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- /*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above copyrightD
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * * Neither the name of the OpenSimulator Project nor the
- * names of its contributors may be used to endorse or promote products
- * derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
- using System;
- using System.Collections.Generic;
- using System.Reflection;
- using System.Runtime.InteropServices;
- using System.Security;
- using System.Text;
- using OpenSim.Framework;
- using OpenMetaverse;
- namespace OpenSim.Region.Physics.BulletSPlugin
- {
- public sealed class BSAPIUnman : BSAPITemplate
- {
- private sealed class BulletWorldUnman : BulletWorld
- {
- public IntPtr ptr;
- public BulletWorldUnman(uint id, BSScene physScene, IntPtr xx)
- : base(id, physScene)
- {
- ptr = xx;
- }
- }
- private sealed class BulletBodyUnman : BulletBody
- {
- public IntPtr ptr;
- public BulletBodyUnman(uint id, IntPtr xx)
- : base(id)
- {
- ptr = xx;
- }
- public override bool HasPhysicalBody
- {
- get { return ptr != IntPtr.Zero; }
- }
- public override void Clear()
- {
- ptr = IntPtr.Zero;
- }
- public override string AddrString
- {
- get { return ptr.ToString("X"); }
- }
- }
- private sealed class BulletShapeUnman : BulletShape
- {
- public IntPtr ptr;
- public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ)
- : base()
- {
- ptr = xx;
- shapeType = typ;
- }
- public override bool HasPhysicalShape
- {
- get { return ptr != IntPtr.Zero; }
- }
- public override void Clear()
- {
- ptr = IntPtr.Zero;
- }
- public override BulletShape Clone()
- {
- return new BulletShapeUnman(ptr, shapeType);
- }
- public override bool ReferenceSame(BulletShape other)
- {
- BulletShapeUnman otheru = other as BulletShapeUnman;
- return (otheru != null) && (this.ptr == otheru.ptr);
- }
- public override string AddrString
- {
- get { return ptr.ToString("X"); }
- }
- }
- private sealed class BulletConstraintUnman : BulletConstraint
- {
- public BulletConstraintUnman(IntPtr xx) : base()
- {
- ptr = xx;
- }
- public IntPtr ptr;
- public override void Clear()
- {
- ptr = IntPtr.Zero;
- }
- public override bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
- // Used for log messages for a unique display of the memory/object allocated to this instance
- public override string AddrString
- {
- get { return ptr.ToString("X"); }
- }
- }
- // We pin the memory passed between the managed and unmanaged code.
- GCHandle m_paramsHandle;
- private GCHandle m_collisionArrayPinnedHandle;
- private GCHandle m_updateArrayPinnedHandle;
- // Handle to the callback used by the unmanaged code to call into the managed code.
- // Used for debug logging.
- // Need to store the handle in a persistant variable so it won't be freed.
- private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle;
- private BSScene PhysicsScene { get; set; }
- public override string BulletEngineName { get { return "BulletUnmanaged"; } }
- public override string BulletEngineVersion { get; protected set; }
- public BSAPIUnman(string paramName, BSScene physScene)
- {
- PhysicsScene = physScene;
- // Do something fancy with the paramName to get the right DLL implementation
- // like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc.
