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BulletSim: add runtime setting of physics parameters. Update default values.

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This commit is contained in:
Robert Adams
2011-08-18 14:32:09 -07:00
committed by Mic Bowman
parent 82f41fdcb5
commit fef73a1a10
10 changed files with 613 additions and 28 deletions
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20
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@@ -51,9 +51,6 @@ public struct ShapeData
SHAPE_SPHERE = 4,
SHAPE_HULL = 5
};
// note that bools are passed as ints since bool size changes by language
public const int numericTrue = 1;
public const int numericFalse = 0;
public uint ID;
public PhysicsShapeType Type;
public Vector3 Position;
@@ -67,6 +64,10 @@ public struct ShapeData
public float Restitution;
public int Collidable;
public int Static; // true if a static object. Otherwise gravity, etc.
// note that bools are passed as ints since bool size changes by language and architecture
public const int numericTrue = 1;
public const int numericFalse = 0;
}
[StructLayout(LayoutKind.Sequential)]
public struct SweepHit
@@ -121,22 +122,33 @@ public struct ConfigurationParameters
public float ccdSweptSphereRadius;
public float terrainFriction;
public float terrainHitFriction;
public float terrainHitFraction;
public float terrainRestitution;
public float avatarFriction;
public float avatarDensity;
public float avatarRestitution;
public float avatarCapsuleRadius;
public float avatarCapsuleHeight;
public const float numericTrue = 1f;
public const float numericFalse = 0f;
}
static class BulletSimAPI {
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
[return: MarshalAs(UnmanagedType.LPStr)]
public static extern string GetVersion();
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
int maxCollisions, IntPtr collisionArray,
int maxUpdates, IntPtr updateArray);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool UpdateParameter(uint worldID, uint localID,
[MarshalAs(UnmanagedType.LPStr)]string paramCode, float value);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);