BulletSim: add all the new functions to BulletSimAPI.
Modify ZeroMotion() to not make tainting calls and to use new API calls.0.7.4.1
Robert Adams
parent
73f9e14b43
commit
85c6eb7c50
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@ -324,11 +324,20 @@ public sealed class BSPrim : PhysicsActor
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// Set motion values to zero.
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// Do it to the properties so the values get set in the physics engine.
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// Push the setting of the values to the viewer.
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// Called at taint time!
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private void ZeroMotion()
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{
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Velocity = OMV.Vector3.Zero;
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_velocity = OMV.Vector3.Zero;
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_acceleration = OMV.Vector3.Zero;
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RotationalVelocity = OMV.Vector3.Zero;
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_rotationalVelocity = OMV.Vector3.Zero;
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IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID);
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BulletSimAPI.SetVelocity2(obj, OMV.Vector3.Zero);
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BulletSimAPI.SetAngularVelocity2(obj, OMV.Vector3.Zero);
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BulletSimAPI.SetInterpolation2(obj, OMV.Vector3.Zero, OMV.Vector3.Zero);
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BulletSimAPI.ClearForces2(obj);
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// make sure this new information is pushed to the client
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base.RequestPhysicsterseUpdate();
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}
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@ -291,13 +291,14 @@ public static extern void SetDebugLogCallback(DebugLogCallback callback);
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// ===============================================================================
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// ===============================================================================
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// ===============================================================================
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// A new version of the API that moves all the logic out of the C++ code and into
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// A new version of the API that enables moving all the logic out of the C++ code and into
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// the C# code. This will make modifications easier for the next person.
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// This interface passes the actual pointers to the objects in the unmanaged
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// address space. All the management (calls for creation/destruction/lookup)
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// is done in the C# code.
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// The names have a 2 tacked on. This will be removed as the code gets rebuilt
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// and the old code is removed from the C# code.
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// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt
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// and the old code is removed.
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr GetSimHandle2(uint worldID);
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@ -307,8 +308,101 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id);
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// ===============================================================================
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr ClearForces2(IntPtr obj);
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public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
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int maxCollisions, IntPtr collisionArray,
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int maxUpdates, IntPtr updateArray);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool UpdateParameter2(IntPtr sim, uint localID, String parm, float value);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetHeightmap2(IntPtr sim, float[] heightmap);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void Shutdown2(IntPtr sim);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern int PhysicsStep2(IntPtr sim, float timeStep, int maxSubSteps, float fixedTimeStep,
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out int updatedEntityCount,
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out IntPtr updatedEntitiesPtr,
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out int collidersCount,
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out IntPtr collidersPtr);
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/*
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateMesh2(IntPtr sim, int indicesCount, int* indices, int verticesCount, float* vertices );
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool BuildHull2(IntPtr sim, IntPtr mesh);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool ReleaseHull2(IntPtr sim, IntPtr mesh);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DestroyMesh2(IntPtr sim, IntPtr mesh);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData);
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*/
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2,
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Vector3 frame1loc, Quaternion frame1rot,
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Vector3 frame2loc, Quaternion frame2rot,
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Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetPosition2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Quaternion GetOrientation2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectForce2(IntPtr obj, Vector3 force);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetDeactivationTime2(IntPtr obj, float val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetFriction2(IntPtr obj, float val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetRestitution2(IntPtr obj, float val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags);
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@ -319,5 +413,35 @@ public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool UpdateInertiaTensor2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetGravity2(IntPtr obj, Vector3 val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr ClearForces2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetMargin2(IntPtr obj, float val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DestroyObject2(IntPtr world, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void DumpPhysicsStatistics2(IntPtr sim);
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}
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}
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