Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Justin Clark-Casey (justincc)
commit
fa3edcf55c
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@ -73,7 +73,8 @@ public class BSCharacter : BSPhysObject
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private bool _kinematic;
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private float _buoyancy;
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public override BulletBody Body { get; set; }
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public override BulletBody BSBody { get; set; }
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public override BulletShape BSShape { get; set; }
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public override BSLinkset Linkset { get; set; }
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private int _subscribedEventsMs = 0;
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@ -92,6 +93,7 @@ public class BSCharacter : BSPhysObject
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_localID = localID;
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_avName = avName;
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Scene = parent_scene;
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_physicsActorType = (int)ActorTypes.Agent;
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_position = pos;
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_size = size;
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_flying = isFlying;
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@ -128,9 +130,9 @@ public class BSCharacter : BSPhysObject
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// Set the buoyancy for flying. This will be refactored when all the settings happen in C#
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BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
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Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID));
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BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID));
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// avatars get all collisions no matter what (makes walking on ground and such work)
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BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
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BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
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});
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return;
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@ -440,7 +442,7 @@ public class BSCharacter : BSPhysObject
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Scene.TaintedObject("BSCharacter.AddForce", delegate()
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{
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DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
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BulletSimAPI.AddObjectForce2(Body.Ptr, _force);
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BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force);
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});
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}
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else
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@ -465,7 +467,7 @@ public class BSCharacter : BSPhysObject
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Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate()
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{
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BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
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BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
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});
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}
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}
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@ -98,6 +98,10 @@ public abstract class BSConstraint : IDisposable
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{
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// m_world.scene.PhysicsLogging.Write("{0},BSConstraint.RecomputeConstraintVariables,taint,enabling,A={1},B={2}",
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// BSScene.DetailLogZero, Body1.ID, Body2.ID);
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// Setting an object's mass to zero (making it static like when it's selected)
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// automatically disables the constraints.
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// If enabled, be sure to set the constraint itself to enabled.
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BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true));
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}
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else
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@ -233,7 +233,7 @@ public class BSLinkset
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foreach (BSPhysObject child in m_children)
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{
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BSConstraint constrain;
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if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.Body, child.Body, out constrain))
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if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
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{
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// DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
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// LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
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@ -245,8 +245,8 @@ public class BSLinkset
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// their constraints have not been created yet.
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// Caused by the fact that m_children is built at run time but building constraints
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// happens at taint time.
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// m_physicsScene.Logger.ErrorFormat("[BULLETSIM LINKSET] RecomputeLinksetConstraintVariables: constraint not found for root={0}, child={1}",
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// m_linksetRoot.Body.ID, child.Body.ID);
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// m_physicsScene.Logger.ErrorFormat("{0} RecomputeLinksetConstraintVariables: constraint not found for root={1}, child={2}",
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// LogHeader, m_linksetRoot.Body.ID, child.Body.ID);
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}
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}
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}
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@ -327,7 +327,7 @@ public class BSLinkset
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DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}",
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rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint);
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BS6DofConstraint constrain = new BS6DofConstraint(
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m_physicsScene.World, rootPrim.Body, childPrim.Body,
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m_physicsScene.World, rootPrim.BSBody, childPrim.BSBody,
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midPoint,
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true,
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true
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@ -388,10 +388,10 @@ public class BSLinkset
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DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
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// Find the constraint for this link and get rid of it from the overall collection and from my list
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m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body);
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m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody);
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// Make the child refresh its location
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BulletSimAPI.PushUpdate2(childPrim.Body.Ptr);
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BulletSimAPI.PushUpdate2(childPrim.BSBody.Ptr);
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}
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// Remove linkage between myself and any possible children I might have
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@ -400,7 +400,7 @@ public class BSLinkset
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{
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DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
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m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body);
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m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
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}
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// Invoke the detailed logger and output something if it's enabled.
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@ -48,7 +48,11 @@ public abstract class BSPhysObject : PhysicsActor
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// Return the object mass without calculating it or side effects
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public abstract float MassRaw { get; }
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public abstract BulletBody Body { get; set; }
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// Reference to the physical body (btCollisionObject) of this object
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public abstract BulletBody BSBody { get; set; }
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// Reference to the physical shape (btCollisionShape) of this object
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public abstract BulletShape BSShape { get; set; }
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public abstract void ZeroMotion();
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public virtual void StepVehicle(float timeStep) { }
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@ -94,8 +94,10 @@ public sealed class BSPrim : BSPhysObject
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private int _nextCollisionOkTime = 0;
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long _collidingStep;
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long _collidingGroundStep;
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CollisionFlags m_currentCollisionFlags = 0;
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public override BulletBody Body { get; set; }
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public override BulletBody BSBody { get; set; }
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public override BulletShape BSShape { get; set; }
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private BSDynamics _vehicle;
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@ -113,6 +115,7 @@ public sealed class BSPrim : BSPhysObject
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// m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
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_localID = localID;
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_avName = primName;
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_physicsActorType = (int)ActorTypes.Prim;
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_scene = parent_scene;
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_position = pos;
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_size = size;
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@ -142,7 +145,9 @@ public sealed class BSPrim : BSPhysObject
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// Get the pointer to the physical body for this object.
