Merge branch 'master' into careminster
Melanie
commit
9f2d232c71
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@ -78,8 +78,8 @@ public sealed class BSCharacter : BSPhysObject
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private float _PIDHoverTao;
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public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
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: base(parent_scene, localID, avName, "BSCharacter")
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{
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base.BaseInitialize(parent_scene, localID, avName, "BSCharacter");
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_physicsActorType = (int)ActorTypes.Agent;
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_position = pos;
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_size = size;
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@ -131,6 +131,10 @@ public sealed class BSCharacter : BSPhysObject
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// Set the velocity and compute the proper friction
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ForceVelocity = _velocity;
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// This will enable or disable the flying buoyancy of the avatar.
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// Needs to be reset especially when an avatar is recreated after crossing a region boundry.
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Flying = _flying;
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BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution);
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BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
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BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
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@ -615,7 +619,7 @@ public sealed class BSCharacter : BSPhysObject
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newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
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// From the total height, remove the capsule half spheres that are at each end
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newScale.Z = size.Z- (newScale.X + newScale.Y);
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newScale.Z = size.Z - (newScale.X + newScale.Y);
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Scale = newScale;
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}
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@ -47,7 +47,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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*/
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public abstract class BSPhysObject : PhysicsActor
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{
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protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName)
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protected BSPhysObject()
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{
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}
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protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
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{
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PhysicsScene = parentScene;
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LocalID = localID;
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@ -88,9 +88,9 @@ public sealed class BSPrim : BSPhysObject
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public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
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OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
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: base(parent_scene, localID, primName, "BSPrim")
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{
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// m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
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base.BaseInitialize(parent_scene, localID, primName, "BSPrim");
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_physicsActorType = (int)ActorTypes.Prim;
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_position = pos;
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_size = size;
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@ -683,7 +683,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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#region Taints
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// Calls to the PhysicsActors can't directly call into the physics engine
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// because it might be busy. We delay changes to a known time.
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// because it might be busy. We delay changes to a known time.
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// We rely on C#'s closure to save and restore the context for the delegate.
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public void TaintedObject(String ident, TaintCallback callback)
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{
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@ -1,213 +1,208 @@
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/*
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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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||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above copyrightD
|
||||
* notice, this list of conditions and the following disclaimer in the
|
||||
* documentation and/or other materials provided with the distribution.
|
||||
* * Neither the name of the OpenSimulator Project nor the
|
||||
* names of its contributors may be used to endorse or promote products
|
||||
* derived from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
|
||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
||||
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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||||
*/
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||||
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public abstract class BSShape
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{
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public IntPtr ptr { get; set; }
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public ShapeData.PhysicsShapeType type { get; set; }
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||||
public System.UInt64 key { get; set; }
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public int referenceCount { get; set; }
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public DateTime lastReferenced { get; set; }
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||||
|
||||
protected void Initialize()
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||||
{
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||||
ptr = IntPtr.Zero;
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||||
type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
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key = 0;
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||||
referenceCount = 0;
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lastReferenced = DateTime.Now;
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||||
}
|
||||
|
||||
// Get a reference to a physical shape. Create if it doesn't exist
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public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
|
||||
{
|
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BSShape ret = null;
|
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|
||||
if (prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
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{
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// an avatar capsule is close to a native shape (it is not shared)
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ret = BSShapeNative.GetReference(physicsScene, prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
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ShapeData.FixedShapeKey.KEY_CAPSULE);
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physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
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}
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// Compound shapes are handled special as they are rebuilt from scratch.
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// This isn't too great a hardship since most of the child shapes will already been created.
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if (ret == null && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND)
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{
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// Getting a reference to a compound shape gets you the compound shape with the root prim shape added
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ret = BSShapeCompound.GetReference(prim);
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physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
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}
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if (ret == null)
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ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
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return ret;
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}
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public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
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{
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return null;
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}
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public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
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{
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return null;
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}
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// Release the use of a physical shape.
