opensim – Blame information for rev 1
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1 | eva | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ |
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3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
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4 | * |
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5 | * Redistribution and use in source and binary forms, with or without |
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6 | * modification, are permitted provided that the following conditions are met: |
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7 | * * Redistributions of source code must retain the above copyright |
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8 | * notice, this list of conditions and the following disclaimer. |
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9 | * * Redistributions in binary form must reproduce the above copyrightD |
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10 | * notice, this list of conditions and the following disclaimer in the |
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11 | * documentation and/or other materials provided with the distribution. |
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12 | * * Neither the name of the OpenSimulator Project nor the |
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13 | * names of its contributors may be used to endorse or promote products |
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14 | * derived from this software without specific prior written permission. |
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15 | * |
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16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
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17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
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18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
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19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
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20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
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21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
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23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
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25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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26 | */ |
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27 | using System; |
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28 | using System.Collections.Generic; |
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29 | using System.Reflection; |
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30 | using System.Runtime.InteropServices; |
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31 | using System.Security; |
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32 | using System.Text; |
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33 | |||
34 | using OpenSim.Framework; |
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35 | |||
36 | using OpenMetaverse; |
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37 | |||
38 | namespace OpenSim.Region.Physics.BulletSPlugin |
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39 | { |
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40 | public sealed class BSAPIUnman : BSAPITemplate |
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41 | { |
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42 | |||
43 | private sealed class BulletWorldUnman : BulletWorld |
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44 | { |
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45 | public IntPtr ptr; |
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46 | public BulletWorldUnman(uint id, BSScene physScene, IntPtr xx) |
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47 | : base(id, physScene) |
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48 | { |
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49 | ptr = xx; |
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50 | } |
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51 | } |
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52 | |||
53 | private sealed class BulletBodyUnman : BulletBody |
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54 | { |
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55 | public IntPtr ptr; |
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56 | public BulletBodyUnman(uint id, IntPtr xx) |
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57 | : base(id) |
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58 | { |
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59 | ptr = xx; |
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60 | } |
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61 | public override bool HasPhysicalBody |
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62 | { |
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63 | get { return ptr != IntPtr.Zero; } |
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64 | } |
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65 | public override void Clear() |
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66 | { |
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67 | ptr = IntPtr.Zero; |
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68 | } |
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69 | public override string AddrString |
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70 | { |
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71 | get { return ptr.ToString("X"); } |
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72 | } |
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73 | } |
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74 | |||
75 | private sealed class BulletShapeUnman : BulletShape |
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76 | { |
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77 | public IntPtr ptr; |
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78 | public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) |
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79 | : base() |
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80 | { |
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81 | ptr = xx; |
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82 | shapeType = typ; |
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83 | } |
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84 | public override bool HasPhysicalShape |
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85 | { |
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86 | get { return ptr != IntPtr.Zero; } |
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87 | } |
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88 | public override void Clear() |
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89 | { |
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90 | ptr = IntPtr.Zero; |
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91 | } |
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92 | public override BulletShape Clone() |
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93 | { |
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94 | return new BulletShapeUnman(ptr, shapeType); |
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95 | } |
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96 | public override bool ReferenceSame(BulletShape other) |
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97 | { |
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98 | BulletShapeUnman otheru = other as BulletShapeUnman; |
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99 | return (otheru != null) && (this.ptr == otheru.ptr); |
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100 | |||
101 | } |
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102 | public override string AddrString |
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103 | { |
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104 | get { return ptr.ToString("X"); } |
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105 | } |
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106 | } |
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107 | private sealed class BulletConstraintUnman : BulletConstraint |
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108 | { |
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109 | public BulletConstraintUnman(IntPtr xx) : base() |
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110 | { |
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111 | ptr = xx; |
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112 | } |
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113 | public IntPtr ptr; |
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114 | |||
115 | public override void Clear() |
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116 | { |
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117 | ptr = IntPtr.Zero; |
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118 | } |
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119 | public override bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } |
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120 | |||
