mirror of
https://github.com/opensim/opensim.git
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db6c0363f0
asymmetrical avatar capsule work now that rotation is being passed from the simulator. Turns out the Bullet capsule is just not very functional: it doesn't scale properly, the implementation only half does asymmetry and, in general, is hard to work with. Avatar shape is about what it was before these changes. Added initial data structures for avatar shape mesh.
1277 lines
59 KiB
C#
1277 lines
59 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.Collections.Generic;
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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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// Constraint type values as defined by Bullet
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public enum ConstraintType : int
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{
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POINT2POINT_CONSTRAINT_TYPE = 3,
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HINGE_CONSTRAINT_TYPE,
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CONETWIST_CONSTRAINT_TYPE,
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D6_CONSTRAINT_TYPE,
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SLIDER_CONSTRAINT_TYPE,
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CONTACT_CONSTRAINT_TYPE,
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D6_SPRING_CONSTRAINT_TYPE,
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MAX_CONSTRAINT_TYPE
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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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public enum BSPhysicsShapeType
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{
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SHAPE_UNKNOWN = 0,
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SHAPE_CAPSULE = 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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// following defined by BulletSim
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SHAPE_GROUNDPLANE = 20,
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SHAPE_TERRAIN = 21,
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SHAPE_COMPOUND = 22,
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SHAPE_HEIGHTMAP = 23,
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SHAPE_AVATAR = 24,
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};
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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_NONE = 0,
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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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KEY_CAPSULE = 5,
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KEY_AVATAR = 6,
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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 uint ID;
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public BSPhysicsShapeType 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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}
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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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// NOTE: adding the X causes compile breaks if used. These are unused symbols
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// that can be removed from both here and the unmanaged definition of this structure.
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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 XlinearDamping;
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public float XangularDamping;
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public float XdeactivationTime;
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public float XlinearSleepingThreshold;
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public float XangularSleepingThreshold;
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public float XccdMotionThreshold;
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public float XccdSweptSphereRadius;
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public float XcontactProcessingThreshold;
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public float XterrainImplementation;
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public float XterrainFriction;
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public float XterrainHitFraction;
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public float XterrainRestitution;
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public float XterrainCollisionMargin;
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public float XavatarFriction;
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public float XavatarStandingFriction;
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public float XavatarDensity;
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public float XavatarRestitution;
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public float XavatarCapsuleWidth;
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public float XavatarCapsuleDepth;
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public float XavatarCapsuleHeight;
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public float XavatarContactProcessingThreshold;
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public float XvehicleAngularDamping;
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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 XlinksetImplementation;
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public float XlinkConstraintUseFrameOffset;
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public float XlinkConstraintEnableTransMotor;
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public float XlinkConstraintTransMotorMaxVel;
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public float XlinkConstraintTransMotorMaxForce;
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public float XlinkConstraintERP;
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public float XlinkConstraintCFM;
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public float XlinkConstraintSolverIterations;
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public float physicsLoggingFrames;
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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 and updates
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BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
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BS_FLOATS_ON_WATER = 1 << 11,
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BS_VEHICLE_COLLISIONS = 1 << 12,
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BS_NONE = 0,
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BS_ALL = 0xFFFFFFFF
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};
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// Values f collisions groups and masks
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public enum CollisionFilterGroups : uint
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{
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// Don't use the bit definitions!! Define the use in a
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// filter/mask definition below. This way collision interactions
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// are more easily found and debugged.