- if (Util.IsWindows())
- Util.LoadArchSpecificWindowsDll("BulletSim.dll");
- // If not Windows, loading is performed by the
- // Mono loader as specified in
- // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
- }
- // Initialization and simulation
- public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
- int maxCollisions, ref CollisionDesc[] collisionArray,
- int maxUpdates, ref EntityProperties[] updateArray
- )
- {
- // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
- m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
- m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
- m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
- // If Debug logging level, enable logging from the unmanaged code
- m_DebugLogCallbackHandle = null;
- if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled)
- {
- BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
- if (PhysicsScene.PhysicsLogging.Enabled)
- // The handle is saved in a variable to make sure it doesn't get freed after this call
- m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
- else
- m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
- }
- // Get the version of the DLL
- // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
- // BulletEngineVersion = BulletSimAPI.GetVersion2();
- BulletEngineVersion = "";
- // Call the unmanaged code with the buffers and other information
- return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
- maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
- maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
- m_DebugLogCallbackHandle));
- }
- // Called directly from unmanaged code so don't do much
- private void BulletLogger(string msg)
- {
- BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg);
- }
- // Called directly from unmanaged code so don't do much
- private void BulletLoggerPhysLog(string msg)
- {
- PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg);
- }
- public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
- out int updatedEntityCount, out int collidersCount)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
- }
- public override void Shutdown(BulletWorld world)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.Shutdown2(worldu.ptr);
- if (m_paramsHandle.IsAllocated)
- {
- m_paramsHandle.Free();
- }
- if (m_collisionArrayPinnedHandle.IsAllocated)
- {
- m_collisionArrayPinnedHandle.Free();
- }
- if (m_updateArrayPinnedHandle.IsAllocated)
- {
- m_updateArrayPinnedHandle.Free();
- }
- }
- public override bool PushUpdate(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.PushUpdate2(bodyu.ptr);
- }
- public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value);
- }
- // =====================================================================================
- // Mesh, hull, shape and body creation helper routines
- public override BulletShape CreateMeshShape(BulletWorld world,
- int indicesCount, int[] indices,
- int verticesCount, float[] vertices)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(
- BSAPICPP.CreateMeshShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
- BSPhysicsShapeType.SHAPE_MESH);
- }
- public override BulletShape CreateGImpactShape(BulletWorld world,
- int indicesCount, int[] indices,
- int verticesCount, float[] vertices)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(
- BSAPICPP.CreateGImpactShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
- BSPhysicsShapeType.SHAPE_GIMPACT);
- }
- public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(
- BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls),
- BSPhysicsShapeType.SHAPE_HULL);
- }
- public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
- return new BulletShapeUnman(
- BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr, parms),
- BSPhysicsShapeType.SHAPE_HULL);
- }
- public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
- return new BulletShapeUnman(
- BSAPICPP.BuildConvexHullShapeFromMesh2(worldu.ptr, shapeu.ptr),
- BSPhysicsShapeType.SHAPE_CONVEXHULL);
- }
- public override BulletShape CreateConvexHullShape(BulletWorld world,
- int indicesCount, int[] indices,
- int verticesCount, float[] vertices)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(
- BSAPICPP.CreateConvexHullShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
- BSPhysicsShapeType.SHAPE_CONVEXHULL);
- }
- public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type);
- }
- public override bool IsNativeShape(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- if (shapeu != null && shapeu.HasPhysicalShape)
- return BSAPICPP.IsNativeShape2(shapeu.ptr);
- return false;
- }
- public override void SetShapeCollisionMargin(BulletShape shape, float margin)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- if (shapeu != null && shapeu.HasPhysicalShape)
- BSAPICPP.SetShapeCollisionMargin(shapeu.ptr, margin);
- }
- public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(
- BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale),
- BSPhysicsShapeType.SHAPE_CAPSULE);
- }
- public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return new BulletShapeUnman(
- BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree),
- BSPhysicsShapeType.SHAPE_COMPOUND);
- }
- public override int GetNumberOfCompoundChildren(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- if (shapeu != null && shapeu.HasPhysicalShape)
- return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr);
- return 0;
- }
- public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- BulletShapeUnman addShapeu = addShape as BulletShapeUnman;
- BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot);
- }
- public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
- }
- public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
- }
- public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman;
- BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr);
- }
- public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb)
- {
- BulletShapeUnman shapeu = pShape as BulletShapeUnman;
- BSAPICPP.UpdateChildTransform2(shapeu.ptr, childIndex, pos, rot, shouldRecalculateLocalAabb);
- }
- public override void RecalculateCompoundShapeLocalAabb(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr);
- }
- public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman;
- return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.shapeType);
- }
- public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
- }
- public override CollisionObjectTypes GetBodyType(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr);
- }
- public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return new BulletBodyUnman(id, BSAPICPP.CreateBodyFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
- }
- public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot));
- }
- public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
- }
- public override void DestroyObject(BulletWorld world, BulletBody obj)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.DestroyObject2(worldu.ptr, bodyu.ptr);
