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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 {
- // Classes to allow some type checking for the API
- // These hold pointers to allocated objects in the unmanaged space.
- // The physics engine controller class created at initialization
- public struct BulletSim
- {
- public BulletSim(uint worldId, BSScene bss, IntPtr xx)
- {
- ptr = xx;
- worldID = worldId;
- physicsScene = bss;
- }
- public IntPtr ptr;
- public uint worldID;
- // The scene is only in here so very low level routines have a handle to print debug/error messages
- public BSScene physicsScene;
- }
- // An allocated Bullet btRigidBody
- public struct BulletBody
- {
- public BulletBody(uint id, IntPtr xx)
- {
- ID = id;
- ptr = xx;
- collisionFilter = 0;
- collisionMask = 0;
- }
- public IntPtr ptr;
- public uint ID;
- public CollisionFilterGroups collisionFilter;
- public CollisionFilterGroups collisionMask;
- public override string ToString()
- {
- StringBuilder buff = new StringBuilder();
- buff.Append("<id=");
- buff.Append(ID.ToString());
- buff.Append(",p=");
- buff.Append(ptr.ToString("X"));
- if (collisionFilter != 0 || collisionMask != 0)
- {
- buff.Append(",f=");
- buff.Append(collisionFilter.ToString("X"));
- buff.Append(",m=");
- buff.Append(collisionMask.ToString("X"));
- }
- buff.Append(">");
- return buff.ToString();
- }
- }
- public struct BulletShape
- {
- public BulletShape(IntPtr xx)
- {
- ptr = xx;
- type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
- shapeKey = 0;
- isNativeShape = false;
- }
- public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ)
- {
- ptr = xx;
- type = typ;
- shapeKey = 0;
- isNativeShape = false;
- }
- public IntPtr ptr;
- public ShapeData.PhysicsShapeType type;
- public System.UInt64 shapeKey;
- public bool isNativeShape;
- public override string ToString()
- {
- StringBuilder buff = new StringBuilder();
- buff.Append("<p=");
- buff.Append(ptr.ToString("X"));
- buff.Append(",s=");
- buff.Append(type.ToString());
- buff.Append(",k=");
- buff.Append(shapeKey.ToString("X"));
- buff.Append(",n=");
- buff.Append(isNativeShape.ToString());
- buff.Append(">");
- return buff.ToString();
- }
- }
- // Constraint type values as defined by Bullet
- public enum ConstraintType : int
- {
- POINT2POINT_CONSTRAINT_TYPE = 3,
- HINGE_CONSTRAINT_TYPE,
- CONETWIST_CONSTRAINT_TYPE,
- D6_CONSTRAINT_TYPE,
- SLIDER_CONSTRAINT_TYPE,
- CONTACT_CONSTRAINT_TYPE,
- D6_SPRING_CONSTRAINT_TYPE,
- MAX_CONSTRAINT_TYPE
- }
- // An allocated Bullet btConstraint
- public struct BulletConstraint
- {
- public BulletConstraint(IntPtr xx)
- {
- ptr = xx;
- }
- public IntPtr ptr;
- }
- // An allocated HeightMapThing which holds various heightmap info.
- // Made a class rather than a struct so there would be only one
- // instance of this and C# will pass around pointers rather
- // than making copies.