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public abstract void Dereference(BSScene physicsScene);
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// All shapes have a static call to get a reference to the physical shape
|
||||
// protected abstract static BSShape GetReference();
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||||
|
||||
public override string ToString()
|
||||
{
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||||
StringBuilder buff = new StringBuilder();
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||||
buff.Append("<p=");
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||||
buff.Append(ptr.ToString("X"));
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||||
buff.Append(",s=");
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||||
buff.Append(type.ToString());
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||||
buff.Append(",k=");
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||||
buff.Append(key.ToString("X"));
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||||
buff.Append(",c=");
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||||
buff.Append(referenceCount.ToString());
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buff.Append(">");
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return buff.ToString();
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}
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}
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||||
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public class BSShapeNull : BSShape
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{
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public BSShapeNull()
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{
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base.Initialize();
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||||
}
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||||
public static BSShape GetReference() { return new BSShapeNull(); }
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||||
public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
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||||
}
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public class BSShapeNative : BSShape
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{
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private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
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public BSShapeNative()
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{
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base.Initialize();
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}
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public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
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ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey)
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{
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// Native shapes are not shared and are always built anew.
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return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
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}
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private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
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ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey)
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{
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ShapeData nativeShapeData = new ShapeData();
|
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nativeShapeData.Type = shapeType;
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nativeShapeData.ID = prim.LocalID;
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nativeShapeData.Scale = prim.Scale;
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nativeShapeData.Size = prim.Scale;
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nativeShapeData.MeshKey = (ulong)shapeKey;
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nativeShapeData.HullKey = (ulong)shapeKey;
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|
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|
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if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
|
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{
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ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
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physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
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}
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else
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{
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ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData);
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}
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if (ptr == IntPtr.Zero)
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{
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physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
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LogHeader, prim.LocalID, shapeType);
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}
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type = shapeType;
|
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key = (UInt64)shapeKey;
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}
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// Make this reference to the physical shape go away since native shapes are not shared.
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public override void Dereference(BSScene physicsScene)
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{
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// Native shapes are not tracked and are released immediately
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physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
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BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr);
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ptr = IntPtr.Zero;
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// Garbage collection will free up this instance.
|
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}
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||||
}
|
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public class BSShapeMesh : BSShape
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{
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private static string LogHeader = "[BULLETSIM SHAPE MESH]";
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private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
|
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|
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public BSShapeMesh()
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{
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base.Initialize();
|
||||
}
|
||||
public static BSShape GetReference() { return new BSShapeNull(); }
|
||||
public override void Dereference(BSScene physicsScene) { }
|
||||
}
|
||||
|
||||
public class BSShapeHull : BSShape
|
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{
|
||||
private static string LogHeader = "[BULLETSIM SHAPE HULL]";
|
||||
private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
|
||||
|
||||
public BSShapeHull()
|
||||
{
|
||||
base.Initialize();
|
||||
}
|
||||
public static BSShape GetReference() { return new BSShapeNull(); }
|
||||
public override void Dereference(BSScene physicsScene) { }
|
||||
}
|
||||
|
||||
public class BSShapeCompound : BSShape
|
||||
{
|
||||
private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
|
||||
public BSShapeCompound()
|
||||
{
|
||||
base.Initialize();
|
||||
}
|
||||
public static BSShape GetReference(BSPhysObject prim)
|
||||
{
|
||||
return new BSShapeNull();
|
||||
}
|
||||
public override void Dereference(BSScene physicsScene) { }
|
||||
}
|
||||
}
|
||||
/*
|
||||
* Copyright (c) Contributors, http://opensimulator.org/
|
||||
* See CONTRIBUTORS.TXT for a full list of copyright holders.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above copyrightD
|
||||
* notice, this list of conditions and the following disclaimer in the
|
||||
* documentation and/or other materials provided with the distribution.
