1118 lines
53 KiB
C#
1118 lines
53 KiB
C#
/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Runtime.InteropServices;
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using System.Security;
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using System.Text;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin {
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// Classes to allow some type checking for the API
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// These hold pointers to allocated objects in the unmanaged space.
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// The physics engine controller class created at initialization
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public struct BulletSim
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{
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public BulletSim(uint worldId, BSScene bss, IntPtr xx)
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{
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ptr = xx;
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worldID = worldId;
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physicsScene = bss;
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}
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public IntPtr ptr;
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public uint worldID;
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// The scene is only in here so very low level routines have a handle to print debug/error messages
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public BSScene physicsScene;
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}
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// An allocated Bullet btRigidBody
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public struct BulletBody
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{
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public BulletBody(uint id, IntPtr xx)
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{
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ID = id;
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ptr = xx;
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collisionFilter = 0;
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collisionMask = 0;
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}
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public IntPtr ptr;
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public uint ID;
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public CollisionFilterGroups collisionFilter;
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public CollisionFilterGroups collisionMask;
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public override string ToString()
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{
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StringBuilder buff = new StringBuilder();
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buff.Append("<id=");
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buff.Append(ID.ToString());
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buff.Append(",p=");
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buff.Append(ptr.ToString("X"));
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if (collisionFilter != 0 || collisionMask != 0)
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{
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buff.Append(",f=");
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buff.Append(collisionFilter.ToString("X"));
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buff.Append(",m=");
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buff.Append(collisionMask.ToString("X"));
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}
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buff.Append(">");
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return buff.ToString();
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}
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}
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public struct BulletShape
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{
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public BulletShape(IntPtr xx)
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{
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ptr = xx;
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type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
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shapeKey = 0;
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isNativeShape = false;
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}
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public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ)
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{
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ptr = xx;
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type = typ;
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shapeKey = 0;
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isNativeShape = false;
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}
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public IntPtr ptr;
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public ShapeData.PhysicsShapeType type;
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public ulong shapeKey;
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public bool isNativeShape;
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// Hulls have an underlying mesh. A pointer to it is hidden here.
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public override string ToString()
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{
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StringBuilder buff = new StringBuilder();
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buff.Append("<p=");
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buff.Append(ptr.ToString("X"));
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buff.Append(",s=");
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buff.Append(type.ToString());
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buff.Append(",k=");
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buff.Append(shapeKey.ToString("X"));
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buff.Append(",n=");
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buff.Append(isNativeShape.ToString());
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buff.Append(">");
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return buff.ToString();
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}
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}
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// Constraint type values as defined by Bullet
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public enum ConstraintType : int
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{
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POINT2POINT_CONSTRAINT_TYPE = 3,
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HINGE_CONSTRAINT_TYPE,
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CONETWIST_CONSTRAINT_TYPE,
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D6_CONSTRAINT_TYPE,
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SLIDER_CONSTRAINT_TYPE,
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CONTACT_CONSTRAINT_TYPE,
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D6_SPRING_CONSTRAINT_TYPE,
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MAX_CONSTRAINT_TYPE
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}
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// An allocated Bullet btConstraint
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public struct BulletConstraint
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{
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public BulletConstraint(IntPtr xx)
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{
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ptr = xx;
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}
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public IntPtr ptr;
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}
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// An allocated HeightMapThing which holds various heightmap info.
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// Made a class rather than a struct so there would be only one
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// instance of this and C# will pass around pointers rather
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// than making copies.
