mirror of
https://github.com/opensim/opensim.git
synced 2026-05-25 03:05:41 +08:00
d016051fa0
so the members case is consistant. Caused modifications everywhere.
New logic in BSShapeCollection to track use and sharing of shapes.
I just reslized, though, that shapes cannot be shared because the
shape's UserPointer is the localID of the prim and is required
for tracking collisions. More changes coming.
Added DuplicateCollisionShape2() to API and changed BuildNativeShape2
to take a ShapeData structure so don't have to pass so many parameters.
This matches the latest version of BulletSim.dll.
Additions and removal of DetailLog() statements for debugging.
1085 lines
52 KiB
C#
1085 lines
52 KiB
C#
/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Runtime.InteropServices;
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using System.Security;
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using System.Text;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin {
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// Classes to allow some type checking for the API
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// These hold pointers to allocated objects in the unmanaged space.
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// The physics engine controller class created at initialization
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public struct BulletSim
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{
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public BulletSim(uint worldId, BSScene bss, IntPtr xx)
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{
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ptr = xx;
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worldID = worldId;
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scene = bss;
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}
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public IntPtr ptr;
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public uint worldID;
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// The scene is only in here so very low level routines have a handle to print debug/error messages
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public BSScene scene;
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}
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// An allocated Bullet btRigidBody
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public struct BulletBody
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{
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public BulletBody(uint id, IntPtr xx)
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{
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ID = id;
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ptr = xx;
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}
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public IntPtr ptr;
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public uint ID;
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public override string ToString()
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{
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StringBuilder buff = new StringBuilder();
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buff.Append("<id=");
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buff.Append(ID.ToString());
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buff.Append(",p=");
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buff.Append(ptr.ToString("X"));
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buff.Append(">");
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return buff.ToString();
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}
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}
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public struct BulletShape
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{
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public BulletShape(IntPtr xx)
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{
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ptr = xx;
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type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
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shapeKey = 0;
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isNativeShape = false;
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meshPtr = IntPtr.Zero;
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}
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public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ)
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{
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ptr = xx;
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type = typ;
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shapeKey = 0;
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isNativeShape = false;
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meshPtr = IntPtr.Zero;
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}
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public IntPtr ptr;
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public ShapeData.PhysicsShapeType type;
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public ulong shapeKey;
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public bool isNativeShape;
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// Hulls have an underlying mesh. A pointer to it is hidden here.
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public IntPtr meshPtr;
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public override string ToString()
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{
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StringBuilder buff = new StringBuilder();
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buff.Append("<p=");
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buff.Append(ptr.ToString("X"));
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buff.Append(",s=");
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buff.Append(type.ToString());
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buff.Append(",k=");
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buff.Append(shapeKey.ToString("X"));
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buff.Append(",n=");
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buff.Append(isNativeShape.ToString());
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buff.Append(",m=");
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buff.Append(meshPtr.ToString("X"));
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buff.Append(">");
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return buff.ToString();
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}
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}
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// An allocated Bullet btConstraint
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public struct BulletConstraint
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{
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public BulletConstraint(IntPtr xx)
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{
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Ptr = xx;
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}
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public IntPtr Ptr;
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}
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// An allocated HeightMapThing which hold various heightmap info
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// Made a class rather than a struct so there would be only one
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// instance of this and C# will pass around pointers rather
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// than making copies.