121 | // Used for log messages for a unique display of the memory/object allocated to this instance |
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122 | public override string AddrString |
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123 | { |
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124 | get { return ptr.ToString("X"); } |
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125 | } |
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126 | } |
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127 | |||
128 | // We pin the memory passed between the managed and unmanaged code. |
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129 | GCHandle m_paramsHandle; |
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130 | private GCHandle m_collisionArrayPinnedHandle; |
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131 | private GCHandle m_updateArrayPinnedHandle; |
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132 | |||
133 | // Handle to the callback used by the unmanaged code to call into the managed code. |
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134 | // Used for debug logging. |
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135 | // Need to store the handle in a persistant variable so it won't be freed. |
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136 | private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle; |
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137 | |||
138 | private BSScene PhysicsScene { get; set; } |
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139 | |||
140 | public override string BulletEngineName { get { return "BulletUnmanaged"; } } |
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141 | public override string BulletEngineVersion { get; protected set; } |
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142 | |||
143 | public BSAPIUnman(string paramName, BSScene physScene) |
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144 | { |
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145 | PhysicsScene = physScene; |
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146 | |||
147 | // Do something fancy with the paramName to get the right DLL implementation |
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148 | // like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc. |
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149 | if (Util.IsWindows()) |
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150 | Util.LoadArchSpecificWindowsDll("BulletSim.dll"); |
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151 | // If not Windows, loading is performed by the |
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152 | // Mono loader as specified in |
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153 | // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config". |
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154 | } |
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155 | |||
156 | // Initialization and simulation |
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157 | public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, |
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158 | int maxCollisions, ref CollisionDesc[] collisionArray, |
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159 | int maxUpdates, ref EntityProperties[] updateArray |
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160 | ) |
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161 | { |
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162 | // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code |
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163 | m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned); |
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164 | m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned); |
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165 | m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned); |
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166 | |||
167 | // If Debug logging level, enable logging from the unmanaged code |
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168 | m_DebugLogCallbackHandle = null; |
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169 | if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled) |
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170 | { |
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171 | BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader); |
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172 | if (PhysicsScene.PhysicsLogging.Enabled) |
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173 | // The handle is saved in a variable to make sure it doesn't get freed after this call |
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174 | m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog); |
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175 | else |
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176 | m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger); |
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177 | } |
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178 | |||
179 | // Get the version of the DLL |
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180 | // TODO: this doesn't work yet. Something wrong with marshaling the returned string. |
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181 | // BulletEngineVersion = BulletSimAPI.GetVersion2(); |
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182 | BulletEngineVersion = ""; |
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183 | |||
184 | // Call the unmanaged code with the buffers and other information |
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185 | return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(), |
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186 | maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), |
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187 | maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(), |
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188 | m_DebugLogCallbackHandle)); |
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189 | |||
190 | } |
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191 | |||
192 | // Called directly from unmanaged code so don't do much |
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193 | private void BulletLogger(string msg) |
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194 | { |
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195 | BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg); |
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196 | } |
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197 | |||
198 | // Called directly from unmanaged code so don't do much |
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199 | private void BulletLoggerPhysLog(string msg) |
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200 | { |
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201 | PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg); |
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202 | } |
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203 | |||
204 | public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, |
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205 | out int updatedEntityCount, out int collidersCount) |
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206 | { |
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207 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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208 | return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount); |
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209 | } |
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210 | |||
211 | public override void Shutdown(BulletWorld world) |
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212 | { |
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213 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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214 | BSAPICPP.Shutdown2(worldu.ptr); |
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215 | |||
216 | if (m_paramsHandle.IsAllocated) |
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217 | { |
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218 | m_paramsHandle.Free(); |
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219 | } |
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220 | if (m_collisionArrayPinnedHandle.IsAllocated) |
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221 | { |
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222 | m_collisionArrayPinnedHandle.Free(); |
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223 | } |
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224 | if (m_updateArrayPinnedHandle.IsAllocated) |
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225 | { |
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226 | m_updateArrayPinnedHandle.Free(); |
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227 | } |
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228 | } |
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229 | |||
230 | public override bool PushUpdate(BulletBody obj) |
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231 | { |
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232 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