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public class BulletHeightMapInfo
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{
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public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) {
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ID = id;
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Ptr = xx;
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heightMap = hm;
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terrainRegionBase = new Vector2(0f, 0f);
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minCoords = new Vector3(100f, 100f, 25f);
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maxCoords = new Vector3(101f, 101f, 26f);
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minZ = maxZ = 0f;
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sizeX = sizeY = 256f;
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}
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public uint ID;
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public IntPtr Ptr;
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public float[] heightMap;
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public Vector2 terrainRegionBase;
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public Vector3 minCoords;
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public Vector3 maxCoords;
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public float sizeX, sizeY;
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public float minZ, maxZ;
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public BulletShape terrainShape;
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public BulletBody terrainBody;
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}
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// ===============================================================================
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[StructLayout(LayoutKind.Sequential)]
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public struct ConvexHull
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{
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Vector3 Offset;
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int VertexCount;
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Vector3[] Vertices;
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct ShapeData
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{
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public enum PhysicsShapeType
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{
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SHAPE_UNKNOWN = 0,
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SHAPE_AVATAR = 1,
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SHAPE_BOX = 2,
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SHAPE_CONE = 3,
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SHAPE_CYLINDER = 4,
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SHAPE_SPHERE = 5,
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SHAPE_MESH = 6,
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SHAPE_HULL = 7,
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SHAPE_GROUNDPLANE = 8,
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SHAPE_TERRAIN = 9,
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};
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public uint ID;
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public PhysicsShapeType Type;
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public Vector3 Position;
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public Quaternion Rotation;
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public Vector3 Velocity;
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public Vector3 Scale;
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public float Mass;
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public float Buoyancy;
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public System.UInt64 HullKey;
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public System.UInt64 MeshKey;
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public float Friction;
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public float Restitution;
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public float Collidable; // true of things bump into this
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public float Static; // true if a static object. Otherwise gravity, etc.
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public float Solid; // true if object cannot be passed through
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public Vector3 Size;
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// note that bools are passed as floats since bool size changes by language and architecture
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public const float numericTrue = 1f;
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public const float numericFalse = 0f;
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// The native shapes have predefined shape hash keys
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public enum FixedShapeKey : ulong
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{
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KEY_BOX = 1,
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KEY_SPHERE = 2,
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KEY_CONE = 3,
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KEY_CYLINDER = 4,
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}
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct SweepHit
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{
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public uint ID;
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public float Fraction;
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public Vector3 Normal;
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public Vector3 Point;
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct RaycastHit
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{
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public uint ID;
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public float Fraction;
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public Vector3 Normal;
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct CollisionDesc
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{
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public uint aID;
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public uint bID;
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public Vector3 point;
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public Vector3 normal;
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct EntityProperties
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{
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public uint ID;
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public Vector3 Position;
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public Quaternion Rotation;
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public Vector3 Velocity;
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public Vector3 Acceleration;
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public Vector3 RotationalVelocity;
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}
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// Format of this structure must match the definition in the C++ code
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[StructLayout(LayoutKind.Sequential)]
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public struct ConfigurationParameters
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{
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public float defaultFriction;
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public float defaultDensity;
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public float defaultRestitution;
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public float collisionMargin;
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public float gravity;
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public float linearDamping;
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public float angularDamping;
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public float deactivationTime;
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public float linearSleepingThreshold;
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public float angularSleepingThreshold;
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public float ccdMotionThreshold;
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public float ccdSweptSphereRadius;
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public float contactProcessingThreshold;
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public float terrainFriction;
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public float terrainHitFraction;
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public float terrainRestitution;
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public float avatarFriction;
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public float avatarDensity;
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public float avatarRestitution;
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public float avatarCapsuleRadius;
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public float avatarCapsuleHeight;
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public float avatarContactProcessingThreshold;
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public float maxPersistantManifoldPoolSize;
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public float maxCollisionAlgorithmPoolSize;
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public float shouldDisableContactPoolDynamicAllocation;
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public float shouldForceUpdateAllAabbs;
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public float shouldRandomizeSolverOrder;
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public float shouldSplitSimulationIslands;
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public float shouldEnableFrictionCaching;
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public float numberOfSolverIterations;
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public float linkConstraintUseFrameOffset;
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public float linkConstraintEnableTransMotor;
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public float linkConstraintTransMotorMaxVel;
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public float linkConstraintTransMotorMaxForce;
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public float linkConstraintERP;
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public float linkConstraintCFM;
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public float linkConstraintSolverIterations;
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public const float numericTrue = 1f;
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public const float numericFalse = 0f;
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}
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// The states a bullet collision object can have
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public enum ActivationState : uint
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{
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ACTIVE_TAG = 1,
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ISLAND_SLEEPING,
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WANTS_DEACTIVATION,
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DISABLE_DEACTIVATION,
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DISABLE_SIMULATION,
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}
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public enum CollisionObjectTypes : int
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{
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CO_COLLISION_OBJECT = 1 << 0,
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CO_RIGID_BODY = 1 << 1,
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CO_GHOST_OBJECT = 1 << 2,
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CO_SOFT_BODY = 1 << 3,
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CO_HF_FLUID = 1 << 4,
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CO_USER_TYPE = 1 << 5,
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}
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// Values used by Bullet and BulletSim to control object properties.