- public class BulletHeightMapInfo
- {
- public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
- ID = id;
- Ptr = xx;
- heightMap = hm;
- terrainRegionBase = new Vector2(0f, 0f);
- minCoords = new Vector3(100f, 100f, 25f);
- maxCoords = new Vector3(101f, 101f, 26f);
- minZ = maxZ = 0f;
- sizeX = sizeY = 256f;
- }
- public uint ID;
- public IntPtr Ptr;
- public float[] heightMap;
- public Vector2 terrainRegionBase;
- public Vector3 minCoords;
- public Vector3 maxCoords;
- public float sizeX, sizeY;
- public float minZ, maxZ;
- public BulletShape terrainShape;
- public BulletBody terrainBody;
- }
- // ===============================================================================
- [StructLayout(LayoutKind.Sequential)]
- public struct ConvexHull
- {
- Vector3 Offset;
- int VertexCount;
- Vector3[] Vertices;
- }
- [StructLayout(LayoutKind.Sequential)]
- public struct ShapeData
- {
- public enum PhysicsShapeType
- {
- SHAPE_UNKNOWN = 0,
- SHAPE_AVATAR = 1,
- SHAPE_BOX = 2,
- SHAPE_CONE = 3,
- SHAPE_CYLINDER = 4,
- SHAPE_SPHERE = 5,
- SHAPE_MESH = 6,
- SHAPE_HULL = 7,
- // following defined by BulletSim
- SHAPE_GROUNDPLANE = 20,
- SHAPE_TERRAIN = 21,
- };
- 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 HullKey;
- public System.UInt64 MeshKey;
- public float Friction;
- public float Restitution;
- public float Collidable; // true of things bump into this
- public float Static; // true if a static object. Otherwise gravity, etc.
- public float Solid; // true if object cannot be passed through
- public Vector3 Size;
- // note that bools are passed as floats since bool size changes by language and architecture
- public const float numericTrue = 1f;
- public const float numericFalse = 0f;
- // The native shapes have predefined shape hash keys
- public enum FixedShapeKey : ulong
- {
- KEY_BOX = 1,
- KEY_SPHERE = 2,
- KEY_CONE = 3,
- KEY_CYLINDER = 4,
- KEY_CAPSULE = 5,
- }
- }
- [StructLayout(LayoutKind.Sequential)]
- public struct SweepHit
- {
- public uint ID;
- public float Fraction;
- public Vector3 Normal;
- public Vector3 Point;
- }
- [StructLayout(LayoutKind.Sequential)]
- public struct RaycastHit
- {
- public uint ID;
- public float Fraction;
- public Vector3 Normal;
- }
- [StructLayout(LayoutKind.Sequential)]
- public struct CollisionDesc
- {
- public uint aID;
- public uint bID;
- public Vector3 point;
- public Vector3 normal;
- }
- [StructLayout(LayoutKind.Sequential)]
- public struct EntityProperties
- {
- public uint ID;
- public Vector3 Position;
- public Quaternion Rotation;
- public Vector3 Velocity;
- public Vector3 Acceleration;
- public Vector3 RotationalVelocity;
- }
- // Format of this structure must match the definition in the C++ code
- [StructLayout(LayoutKind.Sequential)]
- public struct ConfigurationParameters
- {
- public float defaultFriction;
- public float defaultDensity;
- public float defaultRestitution;
- public float collisionMargin;
- public float gravity;
- public float linearDamping;
- public float angularDamping;
- public float deactivationTime;
- public float linearSleepingThreshold;
- public float angularSleepingThreshold;
- public float ccdMotionThreshold;
- public float ccdSweptSphereRadius;
- public float contactProcessingThreshold;
- public float terrainFriction;
- public float terrainHitFraction;
- public float terrainRestitution;
- public float avatarFriction;
- public float avatarStandingFriction;
- public float avatarDensity;
- public float avatarRestitution;
- public float avatarCapsuleRadius;
- public float avatarCapsuleHeight;
- public float avatarContactProcessingThreshold;
- public float maxPersistantManifoldPoolSize;
- public float maxCollisionAlgorithmPoolSize;
- public float shouldDisableContactPoolDynamicAllocation;
- public float shouldForceUpdateAllAabbs;
- public float shouldRandomizeSolverOrder;
- public float shouldSplitSimulationIslands;
- public float shouldEnableFrictionCaching;
- public float numberOfSolverIterations;
- public float linkConstraintUseFrameOffset;
- public float linkConstraintEnableTransMotor;
- public float linkConstraintTransMotorMaxVel;
- public float linkConstraintTransMotorMaxForce;
- public float linkConstraintERP;
- public float linkConstraintCFM;
- public float linkConstraintSolverIterations;
- public float physicsLoggingFrames;
- public const float numericTrue = 1f;
- public const float numericFalse = 0f;
- }
- // The states a bullet collision object can have
- public enum ActivationState : uint
- {
- ACTIVE_TAG = 1,
- ISLAND_SLEEPING,
- WANTS_DEACTIVATION,
- DISABLE_DEACTIVATION,
- DISABLE_SIMULATION,
- }
- public enum CollisionObjectTypes : int
- {
- CO_COLLISION_OBJECT = 1 << 0,
- CO_RIGID_BODY = 1 << 1,
- CO_GHOST_OBJECT = 1 << 2,
- CO_SOFT_BODY = 1 << 3,
- CO_HF_FLUID = 1 << 4,
- CO_USER_TYPE = 1 << 5,
- }
- // Values used by Bullet and BulletSim to control object properties.
