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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.Runtime.InteropServices;
- using System.Security;
- using System.Text;
- using OpenMetaverse;
- namespace OpenSim.Region.Physics.BulletSPlugin {
- public struct ConvexHull
- {
- Vector3 Offset;
- int VertexCount;
- Vector3[] Vertices;
- }
- public struct ShapeData
- {
- public enum PhysicsShapeType
- {
- SHAPE_AVATAR = 0,
- SHAPE_BOX = 1,
- SHAPE_CONE = 2,
- SHAPE_CYLINDER = 3,
- SHAPE_SPHERE = 4,
- SHAPE_HULL = 5
- };
- public const int numericTrue = 1;
- public const int numericFalse = 0;
- public uint ID;
- public PhysicsShapeType Type;
- public Vector3 Position;
- public Quaternion Rotation;
- public Vector3 Velocity;
- public Vector3 Scale;
- public float Mass;
- public float Buoyancy;
- public System.UInt64 MeshKey;
- public int Collidable;
- public float Friction;
- public int Static; // true if a static object. Otherwise gravity, etc.
- // note that bools are passed as ints since bool size changes by language
- }
- public struct SweepHit
- {
- public uint ID;
- public float Fraction;
- public Vector3 Normal;
- public Vector3 Point;
- }
- public struct RaycastHit
- {
- public uint ID;
- public float Fraction;
- public Vector3 Normal;
- }
- public struct EntityProperties
- {
- public uint ID;
- public Vector3 Position;
- public Quaternion Rotation;
- public Vector3 Velocity;
- public Vector3 Acceleration;
- public Vector3 AngularVelocity;
- }
- static class BulletSimAPI {
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern uint Initialize(Vector3 maxPosition);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void Shutdown(uint worldID);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern int PhysicsStep(uint worldID, 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 CreateHull(uint worldID, System.UInt64 meshKey, int hullCount,
- [MarshalAs(UnmanagedType.LPArray)] float[] hulls
- );
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool CreateObject(uint worldID, ShapeData shapeData);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void AddConstraint(uint worldID, uint id1, uint id2,
- Vector3 frame1, Vector3 frame2, Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool HasObject(uint worldID, uint id);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool DestroyObject(uint worldID, uint id);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
- // Log a debug message
- [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
- public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetDebugLogCallback(DebugLogCallback callback);
- }
- }
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