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// Bullet's "CollisionFlags" has more to do with operations on the
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// object (if collisions happen, if gravity effects it, ...).
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public enum CollisionFlags : uint
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{
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CF_STATIC_OBJECT = 1 << 0,
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CF_KINEMATIC_OBJECT = 1 << 1,
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CF_NO_CONTACT_RESPONSE = 1 << 2,
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CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3,
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CF_CHARACTER_OBJECT = 1 << 4,
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CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
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CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
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// Following used by BulletSim to control collisions
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BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
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BS_FLOATS_ON_WATER = 1 << 11,
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BS_NONE = 0,
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BS_ALL = 0xFFFFFFFF,
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// These are the collision flags switched depending on physical state.
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// The other flags are used for other things and should not be fooled with.
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BS_ACTIVE = CF_STATIC_OBJECT
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| CF_KINEMATIC_OBJECT
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| CF_NO_CONTACT_RESPONSE
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};
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// Values for collisions groups and masks
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public enum CollisionFilterGroups : uint
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{
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// Don't use the bit definitions!! Define the use in a
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// filter/mask definition below. This way collision interactions
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// are more easily debugged.
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BNoneFilter = 0,
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BDefaultFilter = 1 << 0,
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BStaticFilter = 1 << 1,
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BKinematicFilter = 1 << 2,
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BDebrisFilter = 1 << 3,
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BSensorTrigger = 1 << 4,
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BCharacterFilter = 1 << 5,
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BAllFilter = 0xFFFFFFFF,
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// Filter groups defined by BulletSim
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BGroundPlaneFilter = 1 << 10,
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BTerrainFilter = 1 << 11,
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BRaycastFilter = 1 << 12,
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BSolidFilter = 1 << 13,
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// The collsion filters and masked are defined in one place -- don't want them scattered
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AvatarFilter = BCharacterFilter,
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AvatarMask = BAllFilter,
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ObjectFilter = BSolidFilter,
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ObjectMask = BAllFilter,
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StaticObjectFilter = BStaticFilter,
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StaticObjectMask = BAllFilter,
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VolumeDetectFilter = BSensorTrigger,
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VolumeDetectMask = ~BSensorTrigger,
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TerrainFilter = BTerrainFilter,
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TerrainMask = BAllFilter & ~BStaticFilter,
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GroundPlaneFilter = BAllFilter,
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GroundPlaneMask = BAllFilter
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};
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// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
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// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
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public enum ConstraintParams : int
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{
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BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730
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BT_CONSTRAINT_STOP_ERP,
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BT_CONSTRAINT_CFM,
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BT_CONSTRAINT_STOP_CFM,
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};
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public enum ConstraintParamAxis : int
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{
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AXIS_LINEAR_X = 0,
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AXIS_LINEAR_Y,
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AXIS_LINEAR_Z,
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AXIS_ANGULAR_X,
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AXIS_ANGULAR_Y,
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AXIS_ANGULAR_Z,
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AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls
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AXIS_ANGULAR_ALL,
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AXIS_ALL
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};
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// ===============================================================================
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static class BulletSimAPI {
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// Link back to the managed code for outputting log messages
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[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
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public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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[return: MarshalAs(UnmanagedType.LPStr)]
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public static extern string GetVersion();
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
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int maxCollisions, IntPtr collisionArray,
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int maxUpdates, IntPtr updateArray,
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DebugLogCallback logRoutine);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void Shutdown(uint worldID);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool UpdateParameter(uint worldID, uint localID,
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[MarshalAs(UnmanagedType.LPStr)]string paramCode, float value);
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// ===============================================================================
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
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out int updatedEntityCount,
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out IntPtr updatedEntitiesPtr,
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out int collidersCount,
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out IntPtr collidersPtr);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
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int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
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);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
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int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
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int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
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);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool CreateObject(uint worldID, ShapeData shapeData);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Quaternion GetObjectOrientation(uint WorldID, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
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// Set the current force acting on the object
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool HasObject(uint worldID, uint id);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool DestroyObject(uint worldID, uint id);
|
|
|
|
// ===============================================================================
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
|
|
|
|
// ===============================================================================
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void DumpBulletStatistics();
|
|
|
|
// Log a debug message
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetDebugLogCallback(DebugLogCallback callback);
|
|
|
|
// ===============================================================================
|
|
// ===============================================================================
|
|
// ===============================================================================
|
|
// A new version of the API that enables moving all the logic out of the C++ code and into
|
|
// the C# code. This will make modifications easier for the next person.
