/* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyrightD * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the name of the OpenSimulator Project nor the * names of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ using System; using System.Collections.Generic; using System.Reflection; using System.Runtime.InteropServices; using System.Security; using System.Text; using OpenSim.Framework; using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { public sealed class BSAPIUnman : BSAPITemplate { private sealed class BulletWorldUnman : BulletWorld { public IntPtr ptr; public BulletWorldUnman(uint id, BSScene physScene, IntPtr xx) : base(id, physScene) { ptr = xx; } } private sealed class BulletBodyUnman : BulletBody { public IntPtr ptr; public BulletBodyUnman(uint id, IntPtr xx) : base(id) { ptr = xx; } public override bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } public override void Clear() { ptr = IntPtr.Zero; } public override string AddrString { get { return ptr.ToString("X"); } } } private sealed class BulletShapeUnman : BulletShape { public IntPtr ptr; public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) : base() { ptr = xx; shapeType = typ; } public override bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } } public override void Clear() { ptr = IntPtr.Zero; } public override BulletShape Clone() { return new BulletShapeUnman(ptr, shapeType); } public override bool ReferenceSame(BulletShape other) { BulletShapeUnman otheru = other as BulletShapeUnman; return (otheru != null) && (this.ptr == otheru.ptr); } public override string AddrString { get { return ptr.ToString("X"); } } } private sealed class BulletConstraintUnman : BulletConstraint { public BulletConstraintUnman(IntPtr xx) : base() { ptr = xx; } public IntPtr ptr; public override void Clear() { ptr = IntPtr.Zero; } public override bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } // Used for log messages for a unique display of the memory/object allocated to this instance public override string AddrString { get { return ptr.ToString("X"); } } } // We pin the memory passed between the managed and unmanaged code. GCHandle m_paramsHandle; private GCHandle m_collisionArrayPinnedHandle; private GCHandle m_updateArrayPinnedHandle; // Handle to the callback used by the unmanaged code to call into the managed code. // Used for debug logging. // Need to store the handle in a persistant variable so it won't be freed. private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle; private BSScene PhysicsScene { get; set; } public override string BulletEngineName { get { return "BulletUnmanaged"; } } public override string BulletEngineVersion { get; protected set; } public BSAPIUnman(string paramName, BSScene physScene) { PhysicsScene = physScene; // Do something fancy with the paramName to get the right DLL implementation // like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc. if (Util.IsWindows()) Util.LoadArchSpecificWindowsDll("BulletSim.dll"); // If not Windows, loading is performed by the // Mono loader as specified in // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config". } // Initialization and simulation public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, int maxCollisions, ref CollisionDesc[] collisionArray, int maxUpdates, ref EntityProperties[] updateArray ) { // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned); m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned); m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned); // If Debug logging level, enable logging from the unmanaged code m_DebugLogCallbackHandle = null; if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled) { BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader); if (PhysicsScene.PhysicsLogging.Enabled) // The handle is saved in a variable to make sure it doesn't get freed after this call m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog); else m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger); } // Get the version of the DLL // TODO: this doesn't work yet. Something wrong with marshaling the returned string. // BulletEngineVersion = BulletSimAPI.GetVersion2(); BulletEngineVersion = ""; // Call the unmanaged code with the buffers and other information return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(), maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(), m_DebugLogCallbackHandle)); } // Called directly from unmanaged code so don't do much private void BulletLogger(string msg) { BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg); } // Called directly from unmanaged code so don't do much private void BulletLoggerPhysLog(string msg) { PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg); } public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out int collidersCount) { BulletWorldUnman worldu = world as BulletWorldUnman; return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount); } public override void Shutdown(BulletWorld world) { BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.Shutdown2(worldu.ptr); if (m_paramsHandle.IsAllocated) { m_paramsHandle.Free(); } if (m_collisionArrayPinnedHandle.IsAllocated) { m_collisionArrayPinnedHandle.Free(); } if (m_updateArrayPinnedHandle.IsAllocated) { m_updateArrayPinnedHandle.Free(); } } public override bool PushUpdate(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.PushUpdate2(bodyu.ptr); } public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { BulletWorldUnman worldu = world as BulletWorldUnman; return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value); } // ===================================================================================== // Mesh, hull, shape and body creation helper routines public override BulletShape CreateMeshShape(BulletWorld world, int indicesCount, int[] indices, int verticesCount, float[] vertices) { BulletWorldUnman worldu = world as BulletWorldUnman; return new BulletShapeUnman( BSAPICPP.CreateMeshShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices), BSPhysicsShapeType.SHAPE_MESH); } public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls) { BulletWorldUnman worldu = world as BulletWorldUnman; return new BulletShapeUnman( BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), BSPhysicsShapeType.SHAPE_HULL); } public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletShapeUnman shapeu = meshShape as BulletShapeUnman; return new