- }
- // =====================================================================================
- // Terrain creation and helper routines
- public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
- {
- return new BulletShapeUnman(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
- }
- public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
- float scaleFactor, float collisionMargin)
- {
- return new BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin),
- BSPhysicsShapeType.SHAPE_TERRAIN);
- }
- // =====================================================================================
- // Constraint creation and helper routines
- public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frame1loc, Quaternion frame1rot,
- Vector3 frame2loc, Quaternion frame2rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
- frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
- }
- public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 joinPoint,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
- joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
- }
- public override BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
- Vector3 frameInBloc, Quaternion frameInBrot,
- bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintFixed2(worldu.ptr, bodyu1.ptr,
- frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies));
- }
- public override BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frame1loc, Quaternion frame1rot,
- Vector3 frame2loc, Quaternion frame2rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.Create6DofSpringConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
- frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
- }
- public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 pivotinA, Vector3 pivotinB,
- Vector3 axisInA, Vector3 axisInB,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
- pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
- }
- public override BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frame1loc, Quaternion frame1rot,
- Vector3 frame2loc, Quaternion frame2rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.CreateSliderConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
- frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
- }
- public override BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frame1loc, Quaternion frame1rot,
- Vector3 frame2loc, Quaternion frame2rot,
- bool disableCollisionsBetweenLinkedBodies)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.CreateConeTwistConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
- frame2loc, frame2rot, disableCollisionsBetweenLinkedBodies));
- }
- public override BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 axisInA, Vector3 axisInB,
- float ratio, bool disableCollisionsBetweenLinkedBodies)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.CreateGearConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, axisInA, axisInB,
- ratio, disableCollisionsBetweenLinkedBodies));
- }
- public override BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 pivotInA, Vector3 pivotInB,
- bool disableCollisionsBetweenLinkedBodies)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
- BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.CreatePoint2PointConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, pivotInA, pivotInB,
- disableCollisionsBetweenLinkedBodies));
- }
- public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- BSAPICPP.SetConstraintEnable2(constrainu.ptr, numericTrueFalse);
- }
- public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- BSAPICPP.SetConstraintNumSolverIterations2(constrainu.ptr, iterations);
- }
- public override bool SetFrames(BulletConstraint constrain,
- Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SetFrames2(constrainu.ptr, frameA, frameArot, frameB, frameBrot);
- }
- public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SetLinearLimits2(constrainu.ptr, low, hi);
- }
- public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SetAngularLimits2(constrainu.ptr, low, hi);
- }
- public override bool UseFrameOffset(BulletConstraint constrain, float enable)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.UseFrameOffset2(constrainu.ptr, enable);
- }
- public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.TranslationalLimitMotor2(constrainu.ptr, enable, targetVel, maxMotorForce);
- }
- public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold);
- }
- public override bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.HingeSetLimits2(constrainu.ptr, low, high, softness, bias, relaxation);
- }
- public override bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.ConstraintSpringEnable2(constrainu.ptr, index, numericTrueFalse);
- }
- public override bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.ConstraintSpringSetEquilibriumPoint2(constrainu.ptr, index, equilibriumPoint);
- }
- public override bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.ConstraintSpringSetStiffness2(constrainu.ptr, index, stiffnesss);
- }
- public override bool SpringSetDamping(BulletConstraint constrain, int index, float damping)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.ConstraintSpringSetDamping2(constrainu.ptr, index, damping);
- }
- public override bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SliderSetLimits2(constrainu.ptr, lowerUpper, linAng, val);
- }
- public override bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SliderSet2(constrainu.ptr, softRestDamp, dirLimOrtho, linAng, val);
- }
- public override bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SliderMotorEnable2(constrainu.ptr, linAng, numericTrueFalse);
- }
- public override bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SliderMotor2(constrainu.ptr, forceVel, linAng, val);
- }
- public override bool CalculateTransforms(BulletConstraint constrain)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.CalculateTransforms2(constrainu.ptr);
- }
- public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis);
- }
- public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.DestroyConstraint2(worldu.ptr, constrainu.ptr);
- }
- // =====================================================================================
- // btCollisionWorld entries
- public override void UpdateSingleAabb(BulletWorld world, BulletBody obj)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr);
- }
- public override void UpdateAabbs(BulletWorld world)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.UpdateAabbs2(worldu.ptr);
- }
- public override bool GetForceUpdateAllAabbs(BulletWorld world)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr);
- }
- public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force);
- }
- // =====================================================================================
- // btDynamicsWorld entries
- public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- // Bullet resets several variables when an object is added to the world.
