1 << 0,
    CO_RIGID_BODY                   = 1 << 1,
    CO_GHOST_OBJECT                 = 1 << 2,
    CO_SOFT_BODY                    = 1 << 3,
    CO_HF_FLUID                     = 1 << 4,
    CO_USER_TYPE                    = 1 << 5,
}

// Values used by Bullet and BulletSim to control object properties.
// Bullet's "CollisionFlags" has more to do with operations on the
//    object (if collisions happen, if gravity effects it, ...).
public enum CollisionFlags : uint
{
    CF_STATIC_OBJECT                 = 1 << 0,
    CF_KINEMATIC_OBJECT              = 1 << 1,
    CF_NO_CONTACT_RESPONSE           = 1 << 2,
    CF_CUSTOM_MATERIAL_CALLBACK      = 1 << 3,
    CF_CHARACTER_OBJECT              = 1 << 4,
    CF_DISABLE_VISUALIZE_OBJECT      = 1 << 5,
    CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
    // Following used by BulletSim to control collisions
    BS_SUBSCRIBE_COLLISION_EVENTS    = 1 << 10,
    BS_FLOATS_ON_WATER               = 1 << 11,
    BS_NONE                          = 0,
    BS_ALL                           = 0xFFFFFFFF,

    // These are the collision flags switched depending on physical state.
    // The other flags are used for other things and should not be fooled with.
    BS_ACTIVE = CF_STATIC_OBJECT
                | CF_KINEMATIC_OBJECT
                | CF_NO_CONTACT_RESPONSE
};

// Values for collisions groups and masks
public enum CollisionFilterGroups : uint
{
    // Don't use the bit definitions!!  Define the use in a
    //   filter/mask definition below. This way collision interactions
    //   are more easily debugged.
    BNoneFilter              = 0,
    BDefaultFilter           = 1 << 0,
    BStaticFilter            = 1 << 1,
    BKinematicFilter         = 1 << 2,
    BDebrisFilter            = 1 << 3,
    BSensorTrigger           = 1 << 4,
    BCharacterFilter         = 1 << 5,
    BAllFilter               = 0xFFFFFFFF,
    // Filter groups defined by BulletSim
    BGroundPlaneFilter       = 1 << 10,
    BTerrainFilter           = 1 << 11,
    BRaycastFilter           = 1 << 12,
    BSolidFilter             = 1 << 13,
    BLinksetFilter           = 1 << 14,

    // The collsion filters and masked are defined in one place -- don't want them scattered
    AvatarFilter            = BCharacterFilter,
    AvatarMask              = BAllFilter,
    ObjectFilter            = BSolidFilter,
    ObjectMask              = BAllFilter,
    StaticObjectFilter      = BStaticFilter,
    StaticObjectMask        = BAllFilter,
    LinksetFilter           = BLinksetFilter,
    LinksetMask             = BAllFilter & ~BLinksetFilter,
    VolumeDetectFilter      = BSensorTrigger,
    VolumeDetectMask        = ~BSensorTrigger,
    TerrainFilter           = BTerrainFilter,
    TerrainMask             = BAllFilter & ~BStaticFilter,
    GroundPlaneFilter       = BGroundPlaneFilter,
    GroundPlaneMask         = BAllFilter

};

// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
public enum ConstraintParams : int
{
    BT_CONSTRAINT_ERP = 1,  // this one is not used in Bullet as of 20120730
    BT_CONSTRAINT_STOP_ERP,
    BT_CONSTRAINT_CFM,
    BT_CONSTRAINT_STOP_CFM,
};
public enum ConstraintParamAxis : int
{
    AXIS_LINEAR_X = 0,
    AXIS_LINEAR_Y,
    AXIS_LINEAR_Z,
    AXIS_ANGULAR_X,
    AXIS_ANGULAR_Y,
    AXIS_ANGULAR_Z,
    AXIS_LINEAR_ALL = 20,    // these last three added by BulletSim so we don't have to do zillions of calls
    AXIS_ANGULAR_ALL,
    AXIS_ALL
};

// ===============================================================================
static class BulletSimAPI {

// Link back to the managed code for outputting log messages
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);

// ===============================================================================
// Initialization and simulation
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
											int maxCollisions,  IntPtr collisionArray,
											int maxUpdates, IntPtr updateArray,
                                            DebugLogCallback logRoutine);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetHeightMap2(IntPtr world, float[] heightmap);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void Shutdown2(IntPtr sim);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
                        out int updatedEntityCount,
                        out IntPtr updatedEntitiesPtr,
                        out int collidersCount,
                        out IntPtr collidersPtr);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool PushUpdate2(IntPtr obj);