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BNoneGroup = 0,
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BDefaultGroup = 1 << 0, // 0001
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BStaticGroup = 1 << 1, // 0002
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BKinematicGroup = 1 << 2, // 0004
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BDebrisGroup = 1 << 3, // 0008
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BSensorTrigger = 1 << 4, // 0010
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BCharacterGroup = 1 << 5, // 0020
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BAllGroup = 0x000FFFFF,
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// Filter groups defined by BulletSim
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BGroundPlaneGroup = 1 << 10, // 0400
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BTerrainGroup = 1 << 11, // 0800
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BRaycastGroup = 1 << 12, // 1000
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BSolidGroup = 1 << 13, // 2000
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// BLinksetGroup = xx // a linkset proper is either static or dynamic
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BLinksetChildGroup = 1 << 14, // 4000
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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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public abstract class BulletSimAPITemplate
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{
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// Initialization and simulation
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public abstract BulletWorld Initialize2(Vector3 maxPosition, IntPtr parms,
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int maxCollisions, IntPtr collisionArray,
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int maxUpdates, IntPtr updateArray
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);
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public abstract bool UpdateParameter2(BulletWorld world, uint localID, String parm, float value);
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public abstract void SetHeightMap2(BulletWorld world, float[] heightmap);
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public abstract void Shutdown2(BulletWorld sim);
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public abstract int PhysicsStep2(BulletWorld world, 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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public abstract bool PushUpdate2(BulletBody obj);
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// =====================================================================================
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// Mesh, hull, shape and body creation helper routines
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public abstract BulletShape CreateMeshShape2(BulletWorld world,
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int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
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int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
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public abstract BulletShape CreateHullShape2(BulletWorld world,
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int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
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public abstract BulletShape BuildHullShapeFromMesh2(BulletWorld world, BulletShape meshShape);
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public abstract BulletShape BuildNativeShape2(BulletWorld world, ShapeData shapeData);
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public abstract bool IsNativeShape2(BulletShape shape);
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public abstract void SetShapeCollisionMargin(BulletShape shape, float margin);
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public abstract BulletShape BuildCapsuleShape2(BulletWorld world, float radius, float height, Vector3 scale);
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public abstract BulletShape CreateCompoundShape2(BulletWorld sim, bool enableDynamicAabbTree);
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public abstract int GetNumberOfCompoundChildren2(BulletShape cShape);
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public abstract void AddChildShapeToCompoundShape2(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot);
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public abstract BulletShape GetChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx);
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public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx);
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public abstract void RemoveChildShapeFromCompoundShape2(BulletShape cShape, BulletShape removeShape);
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public abstract void RecalculateCompoundShapeLocalAabb2(BulletShape cShape);
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public abstract BulletShape DuplicateCollisionShape2(BulletWorld sim, BulletShape srcShape, uint id);
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public abstract BulletBody CreateBodyFromShapeAndInfo2(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo);
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public abstract bool DeleteCollisionShape2(BulletWorld world, BulletShape shape);
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public abstract int GetBodyType2(BulletBody obj);
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public abstract BulletBody CreateBodyFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
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public abstract BulletBody CreateBodyWithDefaultMotionState2(BulletShape shape, uint id, Vector3 pos, Quaternion rot);
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public abstract BulletBody CreateGhostFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
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public abstract IntPtr AllocateBodyInfo2(BulletBody obj);
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public abstract void ReleaseBodyInfo2(IntPtr obj);
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public abstract void DestroyObject2(BulletWorld sim, BulletBody obj);
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// =====================================================================================