- // Gravity is reset to world default depending on the static/dynamic
- // type. Of course, the collision flags in the broadphase proxy are initialized to default.
- Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr);
- bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
- if (ret)
- {
- BSAPICPP.SetGravity2(bodyu.ptr, origGrav);
- obj.ApplyCollisionMask(world.physicsScene);
- }
- return ret;
- }
- public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr);
- }
- public override bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.ClearCollisionProxyCache2(worldu.ptr, bodyu.ptr);
- }
- public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects);
- }
- public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr);
- }
- // =====================================================================================
- // btCollisionObject entries
- public override Vector3 GetAnisotripicFriction(BulletConstraint constrain)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.GetAnisotripicFriction2(constrainu.ptr);
- }
- public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.SetAnisotripicFriction2(constrainu.ptr, frict);
- }
- public override bool HasAnisotripicFriction(BulletConstraint constrain)
- {
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- return BSAPICPP.HasAnisotripicFriction2(constrainu.ptr);
- }
- public override void SetContactProcessingThreshold(BulletBody obj, float val)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetContactProcessingThreshold2(bodyu.ptr, val);
- }
- public override float GetContactProcessingThreshold(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetContactProcessingThreshold2(bodyu.ptr);
- }
- public override bool IsStaticObject(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.IsStaticObject2(bodyu.ptr);
- }
- public override bool IsKinematicObject(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.IsKinematicObject2(bodyu.ptr);
- }
- public override bool IsStaticOrKinematicObject(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.IsStaticOrKinematicObject2(bodyu.ptr);
- }
- public override bool HasContactResponse(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.HasContactResponse2(bodyu.ptr);
- }
- public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- if (worldu != null && bodyu != null)
- {
- // Special case to allow the caller to zero out the reference to any physical shape
- if (shapeu != null)
- BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr);
- else
- BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero);
- }
- }
- public override BulletShape GetCollisionShape(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return new BulletShapeUnman(BSAPICPP.GetCollisionShape2(bodyu.ptr), BSPhysicsShapeType.SHAPE_UNKNOWN);
- }
- public override int GetActivationState(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetActivationState2(bodyu.ptr);
- }
- public override void SetActivationState(BulletBody obj, int state)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetActivationState2(bodyu.ptr, state);
- }
- public override void SetDeactivationTime(BulletBody obj, float dtime)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetDeactivationTime2(bodyu.ptr, dtime);
- }
- public override float GetDeactivationTime(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetDeactivationTime2(bodyu.ptr);
- }
- public override void ForceActivationState(BulletBody obj, ActivationState state)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ForceActivationState2(bodyu.ptr, state);
- }
- public override void Activate(BulletBody obj, bool forceActivation)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.Activate2(bodyu.ptr, forceActivation);
- }
- public override bool IsActive(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.IsActive2(bodyu.ptr);
- }
- public override void SetRestitution(BulletBody obj, float val)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetRestitution2(bodyu.ptr, val);
- }
- public override float GetRestitution(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetRestitution2(bodyu.ptr);
- }
- public override void SetFriction(BulletBody obj, float val)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetFriction2(bodyu.ptr, val);
- }
- public override float GetFriction(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetFriction2(bodyu.ptr);
- }
- public override Vector3 GetPosition(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetPosition2(bodyu.ptr);
- }
- public override Quaternion GetOrientation(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetOrientation2(bodyu.ptr);
- }
- public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetTranslation2(bodyu.ptr, position, rotation);
- }
- /*
- public override IntPtr GetBroadphaseHandle(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetBroadphaseHandle2(bodyu.ptr);
- }
- public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetUserPointer2(bodyu.ptr, handle);
- }
- */
- public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetInterpolationLinearVelocity2(bodyu.ptr, vel);
- }
- public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetInterpolationAngularVelocity2(bodyu.ptr, vel);
- }
- public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetInterpolationVelocity2(bodyu.ptr, linearVel, angularVel);
- }
- public override float GetHitFraction(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetHitFraction2(bodyu.ptr);