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// At the moment, we're still letting BulletSim manage the creation and destruction
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// of the object. Someday we'll move that into the C# code.
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Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
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BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
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BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
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m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr);
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});
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}
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@ -258,10 +263,10 @@ public sealed class BSPrim : BSPhysObject
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_rotationalVelocity = OMV.Vector3.Zero;
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// Zero some other properties directly into the physics engine
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BulletSimAPI.SetVelocity2(Body.Ptr, OMV.Vector3.Zero);
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BulletSimAPI.SetAngularVelocity2(Body.Ptr, OMV.Vector3.Zero);
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BulletSimAPI.SetInterpolation2(Body.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
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BulletSimAPI.ClearForces2(Body.Ptr);
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BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
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BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
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BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
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BulletSimAPI.ClearForces2(BSBody.Ptr);
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}
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public override void LockAngularMotion(OMV.Vector3 axis)
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@ -324,7 +329,7 @@ public sealed class BSPrim : BSPhysObject
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{
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DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
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// BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
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BulletSimAPI.SetObjectForce2(Body.Ptr, _force);
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BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force);
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});
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}
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}
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@ -442,8 +447,7 @@ public sealed class BSPrim : BSPhysObject
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}
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public override int PhysicsActorType {
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get { return _physicsActorType; }
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set { _physicsActorType = value;
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}
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set { _physicsActorType = value; }
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}
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public override bool IsPhysical {
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get { return _isPhysical; }
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@ -470,6 +474,11 @@ public sealed class BSPrim : BSPhysObject
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// Make gravity work if the object is physical and not selected
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// No locking here because only called when it is safe
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// There are four flags we're interested in:
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// IsStatic: Object does not move, otherwise the object has mass and moves
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// isSolid: other objects bounce off of this object
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// isVolumeDetect: other objects pass through but can generate collisions
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// collisionEvents: whether this object returns collision events
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private void SetObjectDynamic()
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{
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// If it's becoming dynamic, it will need hullness
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@ -479,12 +488,66 @@ public sealed class BSPrim : BSPhysObject
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float mass = IsStatic ? 0f : _mass;
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BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
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/*
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BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr);
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// recompute any linkset parameters
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// Set up the object physicalness (static or dynamic)
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MakeDynamic();
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// Make solid or not and arrange for collisions, etc
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MakeSolid();
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m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr);
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BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr);
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*/
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// Recompute any linkset parameters.
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// When going from non-physical to physical, this re-enables the constraints that
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// had been automatically disabled when the mass was set to zero.
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Linkset.Refresh(this);
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CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr);
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DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf);
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DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, m_currentCollisionFlags);
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}
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// "Making dynamic" means changing to and from static.
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// When static, gravity does not effect the object and it is fixed in space.
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// When dynamic, the object can fall and be pushed by others.
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// This is independent of its 'solidness' which controls what passes through
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// this object and what interacts with it.
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private void MakeDynamic()
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{
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if (IsStatic)
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{
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// Become a Bullet 'static' object type
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BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
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// Stop all movement
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BulletSimAPI.ClearAllForces2(BSBody.Ptr);
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// Mass is zero which disables a bunch of physics stuff in Bullet
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BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero);
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// There is no inertia in a static object
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BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
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// The activation state is 'sleeping' so Bullet will not try to act on it
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BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING);
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}
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else
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{
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// Not a Bullet static object
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BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
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// A dynamic object has mass
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BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, OMV.Vector3.Zero);
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// The shape is interesting and has mass and a center of gravity
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IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr);
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BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass, OMV.Vector3.Zero);
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// Inertia is based on our new mass
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BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
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// Force activation of the object so Bullet will act on it.
