mirror of https://github.com/opensim/opensim.git
2137 lines
107 KiB
C#
Executable File
2137 lines
107 KiB
C#
Executable File
/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Reflection;
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using System.Runtime.InteropServices;
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using System.Security;
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using System.Text;
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using OpenSim.Framework;
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using OpenMetaverse;
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namespace OpenSim.Region.PhysicsModule.BulletS
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{
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public sealed class BSAPIUnman : BSAPITemplate
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{
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private sealed class BulletWorldUnman : BulletWorld
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{
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public IntPtr ptr;
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public BulletWorldUnman(uint id, BSScene physScene, IntPtr xx)
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: base(id, physScene)
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{
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ptr = xx;
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}
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}
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private sealed class BulletBodyUnman : BulletBody
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{
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public IntPtr ptr;
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public BulletBodyUnman(uint id, IntPtr xx)
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: base(id)
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{
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ptr = xx;
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}
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public override bool HasPhysicalBody
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{
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get { return ptr != IntPtr.Zero; }
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}
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public override void Clear()
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{
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ptr = IntPtr.Zero;
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}
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public override string AddrString
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{
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get { return ptr.ToString("X"); }
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}
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}
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private sealed class BulletShapeUnman : BulletShape
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{
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public IntPtr ptr;
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public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ)
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: base()
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{
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ptr = xx;
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shapeType = typ;
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}
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public override bool HasPhysicalShape
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{
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get { return ptr != IntPtr.Zero; }
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}
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public override void Clear()
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{
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ptr = IntPtr.Zero;
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}
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public override BulletShape Clone()
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{
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return new BulletShapeUnman(ptr, shapeType);
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}
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public override bool ReferenceSame(BulletShape other)
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{
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BulletShapeUnman otheru = other as BulletShapeUnman;
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return (otheru != null) && (this.ptr == otheru.ptr);
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}
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public override string AddrString
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{
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get { return ptr.ToString("X"); }
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}
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}
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private sealed class BulletConstraintUnman : BulletConstraint
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{
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public BulletConstraintUnman(IntPtr xx) : base()
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{
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ptr = xx;
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}
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public IntPtr ptr;
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public override void Clear()
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{
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ptr = IntPtr.Zero;
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}
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public override bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
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// Used for log messages for a unique display of the memory/object allocated to this instance
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public override string AddrString
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{
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get { return ptr.ToString("X"); }
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}
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}
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// We pin the memory passed between the managed and unmanaged code.
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GCHandle m_paramsHandle;
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private GCHandle m_collisionArrayPinnedHandle;
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private GCHandle m_updateArrayPinnedHandle;
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// Handle to the callback used by the unmanaged code to call into the managed code.
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// Used for debug logging.
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// Need to store the handle in a persistant variable so it won't be freed.
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private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle;
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private BSScene PhysicsScene { get; set; }
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public override string BulletEngineName { get { return "BulletUnmanaged"; } }
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public override string BulletEngineVersion { get; protected set; }
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public BSAPIUnman(string paramName, BSScene physScene)
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{
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DllmapConfigHelper.RegisterAssembly(typeof(BSAPIUnman).Assembly);
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PhysicsScene = physScene;
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}
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// Initialization and simulation
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public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
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int maxCollisions, ref CollisionDesc[] collisionArray,
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int maxUpdates, ref EntityProperties[] updateArray
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)
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{
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// Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
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m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
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m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
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m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
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// If Debug logging level, enable logging from the unmanaged code
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m_DebugLogCallbackHandle = null;
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if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled)
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{
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BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
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if (PhysicsScene.PhysicsLogging.Enabled)
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// The handle is saved in a variable to make sure it doesn't get freed after this call
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m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
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else
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m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
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}
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// Get the version of the DLL
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// TODO: this doesn't work yet. Something wrong with marshaling the returned string.