- }
- public override void SetHitFraction(BulletBody obj, float val)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetHitFraction2(bodyu.ptr, val);
- }
- public override CollisionFlags GetCollisionFlags(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetCollisionFlags2(bodyu.ptr);
- }
- public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.SetCollisionFlags2(bodyu.ptr, flags);
- }
- public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.AddToCollisionFlags2(bodyu.ptr, flags);
- }
- public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.RemoveFromCollisionFlags2(bodyu.ptr, flags);
- }
- public override float GetCcdMotionThreshold(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetCcdMotionThreshold2(bodyu.ptr);
- }
- public override void SetCcdMotionThreshold(BulletBody obj, float val)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetCcdMotionThreshold2(bodyu.ptr, val);
- }
- public override float GetCcdSweptSphereRadius(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetCcdSweptSphereRadius2(bodyu.ptr);
- }
- public override void SetCcdSweptSphereRadius(BulletBody obj, float val)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetCcdSweptSphereRadius2(bodyu.ptr, val);
- }
- public override IntPtr GetUserPointer(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetUserPointer2(bodyu.ptr);
- }
- public override void SetUserPointer(BulletBody obj, IntPtr val)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetUserPointer2(bodyu.ptr, val);
- }
- // =====================================================================================
- // btRigidBody entries
- public override void ApplyGravity(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyGravity2(bodyu.ptr);
- }
- public override void SetGravity(BulletBody obj, Vector3 val)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetGravity2(bodyu.ptr, val);
- }
- public override Vector3 GetGravity(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetGravity2(bodyu.ptr);
- }
- public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetDamping2(bodyu.ptr, lin_damping, ang_damping);
- }
- public override void SetLinearDamping(BulletBody obj, float lin_damping)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetLinearDamping2(bodyu.ptr, lin_damping);
- }
- public override void SetAngularDamping(BulletBody obj, float ang_damping)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetAngularDamping2(bodyu.ptr, ang_damping);
- }
- public override float GetLinearDamping(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetLinearDamping2(bodyu.ptr);
- }
- public override float GetAngularDamping(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetAngularDamping2(bodyu.ptr);
- }
- public override float GetLinearSleepingThreshold(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetLinearSleepingThreshold2(bodyu.ptr);
- }
- public override void ApplyDamping(BulletBody obj, float timeStep)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyDamping2(bodyu.ptr, timeStep);
- }
- public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetMassProps2(bodyu.ptr, mass, inertia);
- }
- public override Vector3 GetLinearFactor(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetLinearFactor2(bodyu.ptr);
- }
- public override void SetLinearFactor(BulletBody obj, Vector3 factor)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetLinearFactor2(bodyu.ptr, factor);
- }
- public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetCenterOfMassByPosRot2(bodyu.ptr, pos, rot);
- }
- // Add a force to the object as if its mass is one.
- // Deep down in Bullet: m_totalForce += force*m_linearFactor;
- public override void ApplyCentralForce(BulletBody obj, Vector3 force)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyCentralForce2(bodyu.ptr, force);
- }
- // Set the force being applied to the object as if its mass is one.
- public override void SetObjectForce(BulletBody obj, Vector3 force)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetObjectForce2(bodyu.ptr, force);
- }
- public override Vector3 GetTotalForce(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetTotalForce2(bodyu.ptr);
- }
- public override Vector3 GetTotalTorque(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetTotalTorque2(bodyu.ptr);
- }
- public override Vector3 GetInvInertiaDiagLocal(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetInvInertiaDiagLocal2(bodyu.ptr);
- }
- public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetInvInertiaDiagLocal2(bodyu.ptr, inert);
- }
- public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold);
- }
- // Deep down in Bullet: m_totalTorque += torque*m_angularFactor;
- public override void ApplyTorque(BulletBody obj, Vector3 torque)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyTorque2(bodyu.ptr, torque);
- }
- // Apply force at the given point. Will add torque to the object.
- // Deep down in Bullet: applyCentralForce(force);
- // applyTorque(rel_pos.cross(force*m_linearFactor));
- public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyForce2(bodyu.ptr, force, pos);
- }
- // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
- // Deep down in Bullet: m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
- public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyCentralImpulse2(bodyu.ptr, imp);
- }
- // Apply impulse to the object's torque. Force is scaled by object's mass.