- // Bullet's "CollisionFlags" has more to do with operations on the
- // object (if collisions happen, if gravity effects it, ...).
- public enum CollisionFlags : uint
- {
- CF_STATIC_OBJECT = 1 << 0,
- CF_KINEMATIC_OBJECT = 1 << 1,
- CF_NO_CONTACT_RESPONSE = 1 << 2,
- CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3,
- CF_CHARACTER_OBJECT = 1 << 4,
- CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
- CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
- // Following used by BulletSim to control collisions
- BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
- BS_FLOATS_ON_WATER = 1 << 11,
- BS_NONE = 0,
- BS_ALL = 0xFFFFFFFF,
- // These are the collision flags switched depending on physical state.
- // The other flags are used for other things and should not be fooled with.
- BS_ACTIVE = CF_STATIC_OBJECT
- | CF_KINEMATIC_OBJECT
- | CF_NO_CONTACT_RESPONSE
- };
- // Values for collisions groups and masks
- public enum CollisionFilterGroups : uint
- {
- // Don't use the bit definitions!! Define the use in a
- // filter/mask definition below. This way collision interactions
- // are more easily debugged.
- BNoneFilter = 0,
- BDefaultFilter = 1 << 0,
- BStaticFilter = 1 << 1,
- BKinematicFilter = 1 << 2,
- BDebrisFilter = 1 << 3,
- BSensorTrigger = 1 << 4,
- BCharacterFilter = 1 << 5,
- BAllFilter = 0xFFFFFFFF,
- // Filter groups defined by BulletSim
- BGroundPlaneFilter = 1 << 10,
- BTerrainFilter = 1 << 11,
- BRaycastFilter = 1 << 12,
- BSolidFilter = 1 << 13,
- // The collsion filters and masked are defined in one place -- don't want them scattered
- AvatarFilter = BCharacterFilter,
- AvatarMask = BAllFilter,
- ObjectFilter = BSolidFilter,
- ObjectMask = BAllFilter,
- StaticObjectFilter = BStaticFilter,
- StaticObjectMask = BAllFilter,
- VolumeDetectFilter = BSensorTrigger,
- VolumeDetectMask = ~BSensorTrigger,
- TerrainFilter = BTerrainFilter,
- TerrainMask = BAllFilter & ~BStaticFilter,
- GroundPlaneFilter = BGroundPlaneFilter,
- GroundPlaneMask = BAllFilter
- };
- // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
- // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
- public enum ConstraintParams : int
- {
- BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730
- BT_CONSTRAINT_STOP_ERP,
- BT_CONSTRAINT_CFM,
- BT_CONSTRAINT_STOP_CFM,
- };
- public enum ConstraintParamAxis : int
- {
- AXIS_LINEAR_X = 0,
- AXIS_LINEAR_Y,
- AXIS_LINEAR_Z,
- AXIS_ANGULAR_X,
- AXIS_ANGULAR_Y,
- AXIS_ANGULAR_Z,
- AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls
- AXIS_ANGULAR_ALL,
- AXIS_ALL
- };
- // ===============================================================================
- static class BulletSimAPI {
- // Link back to the managed code for outputting log messages
- [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
- public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- [return: MarshalAs(UnmanagedType.LPStr)]
- public static extern string GetVersion();
- /* Remove the linkage to the old api methods
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
- int maxCollisions, IntPtr collisionArray,
- int maxUpdates, IntPtr updateArray,
- DebugLogCallback logRoutine);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
- [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 bool UpdateParameter(uint worldID, uint localID,
- [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value);
- // ===============================================================================
- [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 CreateMesh(uint worldID, System.UInt64 meshKey,
- int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
- int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
- );
- [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 DestroyMesh(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 Vector3 GetObjectPosition(uint WorldID, uint id);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern Quaternion GetObjectOrientation(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);
- // Set the current force acting on the object
- [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);
- // ===============================================================================
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void DumpBulletStatistics();
- */
- // Log a debug message
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetDebugLogCallback(DebugLogCallback callback);
- // ===============================================================================
- // ===============================================================================
- // ===============================================================================
- // A new version of the API that enables moving all the logic out of the C++ code and into
- // the C# code. This will make modifications easier for the next person.