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// BulletEngineVersion = BulletSimAPI.GetVersion2();
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BulletEngineVersion = "";
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// Call the unmanaged code with the buffers and other information
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return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
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maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
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maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
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m_DebugLogCallbackHandle));
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}
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// Called directly from unmanaged code so don't do much
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private void BulletLogger(string msg)
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{
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BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg);
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}
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// Called directly from unmanaged code so don't do much
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private void BulletLoggerPhysLog(string msg)
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{
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PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg);
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}
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public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
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out int updatedEntityCount, out int collidersCount)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount);
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}
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public override void Shutdown(BulletWorld world)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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BSAPICPP.Shutdown2(worldu.ptr);
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if (m_paramsHandle.IsAllocated)
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{
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m_paramsHandle.Free();
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}
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if (m_collisionArrayPinnedHandle.IsAllocated)
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{
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m_collisionArrayPinnedHandle.Free();
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}
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if (m_updateArrayPinnedHandle.IsAllocated)
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{
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m_updateArrayPinnedHandle.Free();
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}
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}
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public override bool PushUpdate(BulletBody obj)
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{
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BulletBodyUnman bodyu = obj as BulletBodyUnman;
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return BSAPICPP.PushUpdate2(bodyu.ptr);
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}
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public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value);
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}
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// =====================================================================================
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// Mesh, hull, shape and body creation helper routines
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public override BulletShape CreateMeshShape(BulletWorld world,
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int indicesCount, int[] indices,
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int verticesCount, float[] vertices)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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return new BulletShapeUnman(
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BSAPICPP.CreateMeshShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
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BSPhysicsShapeType.SHAPE_MESH);
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}
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public override BulletShape CreateGImpactShape(BulletWorld world,
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int indicesCount, int[] indices,
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int verticesCount, float[] vertices)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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return new BulletShapeUnman(
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BSAPICPP.CreateGImpactShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
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BSPhysicsShapeType.SHAPE_GIMPACT);
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}
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public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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return new BulletShapeUnman(
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BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls),
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BSPhysicsShapeType.SHAPE_HULL);
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}
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public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
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return new BulletShapeUnman(
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BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr, parms),
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BSPhysicsShapeType.SHAPE_HULL);
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}
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public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
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return new BulletShapeUnman(
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BSAPICPP.BuildConvexHullShapeFromMesh2(worldu.ptr, shapeu.ptr),
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BSPhysicsShapeType.SHAPE_CONVEXHULL);
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}
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public override BulletShape CreateConvexHullShape(BulletWorld world,
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int indicesCount, int[] indices,
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int verticesCount, float[] vertices)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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return new BulletShapeUnman(
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BSAPICPP.CreateConvexHullShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
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BSPhysicsShapeType.SHAPE_CONVEXHULL);
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}
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public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type);
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}
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public override bool IsNativeShape(BulletShape shape)
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{
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BulletShapeUnman shapeu = shape as BulletShapeUnman;
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if (shapeu != null && shapeu.HasPhysicalShape)
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return BSAPICPP.IsNativeShape2(shapeu.ptr);
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return false;
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}
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public override void SetShapeCollisionMargin(BulletShape shape, float margin)
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{
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BulletShapeUnman shapeu = shape as BulletShapeUnman;
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if (shapeu != null && shapeu.HasPhysicalShape)
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BSAPICPP.SetShapeCollisionMargin(shapeu.ptr, margin);
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}
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public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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return new BulletShapeUnman(
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BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale),
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BSPhysicsShapeType.SHAPE_CAPSULE);
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}
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public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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return new BulletShapeUnman(
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BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree),
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BSPhysicsShapeType.SHAPE_COMPOUND);
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}
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public override int GetNumberOfCompoundChildren(BulletShape shape)
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{
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BulletShapeUnman shapeu = shape as BulletShapeUnman;
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if (shapeu != null && shapeu.HasPhysicalShape)
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return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr);
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return 0;
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}
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public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot)
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{
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BulletShapeUnman shapeu = shape as BulletShapeUnman;
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BulletShapeUnman addShapeu = addShape as BulletShapeUnman;
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BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot);
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}
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public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
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{
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BulletShapeUnman shapeu = shape as BulletShapeUnman;
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return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
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}
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public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx)
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{
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BulletShapeUnman shapeu = shape as BulletShapeUnman;
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return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN);
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}
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public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape)
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{
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BulletShapeUnman shapeu = shape as BulletShapeUnman;
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BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman;
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BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr);
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}
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public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb)
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{
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BulletShapeUnman shapeu = pShape as BulletShapeUnman;
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BSAPICPP.UpdateChildTransform2(shapeu.ptr, childIndex, pos, rot, shouldRecalculateLocalAabb);
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}
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public override void RecalculateCompoundShapeLocalAabb(BulletShape shape)
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{
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BulletShapeUnman shapeu = shape as BulletShapeUnman;
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BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr);
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}
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public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman;
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return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.shapeType);
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}
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public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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BulletShapeUnman shapeu = shape as BulletShapeUnman;
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return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
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}
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public override CollisionObjectTypes GetBodyType(BulletBody obj)
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{
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BulletBodyUnman bodyu = obj as BulletBodyUnman;
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return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr);
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}
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public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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BulletShapeUnman shapeu = shape as BulletShapeUnman;
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return new BulletBodyUnman(id, BSAPICPP.CreateBodyFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
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}
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public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot)
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{
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BulletShapeUnman shapeu = shape as BulletShapeUnman;
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return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot));
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}
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public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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BulletShapeUnman shapeu = shape as BulletShapeUnman;
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return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot));
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}
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public override void DestroyObject(BulletWorld world, BulletBody obj)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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BulletBodyUnman bodyu = obj as BulletBodyUnman;
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BSAPICPP.DestroyObject2(worldu.ptr, bodyu.ptr);
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}
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// =====================================================================================
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// Terrain creation and helper routines
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public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin)
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{
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return new BulletShapeUnman(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE);
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}
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public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
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float scaleFactor, float collisionMargin)
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{
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return new BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin),
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BSPhysicsShapeType.SHAPE_TERRAIN);
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}
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// =====================================================================================
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// Constraint creation and helper routines
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public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
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Vector3 frame1loc, Quaternion frame1rot,
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Vector3 frame2loc, Quaternion frame2rot,
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bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
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BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
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return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot,
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frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
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}
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public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
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Vector3 joinPoint,
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bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
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{
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BulletWorldUnman worldu = world as BulletWorldUnman;
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BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman;
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BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman;
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return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr,
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joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
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}
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public override BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
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Vector3 frameInBloc, Quaternion frameInBrot,
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bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
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{
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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);
|
|
}
|
|
|
|
// =====================================================================================
|
|
// Raycast
|
|
public override SweepHit ConvexSweepTest2(BulletWorld world, BulletBody sweepObject, Vector3 from, Vector3 to, float margin)
|
|
{
|
|
BulletWorldUnman worldu = world as BulletWorldUnman;
|
|
BulletBodyUnman bodyu = sweepObject as BulletBodyUnman;
|
|
return BSAPICPP.ConvexSweepTest2(worldu.ptr, bodyu.ptr, from, to, margin);
|
|
}
|
|
|
|
public override RaycastHit RayTest2(BulletWorld world, Vector3 from, Vector3 to, uint filterGroup, uint filterMask)
|
|
{
|
|
BulletWorldUnman worldu = world as BulletWorldUnman;
|
|
return BSAPICPP.RayTest2(worldu.ptr, from, to, filterGroup, filterMask);
|
|
}
|
|
|
|
// =====================================================================================
|
|
// 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);
|
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void Activate2(IntPtr obj, bool forceActivation);
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool IsActive2(IntPtr obj);
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetRestitution2(IntPtr obj, float val);
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern float GetRestitution2(IntPtr obj);
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetFriction2(IntPtr obj, float val);
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern float GetFriction2(IntPtr obj);
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|
|
/* Haven't defined the type 'Transform'
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Transform GetWorldTransform2(IntPtr obj);
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void setWorldTransform2(IntPtr obj, Transform trans);
|
|
*/
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|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetPosition2(IntPtr obj);
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Quaternion GetOrientation2(IntPtr obj);
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
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|
|
/*
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
|
|
*/
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern float GetHitFraction2(IntPtr obj);
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetHitFraction2(IntPtr obj, float val);
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
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|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
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|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern float GetCcdMotionThreshold2(IntPtr obj);
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
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|
|
|
[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);
|
|
|
|
|
|
// =====================================================================================
|
|
// Raycast
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern SweepHit ConvexSweepTest2(IntPtr sim, IntPtr obj, Vector3 from, Vector3 to, float margin);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern RaycastHit RayTest2(IntPtr sim, Vector3 from, Vector3 to, uint filterGroup, uint filterMask);
|
|
|
|
// =====================================================================================
|
|
// 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);
|
|
|
|
}
|
|
}
|
|
}
|