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public class BulletHeightMapInfo
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{
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public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
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ID = id;
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Ptr = xx;
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heightMap = hm;
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terrainRegionBase = new Vector2(0f, 0f);
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minCoords = new Vector3(100f, 100f, 25f);
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maxCoords = new Vector3(101f, 101f, 26f);
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minZ = maxZ = 0f;
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sizeX = sizeY = 256f;
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}
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public uint ID;
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public IntPtr Ptr;
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public float[] heightMap;
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public Vector2 terrainRegionBase;
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public Vector3 minCoords;
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public Vector3 maxCoords;
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public float sizeX, sizeY;
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public float minZ, maxZ;
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public BulletShape terrainShape;
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public BulletBody terrainBody;
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}
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// ===============================================================================
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[StructLayout(LayoutKind.Sequential)]
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public struct ConvexHull
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{
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Vector3 Offset;
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int VertexCount;
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Vector3[] Vertices;
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct ShapeData
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{
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public enum PhysicsShapeType
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{
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SHAPE_UNKNOWN = 0,
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SHAPE_AVATAR = 1,
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SHAPE_BOX = 2,
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SHAPE_CONE = 3,
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SHAPE_CYLINDER = 4,
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SHAPE_SPHERE = 5,
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SHAPE_MESH = 6,
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SHAPE_HULL = 7,
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SHAPE_GROUNDPLANE = 8,
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SHAPE_TERRAIN = 9,
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};
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public uint ID;
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public PhysicsShapeType Type;
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public Vector3 Position;
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public Quaternion Rotation;
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public Vector3 Velocity;
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public Vector3 Scale;
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public float Mass;
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public float Buoyancy;
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public System.UInt64 HullKey;
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public System.UInt64 MeshKey;
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public float Friction;
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public float Restitution;
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public float Collidable; // true of things bump into this
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public float Static; // true if a static object. Otherwise gravity, etc.
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public float Solid; // true if object cannot be passed through
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public Vector3 Size;
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// note that bools are passed as floats since bool size changes by language and architecture
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public const float numericTrue = 1f;
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public const float numericFalse = 0f;
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// The native shapes have predefined shape hash keys
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public enum FixedShapeKey : ulong
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{
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KEY_BOX = 1,
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KEY_SPHERE = 2,
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KEY_CONE = 3,
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KEY_CYLINDER = 4,
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}
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct SweepHit
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{
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public uint ID;
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public float Fraction;
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public Vector3 Normal;
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public Vector3 Point;
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct RaycastHit
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{
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public uint ID;
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public float Fraction;
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public Vector3 Normal;
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct CollisionDesc
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{
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public uint aID;
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public uint bID;
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public Vector3 point;
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public Vector3 normal;
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct EntityProperties
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{
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public uint ID;
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public Vector3 Position;
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public Quaternion Rotation;
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public Vector3 Velocity;
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public Vector3 Acceleration;
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public Vector3 RotationalVelocity;
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}
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// Format of this structure must match the definition in the C++ code
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[StructLayout(LayoutKind.Sequential)]
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public struct ConfigurationParameters
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{
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public float defaultFriction;
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public float defaultDensity;
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public float defaultRestitution;
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public float collisionMargin;
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public float gravity;
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public float linearDamping;
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public float angularDamping;
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public float deactivationTime;
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public float linearSleepingThreshold;
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public float angularSleepingThreshold;
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public float ccdMotionThreshold;
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public float ccdSweptSphereRadius;
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public float contactProcessingThreshold;
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public float terrainFriction;
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public float terrainHitFraction;
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public float terrainRestitution;
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public float avatarFriction;
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public float avatarDensity;
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public float avatarRestitution;
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public float avatarCapsuleRadius;
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public float avatarCapsuleHeight;
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public float avatarContactProcessingThreshold;
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public float maxPersistantManifoldPoolSize;
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public float maxCollisionAlgorithmPoolSize;
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public float shouldDisableContactPoolDynamicAllocation;
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public float shouldForceUpdateAllAabbs;
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public float shouldRandomizeSolverOrder;
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public float shouldSplitSimulationIslands;
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public float shouldEnableFrictionCaching;
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public float numberOfSolverIterations;
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public float linkConstraintUseFrameOffset;
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public float linkConstraintEnableTransMotor;
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public float linkConstraintTransMotorMaxVel;
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public float linkConstraintTransMotorMaxForce;
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public float linkConstraintERP;
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public float linkConstraintCFM;
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public float linkConstraintSolverIterations;
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public const float numericTrue = 1f;
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public const float numericFalse = 0f;
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}
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// The states a bullet collision object can have
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public enum ActivationState : uint
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{
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ACTIVE_TAG = 1,
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ISLAND_SLEEPING,
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WANTS_DEACTIVATION,
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DISABLE_DEACTIVATION,
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DISABLE_SIMULATION,
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}
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public enum CollisionObjectTypes : int
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{
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CO_COLLISION_OBJECT = 1 << 0,
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CO_RIGID_BODY = 1 << 1,
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CO_GHOST_OBJECT = 1 << 2,
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CO_SOFT_BODY = 1 << 3,
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CO_HF_FLUID = 1 << 4,
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CO_USER_TYPE = 1 << 5,
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}
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// Values used by Bullet and BulletSim to control object properties.