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BulletSimAPI.Activate2(BSBody.Ptr, true);
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}
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}
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private void MakeSolid()
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{
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}
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// prims don't fly
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@ -609,7 +672,7 @@ public sealed class BSPrim : BSPhysObject
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}
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else
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{
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m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
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m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
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return;
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}
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_scene.TaintedObject("BSPrim.AddForce", delegate()
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@ -624,7 +687,8 @@ public sealed class BSPrim : BSPhysObject
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m_accumulatedForces.Clear();
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}
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DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force);
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BulletSimAPI.AddObjectForce2(Body.Ptr, fSum);
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// For unknown reason, "ApplyCentralForce" is really additive.
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BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum);
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});
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}
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@ -644,7 +708,7 @@ public sealed class BSPrim : BSPhysObject
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Scene.TaintedObject("BSPrim.SubscribeEvents", delegate()
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{
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BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
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m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
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});
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}
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}
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@ -652,7 +716,7 @@ public sealed class BSPrim : BSPhysObject
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_subscribedEventsMs = 0;
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Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate()
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{
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BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
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m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
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});
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}
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public override bool SubscribedEvents() {
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@ -1237,7 +1301,7 @@ public sealed class BSPrim : BSPhysObject
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bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape);
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// the CreateObject() may have recreated the rigid body. Make sure we have the latest.
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Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
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BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
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return ret;
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}
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|
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@ -403,13 +403,13 @@ public class BSTerrainManager
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{
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float regionX = tX - offsetX;
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float regionY = tY - offsetY;
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if (regionX > mapInfo.sizeX) regionX = 0;
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if (regionY > mapInfo.sizeY) regionY = 0;
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if (regionX >= mapInfo.sizeX || regionX < 0f) regionX = 0;
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if (regionY >= mapInfo.sizeY || regionY < 0f) regionY = 0;
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int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX;
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ret = mapInfo.heightMap[mapIndex];
|
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m_terrainModified = false;
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DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}",
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BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret);
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// DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}",
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// BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
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|||
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@ -218,7 +218,20 @@ public struct ConfigurationParameters
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public const float numericFalse = 0f;
|
||||
}
|
||||
|
||||
// Values used by Bullet and BulletSim to control collisions
|
||||
|
||||
// The states a bullet collision object can have
|
||||
public enum ActivationState : uint
|
||||
{
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ACTIVE_TAG = 1,
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ISLAND_SLEEPING,
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WANTS_DEACTIVATION,
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DISABLE_DEACTIVATION,
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DISABLE_SIMULATION
|
||||
}
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||||
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// Values used by Bullet and BulletSim to control object properties.
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// Bullet's "CollisionFlags" has more to do with operations on the
|
||||
// object (if collisions happen, if gravity effects it, ...).
|
||||
public enum CollisionFlags : uint
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{
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CF_STATIC_OBJECT = 1 << 0,
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@ -233,8 +246,75 @@ public enum CollisionFlags : uint
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BS_VOLUME_DETECT_OBJECT = 1 << 11,
|
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BS_PHANTOM_OBJECT = 1 << 12,
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BS_PHYSICAL_OBJECT = 1 << 13,
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BS_TERRAIN_OBJECT = 1 << 14,
|
||||
BS_NONE = 0,
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BS_ALL = 0xFFFFFFFF
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||||
};
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||||
