883 lines
43 KiB
C#
883 lines
43 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.Collections.Generic;
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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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// 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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// ===============================================================================
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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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public enum BSPhysicsShapeType
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{
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SHAPE_UNKNOWN = 0,
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SHAPE_CAPSULE = 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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// following defined by BulletSim
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SHAPE_GROUNDPLANE = 20,
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SHAPE_TERRAIN = 21,
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SHAPE_COMPOUND = 22,
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SHAPE_HEIGHTMAP = 23,
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};
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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_NONE = 0,
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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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KEY_CAPSULE = 5,
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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 uint ID;
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public BSPhysicsShapeType 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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}
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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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// NOTE: adding the X causes compile breaks if used. These are unused symbols
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// that can be removed from both here and the unmanaged definition of this structure.
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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 XlinearDamping;
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public float XangularDamping;
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public float XdeactivationTime;
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public float XlinearSleepingThreshold;
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public float XangularSleepingThreshold;
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public float XccdMotionThreshold;
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public float XccdSweptSphereRadius;
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public float XcontactProcessingThreshold;
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public float XterrainImplementation;
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public float XterrainFriction;
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public float XterrainHitFraction;
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public float XterrainRestitution;
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public float XterrainCollisionMargin;
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public float XavatarFriction;
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public float XavatarStandingFriction;
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public float XavatarDensity;
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public float XavatarRestitution;
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public float XavatarCapsuleWidth;
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public float XavatarCapsuleDepth;
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public float XavatarCapsuleHeight;
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public float XavatarContactProcessingThreshold;
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public float XvehicleAngularDamping;
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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 XlinksetImplementation;
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public float XlinkConstraintUseFrameOffset;
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public float XlinkConstraintEnableTransMotor;
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public float XlinkConstraintTransMotorMaxVel;
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public float XlinkConstraintTransMotorMaxForce;
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public float XlinkConstraintERP;
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public float XlinkConstraintCFM;
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public float XlinkConstraintSolverIterations;
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public float physicsLoggingFrames;
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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 and updates
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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_VEHICLE_COLLISIONS = 1 << 12,
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BS_NONE = 0,
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BS_ALL = 0xFFFFFFFF
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};
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// Values f 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 found and debugged.
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BNoneGroup = 0,
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BDefaultGroup = 1 << 0,
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BStaticGroup = 1 << 1,
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BKinematicGroup = 1 << 2,
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BDebrisGroup = 1 << 3,
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BSensorTrigger = 1 << 4,
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BCharacterGroup = 1 << 5,
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BAllGroup = 0xFFFFFFFF,
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// Filter groups defined by BulletSim
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BGroundPlaneGroup = 1 << 10,
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BTerrainGroup = 1 << 11,
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BRaycastGroup = 1 << 12,
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BSolidGroup = 1 << 13,
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// BLinksetGroup = xx // a linkset proper is either static or dynamic
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BLinksetChildGroup = 1 << 14,
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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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// ===============================================================================
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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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// ===============================================================================
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// Initialization and simulation
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr Initialize2(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 bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetHeightMap2(IntPtr world, float[] heightmap);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void Shutdown2(IntPtr sim);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern int PhysicsStep2(IntPtr world, 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 PushUpdate2(IntPtr obj);
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// =====================================================================================
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// Mesh, hull, shape and body creation helper routines
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateMeshShape2(IntPtr world,
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int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
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int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateHullShape2(IntPtr world,
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int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool IsNativeShape2(IntPtr shape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetShapeCollisionMargin(IntPtr shape, float margin);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern int GetNumberOfCompoundChildren2(IntPtr cShape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern int GetBodyType2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void ReleaseBodyInfo2(IntPtr obj);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
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// =====================================================================================
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// Terrain creation and helper routines
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
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[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords,
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[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo);
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// =====================================================================================
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// Constraint creation and helper routines
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
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Vector3 frame1loc, Quaternion frame1rot,
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Vector3 frame2loc, Quaternion frame2rot,
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bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2,
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Vector3 joinPoint,
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bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2,
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Vector3 pivotinA, Vector3 pivotinB,
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Vector3 axisInA, Vector3 axisInB,
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bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetFrames2(IntPtr constrain,
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Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
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[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);
|
|
|
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool IsPolyhedral2(IntPtr shape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool IsConvex2d2(IntPtr shape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool IsConvex2(IntPtr shape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool IsNonMoving2(IntPtr shape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool IsConcave2(IntPtr shape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool IsCompound2(IntPtr shape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool IsSoftBody2(IntPtr shape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool IsInfinite2(IntPtr shape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 GetLocalScaling2(IntPtr shape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern int GetShapeType2(IntPtr shape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void SetMargin2(IntPtr shape, float val);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern float GetMargin2(IntPtr shape);
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// =====================================================================================
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// Debugging
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void DumpActivationInfo2(IntPtr sim);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void DumpAllInfo2(IntPtr sim);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern void DumpPhysicsStatistics2(IntPtr sim);
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}
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}
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