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Pass collisions and updates in pinned memory (saves marshaling).

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Fix folding feet by using collision normals.
Add constraint specification.
This commit is contained in:
Robert.Adams
2011-07-22 10:22:21 -07:00
committed by Dan Lake
parent 4cbc912375
commit 5ffec1cd64
8 changed files with 157 additions and 98 deletions
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18
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@@ -78,7 +78,13 @@ public struct RaycastHit
public float Fraction;
public Vector3 Normal;
}
public struct CollisionDesc
{
public uint aID;
public uint bID;
public Vector3 point;
public Vector3 normal;
}
public struct EntityProperties
{
public uint ID;
@@ -92,7 +98,8 @@ public struct EntityProperties
static class BulletSimAPI {
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern uint Initialize(Vector3 maxPosition);
public static extern uint Initialize(Vector3 maxPosition, int maxCollisions, IntPtr collisionArray,
int maxUpdates, IntPtr updateArray);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
@@ -124,7 +131,12 @@ public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void AddConstraint(uint worldID, uint id1, uint id2,
Vector3 frame1, Vector3 frame2, Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
Vector3 frame1, Quaternion frame1rot,
Vector3 frame2, Quaternion frame2rot,
Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool RemoveConstraintByID(uint worldID, uint id1);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);