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// Bullet's "CollisionFlags" has more to do with operations on the
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// object (if collisions happen, if gravity effects it, ...).
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public enum CollisionFlags : uint
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{
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CF_STATIC_OBJECT = 1 << 0,
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CF_KINEMATIC_OBJECT = 1 << 1,
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CF_NO_CONTACT_RESPONSE = 1 << 2,
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CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3,
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CF_CHARACTER_OBJECT = 1 << 4,
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CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
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CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
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// Following used by BulletSim to control collisions
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BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
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// BS_VOLUME_DETECT_OBJECT = 1 << 11,
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// BS_PHANTOM_OBJECT = 1 << 12,
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// BS_PHYSICAL_OBJECT = 1 << 13,
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// BS_TERRAIN_OBJECT = 1 << 14,
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BS_NONE = 0,
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BS_ALL = 0xFFFFFFFF,
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// These are the collision flags switched depending on physical state.
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// The other flags are used for other things and should not be fooled with.
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BS_ACTIVE = CF_STATIC_OBJECT
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| CF_KINEMATIC_OBJECT
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| CF_NO_CONTACT_RESPONSE
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// | BS_VOLUME_DETECT_OBJECT
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// | BS_PHANTOM_OBJECT
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// | BS_PHYSICAL_OBJECT,
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};
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// Values for collisions groups and masks
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public enum CollisionFilterGroups : uint
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{
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NoneFilter = 0,
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DefaultFilter = 1 << 0,
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StaticFilter = 1 << 1,
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KinematicFilter = 1 << 2,
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DebrisFilter = 1 << 3,
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SensorTrigger = 1 << 4,
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CharacterFilter = 1 << 5,
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AllFilter = 0xFFFFFFFF,
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// Filter groups defined by BulletSim
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GroundPlaneFilter = 1 << 10,
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TerrainFilter = 1 << 11,
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RaycastFilter = 1 << 12,
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SolidFilter = 1 << 13,
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};
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// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
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// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
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public enum ConstraintParams : int
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{
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BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730
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BT_CONSTRAINT_STOP_ERP,
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BT_CONSTRAINT_CFM,
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BT_CONSTRAINT_STOP_CFM,
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};
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public enum ConstraintParamAxis : int
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{
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AXIS_LINEAR_X = 0,
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AXIS_LINEAR_Y,
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AXIS_LINEAR_Z,
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AXIS_ANGULAR_X,
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AXIS_ANGULAR_Y,
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AXIS_ANGULAR_Z,
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AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls
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AXIS_ANGULAR_ALL,
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AXIS_ALL
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};
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// ===============================================================================
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static class BulletSimAPI {
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// Link back to the managed code for outputting log messages
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[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
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public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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[return: MarshalAs(UnmanagedType.LPStr)]
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public static extern string GetVersion();
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
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int maxCollisions, IntPtr collisionArray,
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int maxUpdates, IntPtr updateArray,
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DebugLogCallback logRoutine);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void Shutdown(uint worldID);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool UpdateParameter(uint worldID, uint localID,
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[MarshalAs(UnmanagedType.LPStr)]string paramCode, float value);
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// ===============================================================================
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
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out int updatedEntityCount,
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out IntPtr updatedEntitiesPtr,
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out int collidersCount,
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out IntPtr collidersPtr);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
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int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
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);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
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int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
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int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
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);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool CreateObject(uint worldID, ShapeData shapeData);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Quaternion GetObjectOrientation(uint WorldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
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// Set the current force acting on the object
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool HasObject(uint worldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DestroyObject(uint worldID, uint id);
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|
// ===============================================================================
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
|
|
|
|
// ===============================================================================
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void DumpBulletStatistics();
|
|
|
|
// Log a debug message
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetDebugLogCallback(DebugLogCallback callback);
|
|
|
|
// ===============================================================================
|
|
// ===============================================================================
|
|
// ===============================================================================
|
|
// A new version of the API that enables moving all the logic out of the C++ code and into
|
|
// the C# code. This will make modifications easier for the next person.