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||||
// Values for collisions groups and masks
|
||||
public enum CollisionFilterGroups : uint
|
||||
{
|
||||
NoneFilter = 0,
|
||||
DefaultFilter = 1 << 0,
|
||||
StaticFilter = 1 << 1,
|
||||
KinematicFilter = 1 << 2,
|
||||
DebrisFilter = 1 << 3,
|
||||
SensorTrigger = 1 << 4,
|
||||
CharacterFilter = 1 << 5,
|
||||
AllFilter = 0xFFFFFFFF,
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||||
// Filter groups defined by BulletSim
|
||||
GroundPlaneFilter = 1 << 10,
|
||||
TerrainFilter = 1 << 11,
|
||||
RaycastFilter = 1 << 12,
|
||||
SolidFilter = 1 << 13,
|
||||
};
|
||||
|
||||
// For each type, we first clear and then set the collision flags
|
||||
public enum ClearCollisionFlag : uint
|
||||
{
|
||||
Terrain = CollisionFlags.BS_ALL,
|
||||
Phantom = CollisionFlags.BS_ALL,
|
||||
VolumeDetect = CollisionFlags.BS_ALL,
|
||||
PhysicalObject = CollisionFlags.BS_ALL,
|
||||
StaticObject = CollisionFlags.BS_ALL
|
||||
}
|
||||
|
||||
public enum SetCollisionFlag : uint
|
||||
{
|
||||
Terrain = CollisionFlags.CF_STATIC_OBJECT
|
||||
| CollisionFlags.BS_TERRAIN_OBJECT,
|
||||
Phantom = CollisionFlags.CF_STATIC_OBJECT
|
||||
| CollisionFlags.BS_PHANTOM_OBJECT
|
||||
| CollisionFlags.CF_NO_CONTACT_RESPONSE,
|
||||
VolumeDetect = CollisionFlags.CF_STATIC_OBJECT
|
||||
| CollisionFlags.BS_VOLUME_DETECT_OBJECT
|
||||
| CollisionFlags.CF_NO_CONTACT_RESPONSE,
|
||||
PhysicalObject = CollisionFlags.BS_PHYSICAL_OBJECT,
|
||||
StaticObject = CollisionFlags.CF_STATIC_OBJECT,
|
||||
}
|
||||
|
||||
// Collision filters used for different types of objects
|
||||
public enum SetCollisionFilter : uint
|
||||
{
|
||||
Terrain = CollisionFilterGroups.AllFilter,
|
||||
Phantom = CollisionFilterGroups.GroundPlaneFilter
|
||||
| CollisionFilterGroups.TerrainFilter,
|
||||
VolumeDetect = CollisionFilterGroups.AllFilter,
|
||||
PhysicalObject = CollisionFilterGroups.AllFilter,
|
||||
StaticObject = CollisionFilterGroups.AllFilter,
|
||||
}
|
||||
|
||||
// Collision masks used for different types of objects
|
||||
public enum SetCollisionMask : uint
|
||||
{
|
||||
Terrain = CollisionFilterGroups.AllFilter,
|
||||
Phantom = CollisionFilterGroups.GroundPlaneFilter
|
||||
| CollisionFilterGroups.TerrainFilter,
|
||||
VolumeDetect = CollisionFilterGroups.AllFilter,
|
||||
PhysicalObject = CollisionFilterGroups.AllFilter,
|
||||
StaticObject = CollisionFilterGroups.AllFilter
|
||||
}
|
||||
|
||||
// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
|
||||
// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
|
||||
public enum ConstraintParams : int
|
||||
|
|
@ -347,6 +427,7 @@ public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 veloc
|
|||
[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);
|
||||
|
||||
|
|
@ -403,6 +484,7 @@ public static extern void SetDebugLogCallback(DebugLogCallback callback);
|
|||
// 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);
|
||||
|
||||
|
|
@ -413,6 +495,7 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
|
|||
public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
|
||||
|
||||
// ===============================================================================
|
||||
// Initialization and simulation
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
|
||||
int maxCollisions, IntPtr collisionArray,
|
||||
|
|
@ -438,6 +521,7 @@ public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSt
|
|||
public static extern bool PushUpdate2(IntPtr obj);
|
||||
|
||||
// =====================================================================================
|
||||
// Mesh, hull, shape and body creation helper routines
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateMeshShape2(IntPtr world,
|
||||
int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
|
||||
|
|
@ -460,12 +544,26 @@ public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
|
|||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetBodyShape2(IntPtr sim, IntPtr obj, IntPtr shape);
|
||||
public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void ReleaseBodyInfo2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
|
||||
|
||||
// =====================================================================================
|
||||
// Terrain creation and helper routines
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void DumpMapInfo(IntPtr sim, IntPtr manInfo);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
|
||||
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
|
||||
|
|
@ -484,6 +582,7 @@ public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float
|
|||
public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
|
||||
|
||||
// =====================================================================================
|
||||
// Constraint creation and helper routines
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
|
||||
Vector3 frame1loc, Quaternion frame1rot,
|
||||
|
|
@ -536,16 +635,108 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams
|
|||
public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain);
|
||||
|
||||
// =====================================================================================
|
||||
// btCollisionWorld entries
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void UpdateAabbs2(IntPtr world);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool GetForceUpdateAllAabbs2(IntPtr world);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force);
|
||||
|
||||
// =====================================================================================
|
||||
// btDynamicsWorld entries
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain);
|
||||
// =====================================================================================
|
||||
// btCollisionObject entries
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool HasAnisotripicFriction2(IntPtr constrain);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetContactProcessingThreshold2(IntPtr obj, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern float GetContactProcessingThreshold2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool IsStaticObject2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool IsKinematicObject2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool IsStaticOrKinematicObject2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool HasContactResponse2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr GetCollisionShape2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern int GetActivationState2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetActivationState2(IntPtr obj, int state);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetDeactivationTime2(IntPtr obj, float dtime);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern float GetDeactivationTime2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void ForceActivationState2(IntPtr obj, ActivationState state);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void Activate2(IntPtr obj, bool forceActivation);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool IsActive2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetRestitution2(IntPtr obj, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern float GetRestitution2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetFriction2(IntPtr obj, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern float GetFriction2(IntPtr obj);
|
||||
|
||||
/* Haven't defined the type 'Transform'
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Transform GetWorldTransform2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void setWorldTransform2(IntPtr obj, Transform trans);