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233 | return BSAPICPP.PushUpdate2(bodyu.ptr); |
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234 | } |
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235 | |||
236 | public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) |
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237 | { |
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238 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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239 | return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value); |
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240 | } |
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241 | |||
242 | // ===================================================================================== |
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243 | // Mesh, hull, shape and body creation helper routines |
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244 | public override BulletShape CreateMeshShape(BulletWorld world, |
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245 | int indicesCount, int[] indices, |
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246 | int verticesCount, float[] vertices) |
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247 | { |
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248 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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249 | return new BulletShapeUnman( |
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250 | BSAPICPP.CreateMeshShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices), |
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251 | BSPhysicsShapeType.SHAPE_MESH); |
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252 | } |
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253 | |||
254 | public override BulletShape CreateGImpactShape(BulletWorld world, |
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255 | int indicesCount, int[] indices, |
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256 | int verticesCount, float[] vertices) |
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257 | { |
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258 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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259 | return new BulletShapeUnman( |
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260 | BSAPICPP.CreateGImpactShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices), |
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261 | BSPhysicsShapeType.SHAPE_GIMPACT); |
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262 | } |
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263 | |||
264 | public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls) |
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265 | { |
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266 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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267 | return new BulletShapeUnman( |
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268 | BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), |
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269 | BSPhysicsShapeType.SHAPE_HULL); |
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270 | } |
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271 | |||
272 | public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms) |
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273 | { |
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274 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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275 | BulletShapeUnman shapeu = meshShape as BulletShapeUnman; |
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276 | return new BulletShapeUnman( |
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277 | BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr, parms), |
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278 | BSPhysicsShapeType.SHAPE_HULL); |
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279 | } |
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280 | |||
281 | public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape) |
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282 | { |
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283 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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284 | BulletShapeUnman shapeu = meshShape as BulletShapeUnman; |
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285 | return new BulletShapeUnman( |
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286 | BSAPICPP.BuildConvexHullShapeFromMesh2(worldu.ptr, shapeu.ptr), |
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287 | BSPhysicsShapeType.SHAPE_CONVEXHULL); |
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288 | } |
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289 | |||
290 | public override BulletShape CreateConvexHullShape(BulletWorld world, |
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291 | int indicesCount, int[] indices, |
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292 | int verticesCount, float[] vertices) |
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293 | { |
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294 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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295 | return new BulletShapeUnman( |
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296 | BSAPICPP.CreateConvexHullShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices), |
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297 | BSPhysicsShapeType.SHAPE_CONVEXHULL); |
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298 | } |
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299 | |||
300 | public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData) |
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301 | { |
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302 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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303 | return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type); |
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304 | } |
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305 | |||
306 | public override bool IsNativeShape(BulletShape shape) |
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307 | { |
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308 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
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309 | if (shapeu != null && shapeu.HasPhysicalShape) |
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310 | return BSAPICPP.IsNativeShape2(shapeu.ptr); |
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311 | return false; |
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312 | } |
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313 | |||
314 | public override void SetShapeCollisionMargin(BulletShape shape, float margin) |
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315 | { |
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316 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
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317 | if (shapeu != null && shapeu.HasPhysicalShape) |
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318 | BSAPICPP.SetShapeCollisionMargin(shapeu.ptr, margin); |
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319 | } |
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320 | |||
321 | public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale) |
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322 | { |
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323 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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324 | return new BulletShapeUnman( |
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325 | BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale), |
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326 | BSPhysicsShapeType.SHAPE_CAPSULE); |
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327 | } |
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328 | |||
329 | public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree) |
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330 | { |
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331 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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332 | return new BulletShapeUnman( |
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333 | BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree), |
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334 | BSPhysicsShapeType.SHAPE_COMPOUND); |
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335 | |||
336 | } |
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337 | |||
338 | public override int GetNumberOfCompoundChildren(BulletShape shape) |
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339 | { |
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340 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
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341 | if (shapeu != null && shapeu.HasPhysicalShape) |
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342 | return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr); |
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343 | return 0; |