|
|
// This interface passes the actual pointers to the objects in the unmanaged
|
|
// address space. All the management (calls for creation/destruction/lookup)
|
|
// is done in the C# code.
|
|
// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt
|
|
// and the old code is removed.
|
|
|
|
// Functions use while converting from API1 to API2. Can be removed when totally converted.
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr GetSimHandle2(uint worldID);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
|
|
|
|
// ===============================================================================
|
|
// 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);
|
|
|
|
[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 BuildHullShape2(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 CreateCompoundShape2(IntPtr sim);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
|
|
|
|
[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, 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, Vector3 pos, Quaternion rot);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, 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 GetCcdSweepSphereRadius2(IntPtr obj);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetCcdSweepSphereRadius2(IntPtr obj, float val);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr GetUserPointer2(IntPtr obj);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
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// =====================================================================================
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// btRigidBody entries
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void ApplyGravity2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetGravity2(IntPtr obj, Vector3 val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetGravity2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern float GetLinearDamping2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern float GetAngularDamping2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern float GetLinearSleepingThreshold2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern float GetAngularSleepingThreshold2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void ApplyDamping2(IntPtr obj, float timeStep);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetLinearFactor2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
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/*
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
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*/
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
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// Add a force to the object as if its mass is one.
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
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// Set the force being applied to the object as if its mass is one.
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetTotalForce2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetTotalTorque2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
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// Apply force at the given point. Will add torque to the object.
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
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// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
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// Apply impulse to the object's torque. Force is scaled by object's mass.
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
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// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
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public static extern void ClearForces2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void ClearAllForces2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void UpdateInertiaTensor2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
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|
/*
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
|
|
*/
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetLinearVelocity2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetAngularVelocity2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void Translate2(IntPtr obj, Vector3 trans);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool WantsSleeping2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetAngularFactor2(IntPtr obj, float factor);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetAngularFactor2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool IsInWorld2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
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|
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern int GetNumConstraintRefs2(IntPtr obj);
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|
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetDeltaLinearVelocity2(IntPtr obj);
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|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetDeltaAngularVelocity2(IntPtr obj);
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetPushVelocity2(IntPtr obj);
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetTurnVelocity2(IntPtr obj);
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|
|
|
// =====================================================================================
|
|
// btCollisionShape entries
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern float GetAngularMotionDisc2(IntPtr shape);
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|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool IsPolyhedral2(IntPtr shape);
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool IsConvex2d2(IntPtr shape);
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|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool IsConvex2(IntPtr shape);
|
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool IsNonMoving2(IntPtr shape);
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool IsConcave2(IntPtr shape);
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|
|
|
[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);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint mask);
|
|
|
|
// =====================================================================================
|
|
// 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 DumpMapInfo2(IntPtr sim, IntPtr manInfo);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void DumpPhysicsStatistics2(IntPtr sim);
|
|
|
|
}
|
|
}
|