diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 747ae7130f..fa22c78d8a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -73,7 +73,8 @@ public class BSCharacter : BSPhysObject private bool _kinematic; private float _buoyancy; - public override BulletBody Body { get; set; } + public override BulletBody BSBody { get; set; } + public override BulletShape BSShape { get; set; } public override BSLinkset Linkset { get; set; } private int _subscribedEventsMs = 0; @@ -92,6 +93,7 @@ public class BSCharacter : BSPhysObject _localID = localID; _avName = avName; Scene = parent_scene; + _physicsActorType = (int)ActorTypes.Agent; _position = pos; _size = size; _flying = isFlying; @@ -128,9 +130,9 @@ public class BSCharacter : BSPhysObject // Set the buoyancy for flying. This will be refactored when all the settings happen in C# BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); - Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID)); + BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID)); // avatars get all collisions no matter what (makes walking on ground and such work) - BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); return; @@ -440,7 +442,7 @@ public class BSCharacter : BSPhysObject Scene.TaintedObject("BSCharacter.AddForce", delegate() { DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); - BulletSimAPI.AddObjectForce2(Body.Ptr, _force); + BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); }); } else @@ -465,7 +467,7 @@ public class BSCharacter : BSPhysObject Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate() { - BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index d9270d1b2d..2e15ced238 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -98,6 +98,10 @@ public abstract class BSConstraint : IDisposable { // m_world.scene.PhysicsLogging.Write("{0},BSConstraint.RecomputeConstraintVariables,taint,enabling,A={1},B={2}", // BSScene.DetailLogZero, Body1.ID, Body2.ID); + + // Setting an object's mass to zero (making it static like when it's selected) + // automatically disables the constraints. + // If enabled, be sure to set the constraint itself to enabled. BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true)); } else diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index b04e1b666a..5f6601d631 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -233,7 +233,7 @@ public class BSLinkset foreach (BSPhysObject child in m_children) { BSConstraint constrain; - if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.Body, child.Body, out constrain)) + if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) { // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); @@ -245,8 +245,8 @@ public class BSLinkset // their constraints have not been created yet. // Caused by the fact that m_children is built at run time but building constraints // happens at taint time. - // m_physicsScene.Logger.ErrorFormat("[BULLETSIM LINKSET] RecomputeLinksetConstraintVariables: constraint not found for root={0}, child={1}", - // m_linksetRoot.Body.ID, child.Body.ID); + // m_physicsScene.Logger.ErrorFormat("{0} RecomputeLinksetConstraintVariables: constraint not found for root={1}, child={2}", + // LogHeader, m_linksetRoot.Body.ID, child.Body.ID); } } } @@ -327,7 +327,7 @@ public class BSLinkset DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint); BS6DofConstraint constrain = new BS6DofConstraint( - m_physicsScene.World, rootPrim.Body, childPrim.Body, + m_physicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true @@ -388,10 +388,10 @@ public class BSLinkset DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); // Find the constraint for this link and get rid of it from the overall collection and from my list - m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body); + m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody); // Make the child refresh its location - BulletSimAPI.PushUpdate2(childPrim.Body.Ptr); + BulletSimAPI.PushUpdate2(childPrim.BSBody.Ptr); } // Remove linkage between myself and any possible children I might have @@ -400,7 +400,7 @@ public class BSLinkset { DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); - m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body); + m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); } // Invoke the detailed logger and output something if it's enabled. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index ef463cae19..e411fcb3df 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -48,7 +48,11 @@ public abstract class BSPhysObject : PhysicsActor // Return the object mass without calculating it or side effects public abstract float MassRaw { get; } - public abstract BulletBody Body { get; set; } + // Reference to the physical body (btCollisionObject) of this object + public abstract BulletBody BSBody { get; set; } + // Reference to the physical shape (btCollisionShape) of this object + public abstract BulletShape BSShape { get; set; } + public abstract void ZeroMotion(); public virtual void StepVehicle(float timeStep) { } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6bfce5c865..6d0af63986 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -94,8 +94,10 @@ public sealed class BSPrim : BSPhysObject private int _nextCollisionOkTime = 0; long _collidingStep; long _collidingGroundStep; + CollisionFlags m_currentCollisionFlags = 0; - public override BulletBody Body { get; set; } + public override BulletBody BSBody { get; set; } + public override BulletShape BSShape { get; set; } private BSDynamics _vehicle; @@ -113,6 +115,7 @@ public sealed class BSPrim : BSPhysObject // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); _localID = localID; _avName = primName; + _physicsActorType = (int)ActorTypes.Prim; _scene = parent_scene; _position = pos; _size = size; @@ -142,7 +145,9 @@ public sealed class BSPrim : BSPhysObject // Get the pointer to the physical body for this object. // At the moment, we're still letting BulletSim manage the creation and destruction // of the object. Someday we'll move that into the C# code. - Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); + BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); + BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); + m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); }); } @@ -258,10 +263,10 @@ public sealed class BSPrim : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - BulletSimAPI.SetVelocity2(Body.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(Body.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolation2(Body.