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// Terrain creation and helper routines
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public abstract IntPtr CreateHeightMapInfo2(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords,
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[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
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public abstract IntPtr FillHeightMapInfo2(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
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[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
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public abstract bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
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public abstract BulletBody CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
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public abstract BulletBody CreateTerrainShape2(IntPtr mapInfo);
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// =====================================================================================
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// Constraint creation and helper routines
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public abstract BulletConstraint Create6DofConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2,
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Vector3 frame1loc, Quaternion frame1rot,
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Vector3 frame2loc, Quaternion frame2rot,
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bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
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public abstract BulletConstraint Create6DofConstraintToPoint2(BulletWorld world, BulletBody obj1, BulletBody obj2,
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Vector3 joinPoint,
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bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
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public abstract BulletConstraint CreateHingeConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2,
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Vector3 pivotinA, Vector3 pivotinB,
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Vector3 axisInA, Vector3 axisInB,
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bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
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public abstract void SetConstraintEnable2(BulletConstraint constrain, float numericTrueFalse);
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public abstract void SetConstraintNumSolverIterations2(BulletConstraint constrain, float iterations);
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public abstract bool SetFrames2(BulletConstraint constrain,
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Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
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public abstract bool SetLinearLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi);
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public abstract bool SetAngularLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi);
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public abstract bool UseFrameOffset2(BulletConstraint constrain, float enable);
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public abstract bool TranslationalLimitMotor2(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
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public abstract bool SetBreakingImpulseThreshold2(BulletConstraint constrain, float threshold);
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public abstract bool CalculateTransforms2(BulletConstraint constrain);
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public abstract bool SetConstraintParam2(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
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public abstract bool DestroyConstraint2(BulletWorld world, BulletConstraint constrain);
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// =====================================================================================
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// btCollisionWorld entries
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public abstract void UpdateSingleAabb2(BulletWorld world, BulletBody obj);
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public abstract void UpdateAabbs2(BulletWorld world);
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public abstract bool GetForceUpdateAllAabbs2(BulletWorld world);
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public abstract void SetForceUpdateAllAabbs2(BulletWorld world, bool force);
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// =====================================================================================
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// btDynamicsWorld entries
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public abstract bool AddObjectToWorld2(BulletWorld world, BulletBody obj);
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public abstract bool RemoveObjectFromWorld2(BulletWorld world, BulletBody obj);
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public abstract bool AddConstraintToWorld2(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
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public abstract bool RemoveConstraintFromWorld2(BulletWorld world, BulletConstraint constrain);
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// =====================================================================================
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// btCollisionObject entries
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public abstract Vector3 GetAnisotripicFriction2(BulletConstraint constrain);
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public abstract Vector3 SetAnisotripicFriction2(BulletConstraint constrain, Vector3 frict);
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public abstract bool HasAnisotripicFriction2(BulletConstraint constrain);
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public abstract void SetContactProcessingThreshold2(BulletBody obj, float val);
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public abstract float GetContactProcessingThreshold2(BulletBody obj);
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public abstract bool IsStaticObject2(BulletBody obj);
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public abstract bool IsKinematicObject2(BulletBody obj);