|
||||
* * Neither the name of the OpenSimulator Project nor the
|
||||
* names of its contributors may be used to endorse or promote products
|
||||
* derived from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
|
||||
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
|
||||
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
|
||||
namespace OpenSim.Region.Physics.BulletSPlugin
|
||||
{
|
||||
public abstract class BSShape
|
||||
{
|
||||
public IntPtr ptr { get; set; }
|
||||
public ShapeData.PhysicsShapeType type { get; set; }
|
||||
public System.UInt64 key { get; set; }
|
||||
public int referenceCount { get; set; }
|
||||
public DateTime lastReferenced { get; set; }
|
||||
|
||||
public BSShape()
|
||||
{
|
||||
ptr = IntPtr.Zero;
|
||||
type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
|
||||
key = 0;
|
||||
referenceCount = 0;
|
||||
lastReferenced = DateTime.Now;
|
||||
}
|
||||
|
||||
// Get a reference to a physical shape. Create if it doesn't exist
|
||||
public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
|
||||
{
|
||||
BSShape ret = null;
|
||||
|
||||
if (prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
|
||||
{
|
||||
// an avatar capsule is close to a native shape (it is not shared)
|
||||
ret = BSShapeNative.GetReference(physicsScene, prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
|
||||
ShapeData.FixedShapeKey.KEY_CAPSULE);
|
||||
physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
|
||||
}
|
||||
|
||||
// Compound shapes are handled special as they are rebuilt from scratch.
|
||||
// This isn't too great a hardship since most of the child shapes will already been created.
|
||||
if (ret == null && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND)
|
||||
{
|
||||
// Getting a reference to a compound shape gets you the compound shape with the root prim shape added
|
||||
ret = BSShapeCompound.GetReference(prim);
|
||||
physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
|
||||
}
|
||||
|
||||
if (ret == null)
|
||||
ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
|
||||
|
||||
return ret;
|
||||
}
|
||||
public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
|
||||
{
|
||||
return null;
|
||||
}
|
||||
public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
|
||||
{
|
||||
return null;
|
||||
}
|
||||
|
||||
// Release the use of a physical shape.
|
||||
public abstract void Dereference(BSScene physicsScene);
|
||||
|
||||
// All shapes have a static call to get a reference to the physical shape
|
||||
// protected abstract static BSShape GetReference();
|
||||
|
||||
public override string ToString()
|
||||
{
|
||||
StringBuilder buff = new StringBuilder();
|
||||
buff.Append("<p=");
|
||||
buff.Append(ptr.ToString("X"));
|
||||
buff.Append(",s=");
|
||||
buff.Append(type.ToString());
|
||||
buff.Append(",k=");
|
||||
buff.Append(key.ToString("X"));
|
||||
buff.Append(",c=");
|
||||
buff.Append(referenceCount.ToString());
|
||||
buff.Append(">");
|
||||
return buff.ToString();
|
||||
}
|
||||
}
|
||||
|
||||
public class BSShapeNull : BSShape
|
||||
{
|
||||
public BSShapeNull() : base()
|
||||
{
|
||||
}
|
||||
public static BSShape GetReference() { return new BSShapeNull(); }
|
||||
public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
|
||||
}
|
||||
|
||||
public class BSShapeNative : BSShape
|
||||
{
|
||||
private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
|
||||
public BSShapeNative() : base()
|
||||
{
|
||||
}
|
||||
public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
|
||||
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey)
|
||||
{
|
||||
// Native shapes are not shared and are always built anew.
|
||||
return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
|
||||
}
|
||||
|
||||
private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
|
||||
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey)
|
||||
{
|
||||
ShapeData nativeShapeData = new ShapeData();
|
||||
nativeShapeData.Type = shapeType;
|
||||
nativeShapeData.ID = prim.LocalID;
|
||||
nativeShapeData.Scale = prim.Scale;
|
||||
nativeShapeData.Size = prim.Scale;
|
||||
nativeShapeData.MeshKey = (ulong)shapeKey;
|
||||
nativeShapeData.HullKey = (ulong)shapeKey;
|
||||
|
||||
|
||||
if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
|
||||
{
|
||||
ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
|
||||
physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
|
||||
}
|
||||
else
|
||||
{
|
||||
ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData);
|
||||
}
|
||||
if (ptr == IntPtr.Zero)
|
||||
{
|
||||
physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
|
||||
LogHeader, prim.LocalID, shapeType);
|
||||
}
|
||||
type = shapeType;
|
||||
key = (UInt64)shapeKey;
|
||||
}
|
||||
// Make this reference to the physical shape go away since native shapes are not shared.