BulletShapeUnman( BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr, parms), BSPhysicsShapeType.SHAPE_HULL); } public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletShapeUnman shapeu = meshShape as BulletShapeUnman; return new BulletShapeUnman( BSAPICPP.BuildConvexHullShapeFromMesh2(worldu.ptr, shapeu.ptr), BSPhysicsShapeType.SHAPE_CONVEXHULL); } public override BulletShape CreateConvexHullShape(BulletWorld world, int indicesCount, int[] indices, int verticesCount, float[] vertices) { BulletWorldUnman worldu = world as BulletWorldUnman; return new BulletShapeUnman( BSAPICPP.CreateConvexHullShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices), BSPhysicsShapeType.SHAPE_CONVEXHULL); } public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData) { BulletWorldUnman worldu = world as BulletWorldUnman; return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type); } public override bool IsNativeShape(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; if (shapeu != null && shapeu.HasPhysicalShape) return BSAPICPP.IsNativeShape2(shapeu.ptr); return false; } public override void SetShapeCollisionMargin(BulletShape shape, float margin) { BulletShapeUnman shapeu = shape as BulletShapeUnman; if (shapeu != null && shapeu.HasPhysicalShape) BSAPICPP.SetShapeCollisionMargin(shapeu.ptr, margin); } public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale) { BulletWorldUnman worldu = world as BulletWorldUnman; return new BulletShapeUnman( BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale), BSPhysicsShapeType.SHAPE_CAPSULE); } public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree) { BulletWorldUnman worldu = world as BulletWorldUnman; return new BulletShapeUnman( BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND); } public override int GetNumberOfCompoundChildren(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; if (shapeu != null && shapeu.HasPhysicalShape) return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr); return 0; } public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot) { BulletShapeUnman shapeu = shape as BulletShapeUnman; BulletShapeUnman addShapeu = addShape as BulletShapeUnman; BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot); } public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN); } public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN); } public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman; BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr); } public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) { BulletShapeUnman shapeu = pShape as BulletShapeUnman; BSAPICPP.UpdateChildTransform2(shapeu.ptr, childIndex, pos, rot, shouldRecalculateLocalAabb); } public override void RecalculateCompoundShapeLocalAabb(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr); } public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman; return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.shapeType); } public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr); } public override CollisionObjectTypes GetBodyType(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr); } public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletShapeUnman shapeu = shape as BulletShapeUnman; return new BulletBodyUnman(id, BSAPICPP.CreateBodyFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot)); } public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot)); } public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletShapeUnman shapeu = shape as BulletShapeUnman; return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot)); } public override void DestroyObject(BulletWorld world, BulletBody obj) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.DestroyObject2(worldu.ptr, bodyu.ptr); } // ===================================================================================== // Terrain creation and helper routines public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin) { return new BulletShapeUnman(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); } public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, float scaleFactor, float collisionMargin) { return new BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin), BSPhysicsShapeType.SHAPE_TERRAIN); } // ===================================================================================== // Constraint creation and helper routines public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 frame1loc, Quaternion frame1rot, Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } public override BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot, bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintFixed2(worldu.ptr, bodyu1.ptr, frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies)); } public override BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 frame1loc, Quaternion frame1rot, Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; return new BulletConstraintUnman(BSAPICPP.Create6DofSpringConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 pivotinA, Vector3 pivotinB, Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } public override BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 frame1loc, Quaternion frame1rot, Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; return new BulletConstraintUnman(BSAPICPP.CreateSliderConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } public override BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 frame1loc, Quaternion frame1rot, Vector3 frame2loc, Quaternion frame2rot, bool disableCollisionsBetweenLinkedBodies) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; return new BulletConstraintUnman(BSAPICPP.CreateConeTwistConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, frame2loc, frame2rot, disableCollisionsBetweenLinkedBodies)); } public override BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 axisInA, Vector3 axisInB, float ratio, bool disableCollisionsBetweenLinkedBodies) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; return new BulletConstraintUnman(BSAPICPP.CreateGearConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, axisInA, axisInB, ratio, disableCollisionsBetweenLinkedBodies)); } public override BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 pivotInA, Vector3 pivotInB, bool disableCollisionsBetweenLinkedBodies) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; return new