- // This interface passes the actual pointers to the objects in the unmanaged
- // address space. All the management (calls for creation/destruction/lookup)
- // is done in the C# code.
- // The names have a "2" tacked on. This will be removed as the C# code gets rebuilt
- // and the old code is removed.
- // Functions use while converting from API1 to API2. Can be removed when totally converted.
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr GetSimHandle2(uint worldID);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
- // ===============================================================================
- // Initialization and simulation
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
- int maxCollisions, IntPtr collisionArray,
- int maxUpdates, IntPtr updateArray,
- DebugLogCallback logRoutine);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void Shutdown2(IntPtr sim);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
- out int updatedEntityCount,
- out IntPtr updatedEntitiesPtr,
- out int collidersCount,
- out IntPtr collidersPtr);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool PushUpdate2(IntPtr obj);
- // =====================================================================================
- // Mesh, hull, shape and body creation helper routines
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateMeshShape2(IntPtr world,
- int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
- int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateHullShape2(IntPtr world,
- int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool IsNativeShape2(IntPtr shape);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateCompoundShape2(IntPtr sim);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern int GetBodyType2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void ReleaseBodyInfo2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
- // =====================================================================================
- // Terrain creation and helper routines
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
- [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
- [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
- // =====================================================================================
- // Constraint creation and helper routines
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 frame1loc, Quaternion frame1rot,
- Vector3 frame2loc, Quaternion frame2rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 joinPoint,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
- Vector3 pivotinA, Vector3 pivotinB,
- Vector3 axisInA, Vector3 axisInB,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetFrames2(IntPtr constrain,
- Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool CalculateTransforms2(IntPtr constrain);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
- // =====================================================================================
- // btCollisionWorld entries
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void UpdateAabbs2(IntPtr world);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
- // =====================================================================================
- // btDynamicsWorld entries
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
- // =====================================================================================
- // btCollisionObject entries
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool HasAnisotripicFriction2(IntPtr constrain);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern float GetContactProcessingThreshold2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool IsStaticObject2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool IsKinematicObject2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool HasContactResponse2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr GetCollisionShape2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern int GetActivationState2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetActivationState2(IntPtr obj, int state);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern float GetDeactivationTime2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void Activate2(IntPtr obj, bool forceActivation);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern bool IsActive2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetRestitution2(IntPtr obj, float val);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern float GetRestitution2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetFriction2(IntPtr obj, float val);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern float GetFriction2(IntPtr obj);
- /* Haven't defined the type 'Transform'
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern Transform GetWorldTransform2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void setWorldTransform2(IntPtr obj, Transform trans);
- */
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern Vector3 GetPosition2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern Quaternion GetOrientation2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
- /*
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
- */
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern float GetHitFraction2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetHitFraction2(IntPtr obj, float val);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern float GetCcdMotionThreshold2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern float GetCcdSweepSphereRadius2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void SetCcdSweepSphereRadius2(IntPtr obj, float val);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern IntPtr GetUserPointer2(IntPtr obj);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- 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 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 void SetCollisionFilterMask2(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 DumpConstraint2(IntPtr sim, IntPtr constrain);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void DumpAllInfo2(IntPtr sim);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
- [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
- public static extern void DumpPhysicsStatistics2(IntPtr sim);
- }
- }
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