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public abstract bool IsStaticOrKinematicObject2(BulletBody obj);
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public abstract bool HasContactResponse2(BulletBody obj);
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public abstract void SetCollisionShape2(BulletWorld sim, BulletBody obj, BulletBody shape);
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public abstract BulletShape GetCollisionShape2(BulletBody obj);
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public abstract int GetActivationState2(BulletBody obj);
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public abstract void SetActivationState2(BulletBody obj, int state);
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public abstract void SetDeactivationTime2(BulletBody obj, float dtime);
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public abstract float GetDeactivationTime2(BulletBody obj);
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public abstract void ForceActivationState2(BulletBody obj, ActivationState state);
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public abstract void Activate2(BulletBody obj, bool forceActivation);
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public abstract bool IsActive2(BulletBody obj);
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public abstract void SetRestitution2(BulletBody obj, float val);
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public abstract float GetRestitution2(BulletBody obj);
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public abstract void SetFriction2(BulletBody obj, float val);
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public abstract float GetFriction2(BulletBody obj);
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/* Haven't defined the type 'Transform'
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public abstract Transform GetWorldTransform2(BulletBody obj);
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public abstract void setWorldTransform2(BulletBody obj, Transform trans);
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*/
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public abstract Vector3 GetPosition2(BulletBody obj);
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public abstract Quaternion GetOrientation2(BulletBody obj);
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public abstract void SetTranslation2(BulletBody obj, Vector3 position, Quaternion rotation);
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public abstract IntPtr GetBroadphaseHandle2(BulletBody obj);
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|
|
public abstract void SetBroadphaseHandle2(BulletBody obj, IntPtr handle);
|
|
|
|
/*
|
|
public abstract Transform GetInterpolationWorldTransform2(IntPtr obj);
|
|
|
|
public abstract void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
|
|
*/
|
|
|
|
public abstract void SetInterpolationLinearVelocity2(BulletBody obj, Vector3 vel);
|
|
|
|
public abstract void SetInterpolationAngularVelocity2(BulletBody obj, Vector3 vel);
|
|
|
|
public abstract void SetInterpolationVelocity2(BulletBody obj, Vector3 linearVel, Vector3 angularVel);
|
|
|
|
public abstract float GetHitFraction2(BulletBody obj);
|
|
|
|
public abstract void SetHitFraction2(BulletBody obj, float val);
|
|
|
|
public abstract CollisionFlags GetCollisionFlags2(BulletBody obj);
|
|
|
|
public abstract CollisionFlags SetCollisionFlags2(BulletBody obj, CollisionFlags flags);
|
|
|
|
public abstract CollisionFlags AddToCollisionFlags2(BulletBody obj, CollisionFlags flags);
|
|
|
|
public abstract CollisionFlags RemoveFromCollisionFlags2(BulletBody obj, CollisionFlags flags);
|
|
|
|
public abstract float GetCcdMotionThreshold2(BulletBody obj);
|
|
|
|
public abstract void SetCcdMotionThreshold2(BulletBody obj, float val);
|
|
|
|
public abstract float GetCcdSweptSphereRadius2(BulletBody obj);
|
|
|
|
public abstract void SetCcdSweptSphereRadius2(BulletBody obj, float val);
|
|
|
|
public abstract IntPtr GetUserPointer2(BulletBody obj);
|
|
|
|
public abstract void SetUserPointer2(BulletBody obj, IntPtr val);
|
|
|
|
// =====================================================================================
|
|
// btRigidBody entries
|
|
public abstract void ApplyGravity2(BulletBody obj);
|
|
|
|
public abstract void SetGravity2(BulletBody obj, Vector3 val);
|
|
|
|
public abstract Vector3 GetGravity2(BulletBody obj);
|
|
|
|
public abstract void SetDamping2(BulletBody obj, float lin_damping, float ang_damping);
|
|
|
|
public abstract void SetLinearDamping2(BulletBody obj, float lin_damping);
|
|
|
|
public abstract void SetAngularDamping2(BulletBody obj, float ang_damping);
|
|
|
|
public abstract float GetLinearDamping2(BulletBody obj);
|
|
|
|
public abstract float GetAngularDamping2(BulletBody obj);
|
|
|
|
public abstract float GetLinearSleepingThreshold2(BulletBody obj);
|
|
|
|
|
|
public abstract void ApplyDamping2(BulletBody obj, float timeStep);
|
|
|
|
public abstract void SetMassProps2(BulletBody obj, float mass, Vector3 inertia);
|
|
|
|
public abstract Vector3 GetLinearFactor2(BulletBody obj);
|
|
|
|
public abstract void SetLinearFactor2(BulletBody obj, Vector3 factor);
|
|
|
|
/*
|
|
public abstract void SetCenterOfMassTransform2(BulletBody obj, Transform trans);
|
|
*/
|
|
|
|
public abstract void SetCenterOfMassByPosRot2(BulletBody obj, Vector3 pos, Quaternion rot);
|
|
|
|
// Add a force to the object as if its mass is one.
|
|
public abstract void ApplyCentralForce2(BulletBody obj, Vector3 force);
|
|
|
|
// Set the force being applied to the object as if its mass is one.
|
|
public abstract void SetObjectForce2(BulletBody obj, Vector3 force);
|
|
|
|
public abstract Vector3 GetTotalForce2(BulletBody obj);
|
|
|
|
public abstract Vector3 GetTotalTorque2(BulletBody obj);
|
|
|
|
public abstract Vector3 GetInvInertiaDiagLocal2(BulletBody obj);
|
|
|
|
public abstract void SetInvInertiaDiagLocal2(BulletBody obj, Vector3 inert);
|
|
|
|
public abstract void SetSleepingThresholds2(BulletBody obj, float lin_threshold, float ang_threshold);
|
|
|
|
public abstract void ApplyTorque2(BulletBody obj, Vector3 torque);
|
|
|
|
// Apply force at the given point. Will add torque to the object.
|
|
public abstract void ApplyForce2(BulletBody obj, Vector3 force, Vector3 pos);
|
|
|
|
// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
|
|
public abstract void ApplyCentralImpulse2(BulletBody obj, Vector3 imp);
|
|
|
|
// Apply impulse to the object's torque. Force is scaled by object's mass.
