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Merge branch 'master' into careminster

avinationmerge
Melanie 2012-11-19 22:53:03 +00:00
parent 7ad082f7c3 6c961d8add
commit 9f2d232c71
10 changed files with 220 additions and 352 deletions
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8
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -78,8 +78,8 @@ public sealed class BSCharacter : BSPhysObject
private float _PIDHoverTao; private float _PIDHoverTao;
public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) 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; _physicsActorType = (int)ActorTypes.Agent;
_position = pos; _position = pos;
_size = size; _size = size;
@ -131,6 +131,10 @@ public sealed class BSCharacter : BSPhysObject
// Set the velocity and compute the proper friction // Set the velocity and compute the proper friction
ForceVelocity = _velocity; 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.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution);
BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
@ -615,7 +619,7 @@ public sealed class BSCharacter : BSPhysObject
newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
// From the total height, remove the capsule half spheres that are at each end // 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; Scale = newScale;
} }

5
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
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@ -47,7 +47,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
*/ */
public abstract class BSPhysObject : PhysicsActor 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; PhysicsScene = parentScene;
LocalID = localID; LocalID = localID;

2
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -88,9 +88,9 @@ public sealed class BSPrim : BSPhysObject
public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) 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); // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
base.BaseInitialize(parent_scene, localID, primName, "BSPrim");
_physicsActorType = (int)ActorTypes.Prim; _physicsActorType = (int)ActorTypes.Prim;
_position = pos; _position = pos;
_size = size; _size = size;

2
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -683,7 +683,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
#region Taints #region Taints
// Calls to the PhysicsActors can't directly call into the physics engine // 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. // We rely on C#'s closure to save and restore the context for the delegate.
public void TaintedObject(String ident, TaintCallback callback) public void TaintedObject(String ident, TaintCallback callback)
{ {