- // Deep down in Bullet: m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
- public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyTorqueImpulse2(bodyu.ptr, imp);
- }
- // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
- // Deep down in Bullet: applyCentralImpulse(impulse);
- // applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
- public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ApplyImpulse2(bodyu.ptr, imp, pos);
- }
- public override void ClearForces(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ClearForces2(bodyu.ptr);
- }
- public override void ClearAllForces(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.ClearAllForces2(bodyu.ptr);
- }
- public override void UpdateInertiaTensor(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.UpdateInertiaTensor2(bodyu.ptr);
- }
- public override Vector3 GetLinearVelocity(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetLinearVelocity2(bodyu.ptr);
- }
- public override Vector3 GetAngularVelocity(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetAngularVelocity2(bodyu.ptr);
- }
- public override void SetLinearVelocity(BulletBody obj, Vector3 vel)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetLinearVelocity2(bodyu.ptr, vel);
- }
- public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetAngularVelocity2(bodyu.ptr, angularVelocity);
- }
- public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetVelocityInLocalPoint2(bodyu.ptr, pos);
- }
- public override void Translate(BulletBody obj, Vector3 trans)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.Translate2(bodyu.ptr, trans);
- }
- public override void UpdateDeactivation(BulletBody obj, float timeStep)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.UpdateDeactivation2(bodyu.ptr, timeStep);
- }
- public override bool WantsSleeping(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.WantsSleeping2(bodyu.ptr);
- }
- public override void SetAngularFactor(BulletBody obj, float factor)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetAngularFactor2(bodyu.ptr, factor);
- }
- public override void SetAngularFactorV(BulletBody obj, Vector3 factor)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BSAPICPP.SetAngularFactorV2(bodyu.ptr, factor);
- }
- public override Vector3 GetAngularFactor(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetAngularFactor2(bodyu.ptr);
- }
- public override bool IsInWorld(BulletWorld world, BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.IsInWorld2(bodyu.ptr);
- }
- public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- BSAPICPP.AddConstraintRef2(bodyu.ptr, constrainu.ptr);
- }
- public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- BSAPICPP.RemoveConstraintRef2(bodyu.ptr, constrainu.ptr);
- }
- public override BulletConstraint GetConstraintRef(BulletBody obj, int index)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return new BulletConstraintUnman(BSAPICPP.GetConstraintRef2(bodyu.ptr, index));
- }
- public override int GetNumConstraintRefs(BulletBody obj)
- {
- BulletBodyUnman bodyu = obj as BulletBodyUnman;
- return BSAPICPP.GetNumConstraintRefs2(bodyu.ptr);
- }
- public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask)
- {
- BulletBodyUnman bodyu = body as BulletBodyUnman;
- return BSAPICPP.SetCollisionGroupMask2(bodyu.ptr, filter, mask);
- }
- // =====================================================================================
- // btCollisionShape entries
- public override float GetAngularMotionDisc(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.GetAngularMotionDisc2(shapeu.ptr);
- }
- public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.GetContactBreakingThreshold2(shapeu.ptr, defaultFactor);
- }
- public override bool IsPolyhedral(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsPolyhedral2(shapeu.ptr);
- }
- public override bool IsConvex2d(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsConvex2d2(shapeu.ptr);
- }
- public override bool IsConvex(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsConvex2(shapeu.ptr);
- }
- public override bool IsNonMoving(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsNonMoving2(shapeu.ptr);
- }
- public override bool IsConcave(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsConcave2(shapeu.ptr);
- }
- public override bool IsCompound(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsCompound2(shapeu.ptr);
- }
- public override bool IsSoftBody(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsSoftBody2(shapeu.ptr);
- }
- public override bool IsInfinite(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.IsInfinite2(shapeu.ptr);
- }
- public override void SetLocalScaling(BulletShape shape, Vector3 scale)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- BSAPICPP.SetLocalScaling2(shapeu.ptr, scale);
- }
- public override Vector3 GetLocalScaling(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.GetLocalScaling2(shapeu.ptr);
- }
- public override Vector3 CalculateLocalInertia(BulletShape shape, float mass)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.CalculateLocalInertia2(shapeu.ptr, mass);
- }
- public override int GetShapeType(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.GetShapeType2(shapeu.ptr);
- }
- public override void SetMargin(BulletShape shape, float val)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- BSAPICPP.SetMargin2(shapeu.ptr, val);
- }
- public override float GetMargin(BulletShape shape)
- {
- BulletShapeUnman shapeu = shape as BulletShapeUnman;
- return BSAPICPP.GetMargin2(shapeu.ptr);
- }
- // =====================================================================================
- // Debugging
- public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletBodyUnman bodyu = collisionObject as BulletBodyUnman;
- BSAPICPP.DumpRigidBody2(worldu.ptr, bodyu.ptr);
- }
- public override void DumpCollisionShape(BulletWorld world, BulletShape collisionShape)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletShapeUnman shapeu = collisionShape as BulletShapeUnman;