|
||||
public override void Dereference(BSScene physicsScene)
|
||||
{
|
||||
// Native shapes are not tracked and are released immediately
|
||||
physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
|
||||
BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr);
|
||||
ptr = IntPtr.Zero;
|
||||
// Garbage collection will free up this instance.
|
||||
}
|
||||
}
|
||||
|
||||
public class BSShapeMesh : BSShape
|
||||
{
|
||||
private static string LogHeader = "[BULLETSIM SHAPE MESH]";
|
||||
private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
|
||||
|
||||
public BSShapeMesh() : base()
|
||||
{
|
||||
}
|
||||
public static BSShape GetReference() { return new BSShapeNull(); }
|
||||
public override void Dereference(BSScene physicsScene) { }
|
||||
}
|
||||
|
||||
public class BSShapeHull : BSShape
|
||||
{
|
||||
private static string LogHeader = "[BULLETSIM SHAPE HULL]";
|
||||
private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
|
||||
|
||||
public BSShapeHull() : base()
|
||||
{
|
||||
}
|
||||
public static BSShape GetReference() { return new BSShapeNull(); }
|
||||
public override void Dereference(BSScene physicsScene) { }
|
||||
}
|
||||
|
||||
public class BSShapeCompound : BSShape
|
||||
{
|
||||
private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
|
||||
public BSShapeCompound() : base()
|
||||
{
|
||||
}
|
||||
public static BSShape GetReference(BSPhysObject prim)
|
||||
{
|
||||
return new BSShapeNull();
|
||||
}
|
||||
public override void Dereference(BSScene physicsScene) { }
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -429,140 +429,6 @@ static class BulletSimAPI {
|
|||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
|
||||
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.LPStr)]
|
||||
public static extern string GetVersion();
|
||||
|
||||
/* Remove the linkage to the old api methods
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
|
||||
int maxCollisions, IntPtr collisionArray,
|
||||
int maxUpdates, IntPtr updateArray,
|
||||
DebugLogCallback logRoutine);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void Shutdown(uint worldID);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool UpdateParameter(uint worldID, uint localID,
|
||||
[MarshalAs(UnmanagedType.LPStr)]string paramCode, float value);
|
||||
|
||||
// ===============================================================================
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
|
||||
out int updatedEntityCount,
|
||||
out IntPtr updatedEntitiesPtr,
|
||||
out int collidersCount,
|
||||
out IntPtr collidersPtr);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
|
||||
int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
|
||||
);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
|
||||
int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
|
||||
int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
|
||||
);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool CreateObject(uint worldID, ShapeData shapeData);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Quaternion GetObjectOrientation(uint WorldID, uint id);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
|
||||
|
||||
// Set the current force acting on the object
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool HasObject(uint worldID, uint id);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool DestroyObject(uint worldID, uint id);
|
||||
|
||||
// ===============================================================================
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
|
||||
|
||||
// ===============================================================================
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void DumpBulletStatistics();
|
||||
*/
|
||||
// Log a debug message
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetDebugLogCallback(DebugLogCallback callback);
|
||||
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// ===============================================================================
|
||||
// A new version of the API that enables moving all the logic out of the C++ code and into
|
||||
// the C# code. This will make modifications easier for the next person.
|
||||
// This interface passes the actual pointers to the objects in the unmanaged
|
||||
// address space. All the management (calls for creation/destruction/lookup)
|
||||
// is done in the C# code.
|
||||
// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt
|
||||
// and the old code is removed.
|
||||
|
||||
// Functions use while converting from API1 to API2. Can be removed when totally converted.
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr GetSimHandle2(uint worldID);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
|
||||
|
||||
// ===============================================================================
|
||||
// Initialization and simulation
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
|
|
|
|||
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Reference in New Issue