BulletConstraintUnman(BSAPICPP.CreatePoint2PointConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, pivotInA, pivotInB, disableCollisionsBetweenLinkedBodies)); } public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; BSAPICPP.SetConstraintEnable2(constrainu.ptr, numericTrueFalse); } public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; BSAPICPP.SetConstraintNumSolverIterations2(constrainu.ptr, iterations); } public override bool SetFrames(BulletConstraint constrain, Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.SetFrames2(constrainu.ptr, frameA, frameArot, frameB, frameBrot); } public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.SetLinearLimits2(constrainu.ptr, low, hi); } public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.SetAngularLimits2(constrainu.ptr, low, hi); } public override bool UseFrameOffset(BulletConstraint constrain, float enable) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.UseFrameOffset2(constrainu.ptr, enable); } public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.TranslationalLimitMotor2(constrainu.ptr, enable, targetVel, maxMotorForce); } public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold); } public override bool CalculateTransforms(BulletConstraint constrain) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.CalculateTransforms2(constrainu.ptr); } public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis); } public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.DestroyConstraint2(worldu.ptr, constrainu.ptr); } // ===================================================================================== // btCollisionWorld entries public override void UpdateSingleAabb(BulletWorld world, BulletBody obj) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr); } public override void UpdateAabbs(BulletWorld world) { BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.UpdateAabbs2(worldu.ptr); } public override bool GetForceUpdateAllAabbs(BulletWorld world) { BulletWorldUnman worldu = world as BulletWorldUnman; return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr); } public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force); } // ===================================================================================== // btDynamicsWorld entries public override bool AddObjectToWorld(BulletWorld world, BulletBody obj) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman; // Bullet resets several variables when an object is added to the world. // Gravity is reset to world default depending on the static/dynamic // type. Of course, the collision flags in the broadphase proxy are initialized to default. Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr); bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr); if (ret) { BSAPICPP.SetGravity2(bodyu.ptr, origGrav); obj.ApplyCollisionMask(world.physicsScene); } return ret; } public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr); } public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects); } public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr); } // ===================================================================================== // btCollisionObject entries public override Vector3 GetAnisotripicFriction(BulletConstraint constrain) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.GetAnisotripicFriction2(constrainu.ptr); } public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.SetAnisotripicFriction2(constrainu.ptr, frict); } public override bool HasAnisotripicFriction(BulletConstraint constrain) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.HasAnisotripicFriction2(constrainu.ptr); } public override void SetContactProcessingThreshold(BulletBody obj, float val) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetContactProcessingThreshold2(bodyu.ptr, val); } public override float GetContactProcessingThreshold(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetContactProcessingThreshold2(bodyu.ptr); } public override bool IsStaticObject(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.IsStaticObject2(bodyu.ptr); } public override bool IsKinematicObject(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.IsKinematicObject2(bodyu.ptr); } public override bool IsStaticOrKinematicObject(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.IsStaticOrKinematicObject2(bodyu.ptr); } public override bool HasContactResponse(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.HasContactResponse2(bodyu.ptr); } public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman; BulletShapeUnman shapeu = shape as BulletShapeUnman; if (worldu != null && bodyu != null) { // Special case to allow the caller to zero out the reference to any physical shape if (shapeu != null) BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr); else BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero); } } public override BulletShape GetCollisionShape(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return new BulletShapeUnman(BSAPICPP.GetCollisionShape2(bodyu.ptr), BSPhysicsShapeType.SHAPE_UNKNOWN); } public override int GetActivationState(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetActivationState2(bodyu.ptr); } public override void SetActivationState(BulletBody obj, int state) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetActivationState2(bodyu.ptr, state); } public override void SetDeactivationTime(BulletBody obj, float dtime) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetDeactivationTime2(bodyu.ptr, dtime); } public override float GetDeactivationTime(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetDeactivationTime2(bodyu.ptr); } public override void ForceActivationState(BulletBody obj, ActivationState state) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.ForceActivationState2(bodyu.ptr, state); } public override void Activate(BulletBody obj, bool forceActivation) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.Activate2(bodyu.ptr, forceActivation); } public override bool IsActive(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.IsActive2(bodyu.ptr); } public override void SetRestitution(BulletBody obj, float val) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetRestitution2(bodyu.ptr, val); } public override float GetRestitution(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetRestitution2(bodyu.ptr); } public override void SetFriction(BulletBody obj, float val) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetFriction2(bodyu.ptr, val); } public