421
OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
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@ -1,213 +1,208 @@
/* /*
* Copyright (c) Contributors, http://opensimulator.org/ * Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders. * See CONTRIBUTORS.TXT for a full list of copyright holders.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met: * modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright * * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer. * notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyrightD * * Redistributions in binary form must reproduce the above copyrightD
* notice, this list of conditions and the following disclaimer in the * notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution. * documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the * * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products * names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission. * derived from this software without specific prior written permission.
* *
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * 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 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
namespace OpenSim.Region.Physics.BulletSPlugin namespace OpenSim.Region.Physics.BulletSPlugin
{ {
public abstract class BSShape public abstract class BSShape
{ {
public IntPtr ptr { get; set; } public IntPtr ptr { get; set; }
public ShapeData.PhysicsShapeType type { get; set; } public ShapeData.PhysicsShapeType type { get; set; }
public System.UInt64 key { get; set; } public System.UInt64 key { get; set; }
public int referenceCount { get; set; } public int referenceCount { get; set; }
public DateTime lastReferenced { get; set; } public DateTime lastReferenced { get; set; }
protected void Initialize() public BSShape()
{ {
ptr = IntPtr.Zero; ptr = IntPtr.Zero;
type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
key = 0; key = 0;
referenceCount = 0; referenceCount = 0;
lastReferenced = DateTime.Now; lastReferenced = DateTime.Now;
} }
// Get a reference to a physical shape. Create if it doesn't exist // Get a reference to a physical shape. Create if it doesn't exist
public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{ {
BSShape ret = null; BSShape ret = null;
if (prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR) if (prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
{ {
// an avatar capsule is close to a native shape (it is not shared) // an avatar capsule is close to a native shape (it is not shared)
ret = BSShapeNative.GetReference(physicsScene, prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR, ret = BSShapeNative.GetReference(physicsScene, prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
ShapeData.FixedShapeKey.KEY_CAPSULE); ShapeData.FixedShapeKey.KEY_CAPSULE);
physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret); physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
} }
// Compound shapes are handled special as they are rebuilt from scratch. // 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. // 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) 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 // Getting a reference to a compound shape gets you the compound shape with the root prim shape added
ret = BSShapeCompound.GetReference(prim); ret = BSShapeCompound.GetReference(prim);
physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret); physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
} }
if (ret == null) if (ret == null)
ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim); ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
return ret; return ret;
} }
public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{ {
return null; return null;
} }
public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{ {
return null; return null;
} }
// Release the use of a physical shape. // Release the use of a physical shape.
public abstract void Dereference(BSScene physicsScene); public abstract void Dereference(BSScene physicsScene);
// All shapes have a static call to get a reference to the physical shape // All shapes have a static call to get a reference to the physical shape
// protected abstract static BSShape GetReference(); // protected abstract static BSShape GetReference();
public override string ToString() public override string ToString()
{ {
StringBuilder buff = new StringBuilder(); StringBuilder buff = new StringBuilder();
buff.Append("<p="); buff.Append("<p=");
buff.Append(ptr.ToString("X")); buff.Append(ptr.ToString("X"));
buff.Append(",s="); buff.Append(",s=");
buff.Append(type.ToString()); buff.Append(type.ToString());
buff.Append(",k="); buff.Append(",k=");
buff.Append(key.ToString("X")); buff.Append(key.ToString("X"));
buff.Append(",c="); buff.Append(",c=");
buff.Append(referenceCount.ToString()); buff.Append(referenceCount.ToString());
buff.Append(">"); buff.Append(">");
return buff.ToString(); return buff.ToString();
} }
} }
public class BSShapeNull : BSShape public class BSShapeNull : BSShape
{ {
public BSShapeNull() public BSShapeNull() : base()
{ {
base.Initialize(); }
} public static BSShape GetReference() { return new BSShapeNull(); }
public static BSShape GetReference() { return new BSShapeNull(); } public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ } }
}
public class BSShapeNative : BSShape
public class BSShapeNative : BSShape {
{ private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
private static string LogHeader = "[BULLETSIM SHAPE NATIVE]"; public BSShapeNative() : base()
public BSShapeNative() {
{ }
base.Initialize(); public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
} ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey)
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);
// 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)
private BSShapeNative(BSScene physicsScene, BSPhysObject prim, {
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) ShapeData nativeShapeData = new ShapeData();
{ nativeShapeData.Type = shapeType;
ShapeData nativeShapeData = new ShapeData(); nativeShapeData.ID = prim.LocalID;
nativeShapeData.Type = shapeType; nativeShapeData.Scale = prim.Scale;
nativeShapeData.ID = prim.LocalID; nativeShapeData.Size = prim.Scale;
nativeShapeData.Scale = prim.Scale; nativeShapeData.MeshKey = (ulong)shapeKey;
nativeShapeData.Size = prim.Scale; nativeShapeData.HullKey = (ulong)shapeKey;
nativeShapeData.MeshKey = (ulong)shapeKey;
nativeShapeData.HullKey = (ulong)shapeKey;
if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
{
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);
ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); }
physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); else
} {
else ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData);
{ }
ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData); if (ptr == IntPtr.Zero)
} {
if (ptr == IntPtr.Zero) physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
{ LogHeader, prim.LocalID, shapeType);
physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", }
LogHeader, prim.LocalID, shapeType); type = shapeType;
} key = (UInt64)shapeKey;
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)
// 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);
// Native shapes are not tracked and are released immediately BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr);
physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); ptr = IntPtr.Zero;
BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr); // Garbage collection will free up this instance.
ptr = IntPtr.Zero; }
// Garbage collection will free up this instance. }
}
} public class BSShapeMesh : BSShape
{
public class BSShapeMesh : BSShape private static string LogHeader = "[BULLETSIM SHAPE MESH]";
{ private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
private static string LogHeader = "[BULLETSIM SHAPE MESH]";
private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>(); public BSShapeMesh() : base()
{
public BSShapeMesh() }
{ public static BSShape GetReference() { return new BSShapeNull(); }
base.Initialize(); public override void Dereference(BSScene physicsScene) { }
} }
public static BSShape GetReference() { return new BSShapeNull(); }
public override void Dereference(BSScene physicsScene) { } public class BSShapeHull : BSShape
} {
private static string LogHeader = "[BULLETSIM SHAPE HULL]";
public class BSShapeHull : BSShape private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
{
private static string LogHeader = "[BULLETSIM SHAPE HULL]"; public BSShapeHull() : base()
private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>(); {
}
public BSShapeHull() public static BSShape GetReference() { return new BSShapeNull(); }
{ public override void Dereference(BSScene physicsScene) { }
base.Initialize(); }
}
public static BSShape GetReference() { return new BSShapeNull(); } public class BSShapeCompound : BSShape
public override void Dereference(BSScene physicsScene) { } {
} private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
public BSShapeCompound() : base()
public class BSShapeCompound : BSShape {
{ }
private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; public static BSShape GetReference(BSPhysObject prim)
public BSShapeCompound() {
{ return new BSShapeNull();
base.Initialize(); }
} public override void Dereference(BSScene physicsScene) { }
public static BSShape GetReference(BSPhysObject prim) }
{ }
return new BSShapeNull();
}
public override void Dereference(BSScene physicsScene) { }
}
}

134
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@ -429,140 +429,6 @@ static class BulletSimAPI {
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); 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 // Initialization and simulation
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

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