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); - BulletSimAPI.ClearForces2(Body.Ptr); + BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(BSBody.Ptr); } public override void LockAngularMotion(OMV.Vector3 axis) @@ -324,7 +329,7 @@ public sealed class BSPrim : BSPhysObject { DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); - BulletSimAPI.SetObjectForce2(Body.Ptr, _force); + BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); }); } } @@ -442,8 +447,7 @@ public sealed class BSPrim : BSPhysObject } public override int PhysicsActorType { get { return _physicsActorType; } - set { _physicsActorType = value; - } + set { _physicsActorType = value; } } public override bool IsPhysical { get { return _isPhysical; } @@ -470,6 +474,11 @@ public sealed class BSPrim : BSPhysObject // Make gravity work if the object is physical and not selected // No locking here because only called when it is safe + // There are four flags we're interested in: + // IsStatic: Object does not move, otherwise the object has mass and moves + // isSolid: other objects bounce off of this object + // isVolumeDetect: other objects pass through but can generate collisions + // collisionEvents: whether this object returns collision events private void SetObjectDynamic() { // If it's becoming dynamic, it will need hullness @@ -479,12 +488,66 @@ public sealed class BSPrim : BSPhysObject float mass = IsStatic ? 0f : _mass; BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); + /* + BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr); - // recompute any linkset parameters + // Set up the object physicalness (static or dynamic) + MakeDynamic(); + + // Make solid or not and arrange for collisions, etc + MakeSolid(); + + m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); + + BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr); + */ + + // Recompute any linkset parameters. + // When going from non-physical to physical, this re-enables the constraints that + // had been automatically disabled when the mass was set to zero. Linkset.Refresh(this); - CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr); - DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); + DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, m_currentCollisionFlags); + } + + // "Making dynamic" means changing to and from static. + // When static, gravity does not effect the object and it is fixed in space. + // When dynamic, the object can fall and be pushed by others. + // This is independent of its 'solidness' which controls what passes through + // this object and what interacts with it. + private void MakeDynamic() + { + if (IsStatic) + { + // Become a Bullet 'static' object type + BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + // Stop all movement + BulletSimAPI.ClearAllForces2(BSBody.Ptr); + // Mass is zero which disables a bunch of physics stuff in Bullet + BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero); + // There is no inertia in a static object + BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); + // The activation state is 'sleeping' so Bullet will not try to act on it + BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING); + } + else + { + // Not a Bullet static object + BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + // A dynamic object has mass + BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, OMV.Vector3.Zero); + // The shape is interesting and has mass and a center of gravity + IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr); + BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass, OMV.Vector3.Zero); + // Inertia is based on our new mass + BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); + // Force activation of the object so Bullet will act on it. + BulletSimAPI.Activate2(BSBody.Ptr, true); + } + } + + private void MakeSolid() + { } // prims don't fly @@ -609,7 +672,7 @@ public sealed class BSPrim : BSPhysObject } else { - m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); + m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); return; } _scene.TaintedObject("BSPrim.AddForce", delegate() @@ -624,7 +687,8 @@ public sealed class BSPrim : BSPhysObject m_accumulatedForces.Clear(); } DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); - BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); + // For unknown reason, "ApplyCentralForce" is really additive. + BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum); }); } @@ -644,7 +708,7 @@ public sealed class BSPrim : BSPhysObject Scene.TaintedObject("BSPrim.SubscribeEvents", delegate() { - BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } } @@ -652,7 +716,7 @@ public sealed class BSPrim : BSPhysObject _subscribedEventsMs = 0; Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate() { - BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } public override bool SubscribedEvents() { @@ -1237,7 +1301,7 @@ public sealed class BSPrim : BSPhysObject bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); // the CreateObject() may have recreated the rigid body. Make sure we have the latest. - Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); + BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index ab45f8fbab..47d7199e2e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -403,13 +403,13 @@ public class BSTerrainManager { float regionX = tX - offsetX; float regionY = tY - offsetY; - if (regionX > mapInfo.sizeX) regionX = 0; - if (regionY > mapInfo.sizeY) regionY = 0; + if (regionX >= mapInfo.sizeX || regionX < 0f) regionX = 0; + if (regionY >= mapInfo.sizeY || regionY < 0f) regionY = 0; int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX; ret = mapInfo.heightMap[mapIndex]; m_terrainModified = false; - DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}", - BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret); + // DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}", + // BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret); } else { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index a0bad3a378..e579cf29e0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -218,7 +218,20 @@ public struct ConfigurationParameters 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 +{ + ACTIVE_TAG = 1, + ISLAND_SLEEPING, + WANTS_DEACTIVATION, + DISABLE_DEACTIVATION, + DISABLE_SIMULATION +} + +// Values used by Bullet and BulletSim to control object properties. +// Bullet's "CollisionFlags" has more to do with operations on the +// object (if collisions happen, if gravity effects it, ...). public enum CollisionFlags : uint { CF_STATIC_OBJECT = 1 << 0, @@ -233,8 +246,75 @@ public enum CollisionFlags : uint BS_VOLUME_DETECT_OBJECT = 1 << 11, BS_PHANTOM_OBJECT = 1 << 12, BS_PHYSICAL_OBJECT = 1 << 13, + BS_TERRAIN_OBJECT = 1 << 14, + BS_NONE = 0, + BS_ALL = 0xFFFFFFFF }; +// 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, + // 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); diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll index 5673b91f7c..0dd508c1da 100755 Binary files a/bin/lib32/BulletSim.dll and b/bin/lib32/BulletSim.dll differ diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so index a9768b206b..747df24288 100755 Binary files a/bin/lib32/libBulletSim.so and b/bin/lib32/libBulletSim.so differ diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll index de9df085d1..877ad4cc1d 100755 Binary files a/bin/lib64/BulletSim.dll and b/bin/lib64/BulletSim.dll differ diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so index aefab07418..a55e633388 100755 Binary files a/bin/lib64/libBulletSim.so and b/bin/lib64/libBulletSim.so differ