override float GetFriction(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetFriction2(bodyu.ptr); } public override Vector3 GetPosition(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetPosition2(bodyu.ptr); } public override Quaternion GetOrientation(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetOrientation2(bodyu.ptr); } public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetTranslation2(bodyu.ptr, position, rotation); } /* public override IntPtr GetBroadphaseHandle(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetBroadphaseHandle2(bodyu.ptr); } public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetUserPointer2(bodyu.ptr, handle); } */ public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetInterpolationLinearVelocity2(bodyu.ptr, vel); } public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetInterpolationAngularVelocity2(bodyu.ptr, vel); } public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetInterpolationVelocity2(bodyu.ptr, linearVel, angularVel); } public override float GetHitFraction(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetHitFraction2(bodyu.ptr); } public override void SetHitFraction(BulletBody obj, float val) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetHitFraction2(bodyu.ptr, val); } public override CollisionFlags GetCollisionFlags(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetCollisionFlags2(bodyu.ptr); } public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.SetCollisionFlags2(bodyu.ptr, flags); } public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.AddToCollisionFlags2(bodyu.ptr, flags); } public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.RemoveFromCollisionFlags2(bodyu.ptr, flags); } public override float GetCcdMotionThreshold(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetCcdMotionThreshold2(bodyu.ptr); } public override void SetCcdMotionThreshold(BulletBody obj, float val) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetCcdMotionThreshold2(bodyu.ptr, val); } public override float GetCcdSweptSphereRadius(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetCcdSweptSphereRadius2(bodyu.ptr); } public override void SetCcdSweptSphereRadius(BulletBody obj, float val) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetCcdSweptSphereRadius2(bodyu.ptr, val); } public override IntPtr GetUserPointer(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetUserPointer2(bodyu.ptr); } public override void SetUserPointer(BulletBody obj, IntPtr val) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetUserPointer2(bodyu.ptr, val); } // ===================================================================================== // btRigidBody entries public override void ApplyGravity(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.ApplyGravity2(bodyu.ptr); } public override void SetGravity(BulletBody obj, Vector3 val) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetGravity2(bodyu.ptr, val); } public override Vector3 GetGravity(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetGravity2(bodyu.ptr); } public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetDamping2(bodyu.ptr, lin_damping, ang_damping); } public override void SetLinearDamping(BulletBody obj, float lin_damping) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetLinearDamping2(bodyu.ptr, lin_damping); } public override void SetAngularDamping(BulletBody obj, float ang_damping) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetAngularDamping2(bodyu.ptr, ang_damping); } public override float GetLinearDamping(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetLinearDamping2(bodyu.ptr); } public override float GetAngularDamping(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetAngularDamping2(bodyu.ptr); } public override float GetLinearSleepingThreshold(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetLinearSleepingThreshold2(bodyu.ptr); } public override void ApplyDamping(BulletBody obj, float timeStep) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.ApplyDamping2(bodyu.ptr, timeStep); } public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetMassProps2(bodyu.ptr, mass, inertia); } public override Vector3 GetLinearFactor(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetLinearFactor2(bodyu.ptr); } public override void SetLinearFactor(BulletBody obj, Vector3 factor) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetLinearFactor2(bodyu.ptr, factor); } public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetCenterOfMassByPosRot2(bodyu.ptr, pos, rot); } // Add a force to the object as if its mass is one. // Deep down in Bullet: m_totalForce += force*m_linearFactor; public override void ApplyCentralForce(BulletBody obj, Vector3 force) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.ApplyCentralForce2(bodyu.ptr, force); } // Set the force being applied to the object as if its mass is one. public override void SetObjectForce(BulletBody obj, Vector3 force) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetObjectForce2(bodyu.ptr, force); } public override Vector3 GetTotalForce(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetTotalForce2(bodyu.ptr); } public override Vector3 GetTotalTorque(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetTotalTorque2(bodyu.ptr); } public override Vector3 GetInvInertiaDiagLocal(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetInvInertiaDiagLocal2(bodyu.ptr); } public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetInvInertiaDiagLocal2(bodyu.ptr, inert); } public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold); } // Deep down in Bullet: m_totalTorque += torque*m_angularFactor; public override void ApplyTorque(BulletBody obj, Vector3 torque) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.ApplyTorque2(bodyu.ptr, torque); } // Apply force at the given point. Will add torque to the object. // Deep down in Bullet: applyCentralForce(force); // applyTorque(rel_pos.cross(force*m_linearFactor)); public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.ApplyForce2(bodyu.ptr, force, pos); } // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. // Deep down in Bullet: m_linearVelocity += impulse *m_linearFactor * m_inverseMass; public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.ApplyCentralImpulse2(bodyu.ptr, imp); } // Apply impulse to the object's torque. Force is scaled by object's mass. // Deep down in Bullet: m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.ApplyTorqueImpulse2(bodyu.ptr, imp); } // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. // Deep down in Bullet: applyCentralImpulse(impulse); // applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor)); public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.ApplyImpulse2(bodyu.ptr, imp, pos); } public override void ClearForces(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.ClearForces2(bodyu.ptr); } public override void ClearAllForces(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.ClearAllForces2(bodyu.ptr); } public override void UpdateInertiaTensor(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.UpdateInertiaTensor2(bodyu.ptr); } public override Vector3 GetLinearVelocity(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetLinearVelocity2(bodyu.ptr); } public override Vector3 GetAngularVelocity(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetAngularVelocity2(bodyu.ptr); } public override void SetLinearVelocity(BulletBody obj, Vector3 vel) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetLinearVelocity2(bodyu.ptr, vel); } public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetAngularVelocity2(bodyu.ptr, angularVelocity); } public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetVelocityInLocalPoint2(bodyu.ptr, pos); } public override void Translate(BulletBody obj, Vector3 trans) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.Translate2(bodyu.ptr, trans); } public override void UpdateDeactivation(BulletBody obj, float timeStep) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.UpdateDeactivation2(bodyu.ptr, timeStep); } public override bool WantsSleeping(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.WantsSleeping2(bodyu.ptr); } public override void SetAngularFactor(BulletBody obj, float factor) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetAngularFactor2(bodyu.ptr, factor); } public override void SetAngularFactorV(BulletBody obj, Vector3 factor) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.SetAngularFactorV2(bodyu.ptr, factor); } public override Vector3 GetAngularFactor(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetAngularFactor2(bodyu.ptr); } public override bool IsInWorld(BulletWorld world, BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.IsInWorld2(bodyu.ptr); } public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; BSAPICPP.AddConstraintRef2(bodyu.ptr, constrainu.ptr); } public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain) { BulletBodyUnman bodyu = obj as BulletBodyUnman; BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; BSAPICPP.RemoveConstraintRef2(bodyu.ptr, constrainu.ptr); } public override BulletConstraint GetConstraintRef(BulletBody obj, int index) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return new BulletConstraintUnman(BSAPICPP.GetConstraintRef2(bodyu.ptr, index)); } public override int GetNumConstraintRefs(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.GetNumConstraintRefs2(bodyu.ptr); } public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask) { BulletBodyUnman bodyu = body as BulletBodyUnman; return BSAPICPP.SetCollisionGroupMask2(bodyu.ptr, filter, mask); } // ===================================================================================== // btCollisionShape entries public override float GetAngularMotionDisc(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.GetAngularMotionDisc2(shapeu.ptr); } public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.GetContactBreakingThreshold2(shapeu.ptr, defaultFactor); } public override bool IsPolyhedral(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.IsPolyhedral2(shapeu.ptr); } public override bool IsConvex2d(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.IsConvex2d2(shapeu.ptr); } public override bool IsConvex(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.IsConvex2(shapeu.ptr); } public override bool IsNonMoving(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.IsNonMoving2(shapeu.ptr); } public override bool IsConcave(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.IsConcave2(shapeu.ptr); } public override bool IsCompound(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.IsCompound2(shapeu.ptr); } public override bool IsSoftBody(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.IsSoftBody2(shapeu.ptr); } public override bool IsInfinite(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.IsInfinite2(shapeu.ptr); } public override void SetLocalScaling(BulletShape shape, Vector3 scale) { BulletShapeUnman shapeu = shape as BulletShapeUnman; BSAPICPP.SetLocalScaling2(shapeu.ptr, scale); } public override Vector3 GetLocalScaling(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.GetLocalScaling2(shapeu.ptr); } public override Vector3 CalculateLocalInertia(BulletShape shape, float mass) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.CalculateLocalInertia2(shapeu.ptr, mass); } public override int GetShapeType(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.GetShapeType2(shapeu.ptr); } public override void SetMargin(BulletShape shape, float val) { BulletShapeUnman shapeu = shape as BulletShapeUnman; BSAPICPP.SetMargin2(shapeu.ptr, val); } public override float GetMargin(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.GetMargin2(shapeu.ptr); } // ===================================================================================== // Debugging public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu = collisionObject as BulletBodyUnman; BSAPICPP.DumpRigidBody2(worldu.ptr, bodyu.ptr); } public override void DumpCollisionShape(BulletWorld world, BulletShape collisionShape) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletShapeUnman shapeu = collisionShape as BulletShapeUnman; BSAPICPP.DumpCollisionShape2(worldu.ptr, shapeu.ptr); } public override void DumpConstraint(BulletWorld world, BulletConstraint constrain) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; BSAPICPP.DumpConstraint2(worldu.ptr, constrainu.ptr); } public override void DumpActivationInfo(BulletWorld world) { BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.DumpActivationInfo2(worldu.ptr); } public override void DumpAllInfo(BulletWorld world) { BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.DumpAllInfo2(worldu.ptr); } public override void DumpPhysicsStatistics(BulletWorld world) { BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.DumpPhysicsStatistics2(worldu.ptr); } public override void ResetBroadphasePool(BulletWorld world) { BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.ResetBroadphasePool(worldu.ptr); } public override void ResetConstraintSolver(BulletWorld world) { BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.ResetConstraintSolver(worldu.ptr); } // ===================================================================================== // ===================================================================================== // ===================================================================================== // ===================================================================================== // ===================================================================================== // The actual interface to the unmanaged code static class BSAPICPP { // =============================================================================== // Link back to the managed code for outputting log messages [UnmanagedFunctionPointer(CallingConvention.Cdecl)] public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); // =============================================================================== // Initialization and simulation [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, int maxCollisions, IntPtr collisionArray, int maxUpdates, IntPtr updateArray, DebugLogCallback logRoutine); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out int collidersCount); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void Shutdown2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool PushUpdate2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); // ===================================================================================== // 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, int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateHullShape2(IntPtr world, int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape, HACDParams parms); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildConvexHullShapeFromMesh2(IntPtr world, IntPtr meshShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateConvexHullShape2(IntPtr world, int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsNativeShape2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetShapeCollisionMargin(IntPtr shape, float margin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int GetNumberOfCompoundChildren2(IntPtr cShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void UpdateChildTransform2(IntPtr pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int GetBodyType2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); [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 IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float scaleFactor, float collisionMargin); // ===================================================================================== // 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, Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr Create6DofConstraintFixed2(IntPtr world, IntPtr obj1, Vector3 frameInBloc, Quaternion frameInBrot, bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr Create6DofSpringConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 frame1loc, Quaternion frame1rot, Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 pivotinA, Vector3 pivotinB, Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateSliderConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 frameInAloc, Quaternion frameInArot, Vector3 frameInBloc, Quaternion frameInBrot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateConeTwistConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 frameInAloc, Quaternion frameInArot, Vector3 frameInBloc, Quaternion frameInBrot, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateGearConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 axisInA, Vector3 axisInB, float ratio, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreatePoint2PointConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 pivotInA, Vector3 pivotInB, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetFrames2(IntPtr constrain, Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool UseFrameOffset2(IntPtr constrain, float enable); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CalculateTransforms2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 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); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Quaternion GetOrientation2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetBroadphaseHandle2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 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 void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetHitFraction2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 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 CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetCcdMotionThreshold2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetCcdMotionThreshold2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetCcdSweptSphereRadius2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetUserPointer2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 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 void SetGravity2(IntPtr obj, Vector3 val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 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 void SetLinearDamping2(IntPtr obj, float lin_damping); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetAngularDamping2(IntPtr obj, 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 bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask); // ===================================================================================== // 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 Vector3 CalculateLocalInertia2(IntPtr shape, float mass); [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); // ===================================================================================== // Debugging [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpActivationInfo2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpAllInfo2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpPhysicsStatistics2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ResetBroadphasePool(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ResetConstraintSolver(IntPtr sim); } } }