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344 | } |
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345 | |||
346 | public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot) |
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347 | { |
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348 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
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349 | BulletShapeUnman addShapeu = addShape as BulletShapeUnman; |
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350 | BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot); |
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351 | } |
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352 | |||
353 | public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx) |
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354 | { |
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355 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
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356 | return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN); |
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357 | } |
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358 | |||
359 | public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx) |
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360 | { |
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361 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
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362 | return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN); |
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363 | } |
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364 | |||
365 | public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape) |
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366 | { |
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367 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
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368 | BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman; |
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369 | BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr); |
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370 | } |
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371 | |||
372 | public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) |
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373 | { |
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374 | BulletShapeUnman shapeu = pShape as BulletShapeUnman; |
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375 | BSAPICPP.UpdateChildTransform2(shapeu.ptr, childIndex, pos, rot, shouldRecalculateLocalAabb); |
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376 | } |
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377 | |||
378 | public override void RecalculateCompoundShapeLocalAabb(BulletShape shape) |
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379 | { |
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380 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
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381 | BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr); |
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382 | } |
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383 | |||
384 | public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id) |
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385 | { |
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386 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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387 | BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman; |
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388 | return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.shapeType); |
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389 | } |
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390 | |||
391 | public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) |
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392 | { |
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393 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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394 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
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395 | return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr); |
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396 | } |
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397 | |||
398 | public override CollisionObjectTypes GetBodyType(BulletBody obj) |
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399 | { |
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400 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
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401 | return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr); |
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402 | } |
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403 | |||
404 | public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) |
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405 | { |
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406 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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407 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
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408 | return new BulletBodyUnman(id, BSAPICPP.CreateBodyFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot)); |
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409 | } |
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410 | |||
411 | public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot) |
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412 | { |
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413 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
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414 | return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot)); |
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415 | } |
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416 | |||
417 | public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) |
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418 | { |
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419 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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420 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
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421 | return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot)); |
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422 | } |
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423 | |||
424 | public override void DestroyObject(BulletWorld world, BulletBody obj) |
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425 | { |
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426 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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427 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
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428 | BSAPICPP.DestroyObject2(worldu.ptr, bodyu.ptr); |
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429 | } |
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430 | |||
431 | // ===================================================================================== |
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432 | // Terrain creation and helper routines |
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433 | public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin) |
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434 | { |
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435 | return new BulletShapeUnman(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); |
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436 | } |
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437 | |||
438 | public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, |
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439 | float scaleFactor, float collisionMargin) |
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440 | { |
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441 | return new BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin), |
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442 | BSPhysicsShapeType.SHAPE_TERRAIN); |
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443 | } |
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444 | |||
445 | // ===================================================================================== |
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446 | // Constraint creation and helper routines |
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447 | public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, |
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448 | Vector3 frame1loc, Quaternion frame1rot, |
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449 | Vector3 frame2loc, Quaternion frame2rot, |
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450 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) |
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451 | { |
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452 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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453 | BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; |