|
|
public abstract void ApplyTorqueImpulse2(BulletBody obj, Vector3 imp);
|
|
|
|
// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
|
|
public abstract void ApplyImpulse2(BulletBody obj, Vector3 imp, Vector3 pos);
|
|
|
|
public abstract void ClearForces2(BulletBody obj);
|
|
|
|
public abstract void ClearAllForces2(BulletBody obj);
|
|
|
|
public abstract void UpdateInertiaTensor2(BulletBody obj);
|
|
|
|
|
|
/*
|
|
public abstract Transform GetCenterOfMassTransform2(BulletBody obj);
|
|
*/
|
|
|
|
public abstract Vector3 GetLinearVelocity2(BulletBody obj);
|
|
|
|
public abstract Vector3 GetAngularVelocity2(BulletBody obj);
|
|
|
|
public abstract void SetLinearVelocity2(BulletBody obj, Vector3 val);
|
|
|
|
public abstract void SetAngularVelocity2(BulletBody obj, Vector3 angularVelocity);
|
|
|
|
public abstract Vector3 GetVelocityInLocalPoint2(BulletBody obj, Vector3 pos);
|
|
|
|
public abstract void Translate2(BulletBody obj, Vector3 trans);
|
|
|
|
public abstract void UpdateDeactivation2(BulletBody obj, float timeStep);
|
|
|
|
public abstract bool WantsSleeping2(BulletBody obj);
|
|
|
|
public abstract void SetAngularFactor2(BulletBody obj, float factor);
|
|
|
|
public abstract void SetAngularFactorV2(BulletBody obj, Vector3 factor);
|
|
|
|
public abstract Vector3 GetAngularFactor2(BulletBody obj);
|
|
|
|
public abstract bool IsInWorld2(BulletBody obj);
|
|
|
|
public abstract void AddConstraintRef2(BulletBody obj, BulletConstraint constrain);
|
|
|
|
public abstract void RemoveConstraintRef2(BulletBody obj, BulletConstraint constrain);
|
|
|
|
public abstract BulletConstraint GetConstraintRef2(BulletBody obj, int index);
|
|
|
|
public abstract int GetNumConstraintRefs2(BulletBody obj);
|
|
|
|
public abstract bool SetCollisionGroupMask2(BulletBody body, uint filter, uint mask);
|
|
|
|
// =====================================================================================
|
|
// btCollisionShape entries
|
|
|
|
public abstract float GetAngularMotionDisc2(BulletShape shape);
|
|
|
|
public abstract float GetContactBreakingThreshold2(BulletShape shape, float defaultFactor);
|
|
|
|
public abstract bool IsPolyhedral2(BulletShape shape);
|
|
|
|
public abstract bool IsConvex2d2(BulletShape shape);
|
|
|
|
public abstract bool IsConvex2(BulletShape shape);
|
|
|
|
public abstract bool IsNonMoving2(BulletShape shape);
|
|
|
|
public abstract bool IsConcave2(BulletShape shape);
|
|
|
|
public abstract bool IsCompound2(BulletShape shape);
|
|
|
|
public abstract bool IsSoftBody2(BulletShape shape);
|
|
|
|
public abstract bool IsInfinite2(BulletShape shape);
|
|
|
|
public abstract void SetLocalScaling2(BulletShape shape, Vector3 scale);
|
|
|
|
public abstract Vector3 GetLocalScaling2(BulletShape shape);
|
|
|
|
public abstract Vector3 CalculateLocalInertia2(BulletShape shape, float mass);
|
|
|
|
public abstract int GetShapeType2(BulletShape shape);
|
|
|
|
public abstract void SetMargin2(BulletShape shape, float val);
|
|
|
|
public abstract float GetMargin2(BulletShape shape);
|
|
|
|
};
|
|
|
|
// ===============================================================================
|
|
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 void SetShapeCollisionMargin(IntPtr shape, float margin);
|
|
|
|
[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);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool HasContactResponse2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr GetCollisionShape2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern int GetActivationState2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetActivationState2(IntPtr obj, int state);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern float GetDeactivationTime2(IntPtr obj);
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|
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void Activate2(IntPtr obj, bool forceActivation);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool IsActive2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetRestitution2(IntPtr obj, float val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
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public static extern float GetRestitution2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetFriction2(IntPtr obj, float val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern float GetFriction2(IntPtr obj);
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|
|
/* Haven't defined the type 'Transform'
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Transform GetWorldTransform2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void setWorldTransform2(IntPtr obj, Transform trans);
|
|
*/
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetPosition2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Quaternion GetOrientation2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
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|
/*
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
|
|
*/
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern float GetHitFraction2(IntPtr obj);
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetHitFraction2(IntPtr obj, float val);
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
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|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
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|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
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|
|
|
[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);
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|
|
|
[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 bool SetCollisionGroupMask2(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 DumpMapInfo2(IntPtr sim, IntPtr manInfo);
|
|
|
|
[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 DumpActivationInfo2(IntPtr sim);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void DumpAllInfo2(IntPtr sim);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void DumpPhysicsStatistics2(IntPtr sim);
|
|
|
|
}
|
|
}
|