|
|
// This interface passes the actual pointers to the objects in the unmanaged
|
|
// address space. All the management (calls for creation/destruction/lookup)
|
|
// is done in the C# code.
|
|
// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt
|
|
// and the old code is removed.
|
|
|
|
// Functions use while converting from API1 to API2. Can be removed when totally converted.
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr GetSimHandle2(uint worldID);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
|
|
|
|
// ===============================================================================
|
|
// Initialization and simulation
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
|
|
int maxCollisions, IntPtr collisionArray,
|
|
int maxUpdates, IntPtr updateArray);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void Shutdown2(IntPtr sim);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep,
|
|
out int updatedEntityCount,
|
|
out IntPtr updatedEntitiesPtr,
|
|
out int collidersCount,
|
|
out IntPtr collidersPtr);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool 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,
|
|
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);
|
|
|
|
[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 IntPtr CreateCompoundShape2(IntPtr sim);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
|
|
|
|
[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 IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
|
|
|
|
[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 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 IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
|
|
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
|
|
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
|
|
|
|
[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(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,
|
|
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 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 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]
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public static extern float GetCcdMotionThreshold2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetCcdMotionThreshold2(IntPtr obj, float val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern float GetCcdSweepSphereRadius2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetCcdSweepSphereRadius2(IntPtr obj, float val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr GetUserPointer2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetUserPointer2(IntPtr obj, IntPtr val);
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// =====================================================================================
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// btRigidBody entries
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void ApplyGravity2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetGravity2(IntPtr obj, Vector3 val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetGravity2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern float GetLinearDamping2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern float GetAngularDamping2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern float GetLinearSleepingThreshold2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern float GetAngularSleepingThreshold2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void ApplyDamping2(IntPtr obj, float timeStep);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetLinearFactor2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor);
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/*
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans);
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*/
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot);
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// Add a force to the object as if its mass is one.
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force);
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// Set the force being applied to the object as if its mass is one.
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetObjectForce2(IntPtr obj, Vector3 force);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetTotalForce2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetTotalTorque2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
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public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
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public static extern void ApplyTorque2(IntPtr obj, Vector3 torque);
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// Apply force at the given point. Will add torque to the object.
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
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public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos);
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// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass.
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp);
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// Apply impulse to the object's torque. Force is scaled by object's mass.
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp);
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// 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);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void ClearForces2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void ClearAllForces2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void UpdateInertiaTensor2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj);
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|
|
/*
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|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Transform GetCenterOfMassTransform2(IntPtr obj);
|
|
*/
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetLinearVelocity2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetAngularVelocity2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void Translate2(IntPtr obj, Vector3 trans);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void UpdateDeactivation2(IntPtr obj, float timeStep);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool WantsSleeping2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetAngularFactor2(IntPtr obj, float factor);
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|
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor);
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|
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetAngularFactor2(IntPtr obj);
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern bool IsInWorld2(IntPtr obj);
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain);
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|
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain);
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|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
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|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern int GetNumConstraintRefs2(IntPtr obj);
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|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetDeltaLinearVelocity2(IntPtr obj);
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|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern Vector3 GetDeltaAngularVelocity2(IntPtr obj);
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|
|
|
[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);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void SetCollisionFilterMask2(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);
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|
|
|
[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 DumpMapInfo2(IntPtr sim, IntPtr manInfo);
|
|
|
|
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
|
|
public static extern void DumpPhysicsStatistics2(IntPtr sim);
|
|
|
|
}
|
|
}
|