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BulletSim: Move constraint tracking from C++ code to C# code

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for more flexibility.
This commit is contained in:
Robert Adams
2012-07-25 10:33:36 -07:00
parent 5aec0ff207
commit 5707e171f4
2 changed files with 83 additions and 18 deletions
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48
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@@ -32,6 +32,28 @@ using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin {
// Classes to allow some type checking for the API
public struct BulletSim
{
public BulletSim(uint id, IntPtr xx) { ID = id; Ptr = xx; }
public IntPtr Ptr;
public uint ID;
}
public struct BulletBody
{
public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; }
public IntPtr Ptr;
public uint ID;
}
public struct BulletConstraint
{
public BulletConstraint(IntPtr xx) { Ptr = xx; }
public IntPtr Ptr;
}
// ===============================================================================
[StructLayout(LayoutKind.Sequential)]
public struct ConvexHull
{
@@ -142,6 +164,11 @@ public struct ConfigurationParameters
public float shouldEnableFrictionCaching;
public float numberOfSolverIterations;
public float linkConstraintUseFrameOffset;
public float linkConstraintEnableTransMotor;
public float linkConstraintTransMotorMaxVel;
public float linkConstraintTransMotorMaxForce;
public const float numericTrue = 1f;
public const float numericFalse = 0f;
}
@@ -162,6 +189,7 @@ public enum CollisionFlags : uint
PHYSICAL_OBJECT = 1 << 12,
};
// ===============================================================================
static class BulletSimAPI {
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -214,6 +242,7 @@ public static extern bool CreateObject(uint worldID, ShapeData shapeData);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas);
/* Remove old functionality
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void AddConstraint(uint worldID, uint id1, uint id2,
Vector3 frame1, Quaternion frame1rot,
@@ -225,6 +254,7 @@ public static extern bool RemoveConstraintByID(uint worldID, uint id1);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
*/
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
@@ -350,8 +380,22 @@ public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2,
Vector3 frame1loc, Quaternion frame1rot,
Vector3 frame2loc, Quaternion frame2rot,
Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
Vector3 frame2loc, Quaternion frame2rot);
[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 CalculateTransforms2(IntPtr constrain);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain);