172 lines
7.2 KiB
C#
172 lines
7.2 KiB
C#
|
/*
|
||
|
|
Copyright (c) 2011, Intel Corporation
|
||
|
|
All rights reserved.
|
||
|
|
|
||
|
|
Redistribution and use in source and binary forms, with or without modification, are
|
||
|
|
permitted provided that the following conditions are met:
|
||
|
|
|
||
|
|
* Redistributions of source code must retain the above copyright notice, this list
|
||
|
|
of conditions and the following disclaimer.
|
||
|
|
* Redistributions in binary form must reproduce the above copyright notice, this
|
||
|
|
list of conditions and the following disclaimer in the documentation and/or other
|
||
|
|
materials provided with the distribution.
|
||
|
|
* Neither the name of Intel Corporation nor the names of its contributors may be
|
||
|
|
used to endorse or promote products derived from this software without specific
|
||
|
|
prior written permission.
|
||
|
|
|
||
|
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
|
||
|
|
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
|
||
|
|
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
|
||
|
|
SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||
|
|
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
|
||
|
|
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
|
||
|
|
HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||
|
|
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||
|
|
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
*/
|
||
|
|
|
||
|
|
using System;
|
||
|
|
using System.Runtime.InteropServices;
|
||
|
|
using System.Security;
|
||
|
|
using System.Text;
|
||
|
|
using OpenMetaverse;
|
||
|
|
|
||
|
|
namespace OpenSim.Region.Physics.BulletSPlugin {
|
||
|
|
|
||
|
|
public struct ConvexHull
|
||
|
|
{
|
||
|
|
Vector3 Offset;
|
||
|
|
int VertexCount;
|
||
|
|
Vector3[] Vertices;
|
||
|
|
}
|
||
|
|
public struct ShapeData
|
||
|
|
{
|
||
|
|
public enum PhysicsShapeType
|
||
|
|
{
|
||
|
|
SHAPE_AVATAR = 0,
|
||
|
|
SHAPE_BOX = 1,
|
||
|
|
SHAPE_CONE = 2,
|
||
|
|
SHAPE_CYLINDER = 3,
|
||
|
|
SHAPE_SPHERE = 4,
|
||
|
|
SHAPE_HULL = 5
|
||
|
|
};
|
||
|
|
public const int numericTrue = 1;
|
||
|
|
public const int numericFalse = 0;
|
||
|
|
public uint ID;
|
||
|
|
public PhysicsShapeType Type;
|
||
|
|
public Vector3 Position;
|
||
|
|
public Quaternion Rotation;
|
||
|
|
public Vector3 Velocity;
|
||
|
|
public Vector3 Scale;
|
||
|
|
public float Mass;
|
||
|
|
public System.UInt64 MeshKey;
|
||
|
|
public int Collidable;
|
||
|
|
public int Flying;
|
||
|
|
public float Friction;
|
||
|
|
public int Dynamic;
|
||
|
|
// note that bools are passed as ints since bool size changes by language
|
||
|
|
}
|
||
|
|
public struct SweepHit
|
||
|
|
{
|
||
|
|
public uint ID;
|
||
|
|
public float Fraction;
|
||
|
|
public Vector3 Normal;
|
||
|
|
public Vector3 Point;
|
||
|
|
}
|
||
|
|
public struct RaycastHit
|
||
|
|
{
|
||
|
|
public uint ID;
|
||
|
|
public float Fraction;
|
||
|
|
public Vector3 Normal;
|
||
|
|
}
|
||
|
|
|
||
|
|
public struct EntityProperties
|
||
|
|
{
|
||
|
|
public uint ID;
|
||
|
|
public Vector3 Position;
|
||
|
|
public Quaternion Rotation;
|
||
|
|
public Vector3 Velocity;
|
||
|
|
public Vector3 Acceleration;
|
||
|
|
public Vector3 AngularVelocity;
|
||
|
|
}
|
||
|
|
|
||
|
|
static class BulletSimAPI {
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern uint Initialize(Vector3 maxPosition);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern void Shutdown(uint worldID);
|
||
|
|
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
|
||
|
|
out int updatedEntityCount,
|
||
|
|
out IntPtr updatedEntitiesPtr,
|
||
|
|
out int collidersCount,
|
||
|
|
out IntPtr collidersPtr);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, int hullCount,
|
||
|
|
[MarshalAs(UnmanagedType.LPArray)] float[] hulls
|
||
|
|
);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern bool CreateObject(uint worldID, ShapeData shapeData);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern bool SetObjectFlying(uint worldID, uint id, bool flying);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern bool HasObject(uint worldID, uint id);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern bool DestroyObject(uint worldID, uint id);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to);
|
||
|
|
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
|
||
|
|
|
||
|
|
// Log a debug message
|
||
|
|
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
|
||
|
|
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
|
||
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||
|
|
public static extern void SetDebugLogCallback(DebugLogCallback callback);
|
||
|
|
}
|
||
|
|
}
|