// =====================================================================================
// Mesh, hull, shape and body creation helper routines
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateMeshShape2(IntPtr world,
                int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
                int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateHullShape2(IntPtr world,
                int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsNativeShape2(IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern int GetBodyType2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr AllocateBodyInfo2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void ReleaseBodyInfo2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DestroyObject2(IntPtr sim, IntPtr obj);

// =====================================================================================
// Terrain creation and helper routines
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
        [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);

// =====================================================================================
// Constraint creation and helper routines
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
                    Vector3 frame1loc, Quaternion frame1rot,
                    Vector3 frame2loc, Quaternion frame2rot,
                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
                    Vector3 joinPoint,
                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
                    Vector3 pivotinA, Vector3 pivotinB,
                    Vector3 axisInA, Vector3 axisInB,
                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetFrames2(IntPtr constrain,
                Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool UseFrameOffset2(IntPtr constrain, float enable);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool CalculateTransforms2(IntPtr constrain);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);

// =====================================================================================
// btCollisionWorld entries
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void UpdateAabbs2(IntPtr world);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool GetForceUpdateAllAabbs2(IntPtr world);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);

// =====================================================================================
// btDynamicsWorld entries
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
// =====================================================================================
// btCollisionObject entries
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool HasAnisotripicFriction2(IntPtr constrain);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetContactProcessingThreshold2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsStaticObject2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsKinematicObject2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsStaticOrKinematicObject2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool HasContactResponse2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr GetCollisionShape2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern int GetActivationState2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetActivationState2(IntPtr obj, int state);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetDeactivationTime2(IntPtr obj, float dtime);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetDeactivationTime2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void ForceActivationState2(IntPtr obj, ActivationState state);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void Activate2(IntPtr obj, bool forceActivation);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsActive2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetRestitution2(IntPtr obj, float val);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetRestitution2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetFriction2(IntPtr obj, float val);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetFriction2(IntPtr obj);

    /* Haven't defined the type 'Transform'
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Transform GetWorldTransform2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void setWorldTransform2(IntPtr obj, Transform trans);
     */

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetPosition2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Quaternion GetOrientation2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);

    /*
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
     */

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetHitFraction2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetHitFraction2(IntPtr obj, float val);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetCcdMotionThreshold2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetCcdSweptSphereRadius2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr GetUserPointer2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetUserPointer2(IntPtr obj, IntPtr val);

// =====================================================================================
// btRigidBody entries
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void ApplyGravity2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetGravity2(IntPtr obj, Vector3 val);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetGravity2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetLinearDamping2(IntPtr obj, float lin_damping);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetAngularDamping2(IntPtr obj, float ang_damping);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetLinearDamping2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetAngularDamping2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetLinearSleepingThreshold2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetAngularSleepingThreshold2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void ApplyDamping2(IntPtr obj, float timeStep);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetLinearFactor2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);

    /*
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
     */

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);

// Add a force to the object as if its mass is one.
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);

// Set the force being applied to the object as if its mass is one.
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetObjectForce2(IntPtr obj, Vector3 force);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetTotalForce2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetTotalTorque2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);

// Apply force at the given point. Will add torque to the object.
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);

// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);

// Apply impulse to the object's torque. Force is scaled by object's mass.
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);

// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void ClearForces2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void ClearAllForces2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void UpdateInertiaTensor2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);

    /*
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
     */

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetLinearVelocity2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetAngularVelocity2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void Translate2(IntPtr obj, Vector3 trans);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool WantsSleeping2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetAngularFactor2(IntPtr obj, float factor);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetAngularFactor2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsInWorld2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern int GetNumConstraintRefs2(IntPtr obj);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);

// =====================================================================================
// btCollisionShape entries

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetAngularMotionDisc2(IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsPolyhedral2(IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsConvex2d2(IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsConvex2(IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsNonMoving2(IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsConcave2(IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsCompound2(IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsSoftBody2(IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsInfinite2(IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetLocalScaling2(IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern int GetShapeType2(IntPtr shape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetMargin2(IntPtr shape, float val);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetMargin2(IntPtr shape);

// =====================================================================================
// Debugging
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpAllInfo2(IntPtr sim);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);

[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpPhysicsStatistics2(IntPtr sim);

}
}