|
||||
*/
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetPosition2(IntPtr obj);
|
||||
|
||||
|
|
@ -553,89 +744,288 @@ public static extern Vector3 GetPosition2(IntPtr obj);
|
|||
public static extern Quaternion GetOrientation2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
|
||||
public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity);
|
||||
public static extern IntPtr GetBroadphaseHandle2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
|
||||
public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle);
|
||||
|
||||
/*
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Transform GetInterpolationWorldTransform2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetObjectForce2(IntPtr obj, Vector3 force);
|
||||
public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans);
|
||||
*/
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool AddObjectForce2(IntPtr obj, Vector3 force);
|
||||
public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val);
|
||||
public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val);
|
||||
public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
|
||||
public static extern float GetHitFraction2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetDeactivationTime2(IntPtr obj, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetFriction2(IntPtr obj, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetHitFraction2(IntPtr obj, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetRestitution2(IntPtr obj, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang);
|
||||
public static extern void SetHitFraction2(IntPtr obj, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern CollisionFlags GetCollisionFlags2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
|
||||
public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
|
||||
public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
|
||||
public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
|
||||
public static extern float GetCcdMotionThreshold2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool UpdateInertiaTensor2(IntPtr obj);
|
||||
public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetGravity2(IntPtr obj, Vector3 val);
|
||||
public static extern float GetCcdSweepSphereRadius2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr ClearForces2(IntPtr obj);
|
||||
public static extern void SetCcdSweepSphereRadius2(IntPtr obj, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr ClearAllForces2(IntPtr obj);
|
||||
public static extern IntPtr GetUserPointer2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool SetMargin2(IntPtr obj, float val);
|
||||
public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
|
||||
|
||||
// =====================================================================================
|
||||
// btRigidBody entries
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void ApplyGravity2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj);
|
||||
public static extern void SetGravity2(IntPtr obj, Vector3 val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool DestroyObject2(IntPtr world, IntPtr obj);
|
||||
public static extern Vector3 GetGravity2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern float GetLinearDamping2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern float GetAngularDamping2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern float GetLinearSleepingThreshold2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern float GetAngularSleepingThreshold2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void ApplyDamping2(IntPtr obj, float timeStep);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetLinearFactor2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
|
||||
|
||||
/*
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
|
||||
*/
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
|
||||
|
||||
// Add a force to the object as if its mass is one.
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
|
||||
|
||||
// Set the force being applied to the object as if its mass is one.
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetTotalForce2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetTotalTorque2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
|
||||
|
||||
// Apply force at the given point. Will add torque to the object.
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
|
||||
|
||||
// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
|
||||
|
||||
// Apply impulse to the object's torque. Force is scaled by object's mass.
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
|
||||
|
||||
// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces.
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void ClearForces2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void ClearAllForces2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void UpdateInertiaTensor2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
|
||||
|
||||
/*
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
|
||||
*/
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetLinearVelocity2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetAngularVelocity2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void Translate2(IntPtr obj, Vector3 trans);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool WantsSleeping2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetAngularFactor2(IntPtr obj, float factor);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetAngularFactor2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool IsInWorld2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern int GetNumConstraintRefs2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetDeltaLinearVelocity2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetDeltaAngularVelocity2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetPushVelocity2(IntPtr obj);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetTurnVelocity2(IntPtr obj);
|
||||
|
||||
// =====================================================================================
|
||||
// btCollisionShape entries
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern float GetAngularMotionDisc2(IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool IsPolyhedral2(IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool IsConvex2d2(IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool IsConvex2(IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool IsNonMoving2(IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool IsConcave2(IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool IsCompound2(IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool IsSoftBody2(IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern bool IsInfinite2(IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern Vector3 GetLocalScaling2(IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void CalculateLocalInertia2(IntPtr shape, float mass, Vector3 inertia);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern int GetShapeType2(IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetMargin2(IntPtr shape, float val);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern float GetMargin2(IntPtr shape);
|
||||
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint mask);
|
||||
|
||||
// =====================================================================================
|
||||
// Debugging
|
||||
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
||||
public static extern void DumpPhysicsStatistics2(IntPtr sim);
|
||||
|
||||
|
|
|
|||
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Reference in New Issue