diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index f33c12452b..3c48dcca45 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -78,8 +78,8 @@ public sealed class BSCharacter : BSPhysObject private float _PIDHoverTao; public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) + : base(parent_scene, localID, avName, "BSCharacter") { - base.BaseInitialize(parent_scene, localID, avName, "BSCharacter"); _physicsActorType = (int)ActorTypes.Agent; _position = pos; _size = size; @@ -131,6 +131,10 @@ public sealed class BSCharacter : BSPhysObject // Set the velocity and compute the proper friction ForceVelocity = _velocity; + // This will enable or disable the flying buoyancy of the avatar. + // Needs to be reset especially when an avatar is recreated after crossing a region boundry. + Flying = _flying; + BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution); BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); @@ -615,7 +619,7 @@ public sealed class BSCharacter : BSPhysObject newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; // From the total height, remove the capsule half spheres that are at each end - newScale.Z = size.Z- (newScale.X + newScale.Y); + newScale.Z = size.Z - (newScale.X + newScale.Y); Scale = newScale; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index e80307204e..991e5b1ebe 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -47,7 +47,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin */ public abstract class BSPhysObject : PhysicsActor { - protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName) + protected BSPhysObject() + { + } + protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) { PhysicsScene = parentScene; LocalID = localID; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 14eb505193..500c84acbc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -88,9 +88,9 @@ public sealed class BSPrim : BSPhysObject public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) + : base(parent_scene, localID, primName, "BSPrim") { // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); - base.BaseInitialize(parent_scene, localID, primName, "BSPrim"); _physicsActorType = (int)ActorTypes.Prim; _position = pos; _size = size; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 1cc607a83e..2fee95e1a2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -683,7 +683,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #region Taints // Calls to the PhysicsActors can't directly call into the physics engine - // because it might be busy. We delay changes to a known time. + // because it might be busy. We delay changes to a known time. // We rely on C#'s closure to save and restore the context for the delegate. public void TaintedObject(String ident, TaintCallback callback) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 5e2c4a8392..d59a486b69 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -1,213 +1,208 @@ -/* - * 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; } - - protected void Initialize() - { - 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(""); - return buff.ToString(); - } -} - -public class BSShapeNull : BSShape -{ - public BSShapeNull() - { - base.Initialize(); - } - 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.Initialize(); - } - 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 Meshes = new Dictionary(); - - public BSShapeMesh() - { - base.Initialize(); - } - 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 Hulls = new Dictionary(); - - 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(""); + 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 Meshes = new Dictionary(); + + 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 Hulls = new Dictionary(); + + 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) { } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 07149d8c6a..28fae13827 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -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] diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll index 51526a70b5..9c8cf005f9 100755 Binary files a/bin/lib32/BulletSim.dll and b/bin/lib32/BulletSim.dll differ diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so index 8bb9d10257..0277cf1c1c 100755 Binary files a/bin/lib32/libBulletSim.so and b/bin/lib32/libBulletSim.so differ diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll index 1a07d6af84..5675ff3bcf 100755 Binary files a/bin/lib64/BulletSim.dll and b/bin/lib64/BulletSim.dll differ diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so index bbdd3800c6..49396a82dc 100755 Binary files a/bin/lib64/libBulletSim.so and b/bin/lib64/libBulletSim.so differ