- BSAPICPP.DumpCollisionShape2(worldu.ptr, shapeu.ptr);
- }
- public override void DumpConstraint(BulletWorld world, BulletConstraint constrain)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
- BSAPICPP.DumpConstraint2(worldu.ptr, constrainu.ptr);
- }
- public override void DumpActivationInfo(BulletWorld world)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.DumpActivationInfo2(worldu.ptr);
- }
- public override void DumpAllInfo(BulletWorld world)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.DumpAllInfo2(worldu.ptr);
- }
- public override void DumpPhysicsStatistics(BulletWorld world)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.DumpPhysicsStatistics2(worldu.ptr);
- }
- public override void ResetBroadphasePool(BulletWorld world)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.ResetBroadphasePool(worldu.ptr);
- }
- public override void ResetConstraintSolver(BulletWorld world)
- {
- BulletWorldUnman worldu = world as BulletWorldUnman;
- BSAPICPP.ResetConstraintSolver(worldu.ptr);
- }
- // =====================================================================================
- // =====================================================================================
- // =====================================================================================
- // =====================================================================================
- // =====================================================================================
- // The actual interface to the unmanaged code
- static class BSAPICPP
- {
- // ===============================================================================
- // 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 int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
- out int updatedEntityCount, out int collidersCount);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void Shutdown2(IntPtr sim);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool PushUpdate2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
- // =====================================================================================
- // 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 CreateGImpactShape2(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, HACDParams parms);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr BuildConvexHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateConvexHullShape2(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 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 UpdateChildTransform2(IntPtr pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb);
- [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 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 void DestroyObject2(IntPtr sim, IntPtr obj);
- // =====================================================================================
- // Terrain creation and helper routines
- [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(uint id, Vector3 size, float minHeight, float maxHeight,
- [MarshalAs(UnmanagedType.LPArray)] float[] heightMap,
- float scaleFactor, float collisionMargin);
- // =====================================================================================
- // 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 Create6DofConstraintFixed2(IntPtr world, IntPtr obj1,
- Vector3 frameInBloc, Quaternion frameInBrot,
- bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr Create6DofSpringConstraint2(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 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 IntPtr CreateSliderConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 frameInAloc, Quaternion frameInArot,
- Vector3 frameInBloc, Quaternion frameInBrot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateConeTwistConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 frameInAloc, Quaternion frameInArot,
- Vector3 frameInBloc, Quaternion frameInBrot,
- bool disableCollisionsBetweenLinkedBodies);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateGearConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 axisInA, Vector3 axisInB,
- float ratio, bool disableCollisionsBetweenLinkedBodies);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreatePoint2PointConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 pivotInA, Vector3 pivotInB,
- 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 HingeSetLimits2(IntPtr constrain, float low, float high, float softness, float bias, float relaxation);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool ConstraintSpringEnable2(IntPtr constrain, int index, float numericTrueFalse);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool ConstraintSpringSetEquilibriumPoint2(IntPtr constrain, int index, float equilibriumPoint);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool ConstraintSpringSetStiffness2(IntPtr constrain, int index, float stiffness);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool ConstraintSpringSetDamping2(IntPtr constrain, int index, float damping);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SliderSetLimits2(IntPtr constrain, int lowerUpper, int linAng, float val);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SliderSet2(IntPtr constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SliderMotorEnable2(IntPtr constrain, int linAng, float numericTrueFalse);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SliderMotor2(IntPtr constrain, int forceVel, int linAng, float val);
- [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 ClearCollisionProxyCache2(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 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);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void ResetBroadphasePool(IntPtr sim);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void ResetConstraintSolver(IntPtr sim);
- }
- }
- }
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