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454 | BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; |
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455 | return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, |
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456 | frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); |
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457 | } |
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458 | |||
459 | public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2, |
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460 | Vector3 joinPoint, |
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461 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) |
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462 | { |
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463 | BulletWorldUnman worldu = world as BulletWorldUnman; |
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464 | BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; |
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465 | BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; |
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466 | return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, |
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467 | joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); |
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468 | } |
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469 | |||
470 | public override BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1, |
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471 | Vector3 frameInBloc, Quaternion frameInBrot, |
||
472 | bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies) |
||
473 | { |
||
474 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
475 | BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; |
||
476 | return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintFixed2(worldu.ptr, bodyu1.ptr, |
||
477 | frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies)); |
||
478 | } |
||
479 | |||
480 | public override BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, |
||
481 | Vector3 frame1loc, Quaternion frame1rot, |
||
482 | Vector3 frame2loc, Quaternion frame2rot, |
||
483 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) |
||
484 | { |
||
485 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
486 | BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; |
||
487 | BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; |
||
488 | return new BulletConstraintUnman(BSAPICPP.Create6DofSpringConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, |
||
489 | frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); |
||
490 | } |
||
491 | |||
492 | public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, |
||
493 | Vector3 pivotinA, Vector3 pivotinB, |
||
494 | Vector3 axisInA, Vector3 axisInB, |
||
495 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) |
||
496 | { |
||
497 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
498 | BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; |
||
499 | BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; |
||
500 | return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, |
||
501 | pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); |
||
502 | } |
||
503 | |||
504 | public override BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, |
||
505 | Vector3 frame1loc, Quaternion frame1rot, |
||
506 | Vector3 frame2loc, Quaternion frame2rot, |
||
507 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) |
||
508 | { |
||
509 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
510 | BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; |
||
511 | BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; |
||
512 | return new BulletConstraintUnman(BSAPICPP.CreateSliderConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, |
||
513 | frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); |
||
514 | } |
||
515 | |||
516 | public override BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, |
||
517 | Vector3 frame1loc, Quaternion frame1rot, |
||
518 | Vector3 frame2loc, Quaternion frame2rot, |
||
519 | bool disableCollisionsBetweenLinkedBodies) |
||
520 | { |
||
521 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
522 | BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; |
||
523 | BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; |
||
524 | return new BulletConstraintUnman(BSAPICPP.CreateConeTwistConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, |
||
525 | frame2loc, frame2rot, disableCollisionsBetweenLinkedBodies)); |
||
526 | } |
||
527 | |||
528 | public override BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, |
||
529 | Vector3 axisInA, Vector3 axisInB, |
||
530 | float ratio, bool disableCollisionsBetweenLinkedBodies) |
||
531 | { |
||
532 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
533 | BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; |
||
534 | BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; |
||
535 | return new BulletConstraintUnman(BSAPICPP.CreateGearConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, axisInA, axisInB, |
||
536 | ratio, disableCollisionsBetweenLinkedBodies)); |
||
537 | } |
||
538 | |||
539 | public override BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, |
||
540 | Vector3 pivotInA, Vector3 pivotInB, |
||
541 | bool disableCollisionsBetweenLinkedBodies) |
||
542 | { |
||
543 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
544 | BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; |
||
545 | BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; |
||
546 | return new BulletConstraintUnman(BSAPICPP.CreatePoint2PointConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, pivotInA, pivotInB, |
||
547 | disableCollisionsBetweenLinkedBodies)); |
||
548 | } |
||
549 | |||
550 | public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse) |
||
551 | { |
||
552 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
553 | BSAPICPP.SetConstraintEnable2(constrainu.ptr, numericTrueFalse); |
||
554 | } |
||
555 | |||
556 | public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations) |
||
557 | { |
||
558 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
559 | BSAPICPP.SetConstraintNumSolverIterations2(constrainu.ptr, iterations); |
||
560 | } |
||
561 | |||
562 | public override bool SetFrames(BulletConstraint constrain, |
||
563 | Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) |
||
564 | { |
||
565 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
566 | return BSAPICPP.SetFrames2(constrainu.ptr, frameA, frameArot, frameB, frameBrot); |
||
567 | } |
||
568 | |||
569 | public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) |
||
570 | { |
||
571 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
572 | return BSAPICPP.SetLinearLimits2(constrainu.ptr, low, hi); |
||
573 | } |
||
574 | |||
575 | public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) |
||
576 | { |
||
577 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
578 | return BSAPICPP.SetAngularLimits2(constrainu.ptr, low, hi); |
||
579 | } |
||
580 | |||
581 | public override bool UseFrameOffset(BulletConstraint constrain, float enable) |
||
582 | { |
||
583 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
584 | return BSAPICPP.UseFrameOffset2(constrainu.ptr, enable); |
||
585 | } |
||
586 | |||
587 | public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce) |
||
588 | { |
||
589 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
590 | return BSAPICPP.TranslationalLimitMotor2(constrainu.ptr, enable, targetVel, maxMotorForce); |
||
591 | } |
||
592 | |||
593 | public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold) |
||
594 | { |
||
595 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
596 | return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold); |
||
597 | } |
||
598 | |||
599 | public override bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation) |
||
600 | { |
||
601 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
602 | return BSAPICPP.HingeSetLimits2(constrainu.ptr, low, high, softness, bias, relaxation); |
||
603 | } |
||
604 | |||
605 | public override bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse) |
||
606 | { |
||
607 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
608 | return BSAPICPP.ConstraintSpringEnable2(constrainu.ptr, index, numericTrueFalse); |
||
609 | } |
||
610 | |||
611 | public override bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint) |
||
612 | { |
||
613 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
614 | return BSAPICPP.ConstraintSpringSetEquilibriumPoint2(constrainu.ptr, index, equilibriumPoint); |
||
615 | } |
||
616 | |||
617 | public override bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss) |
||
618 | { |
||
619 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
620 | return BSAPICPP.ConstraintSpringSetStiffness2(constrainu.ptr, index, stiffnesss); |
||
621 | } |
||
622 | |||
623 | public override bool SpringSetDamping(BulletConstraint constrain, int index, float damping) |
||
624 | { |
||
625 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
626 | return BSAPICPP.ConstraintSpringSetDamping2(constrainu.ptr, index, damping); |
||
627 | } |
||
628 | |||
629 | public override bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val) |
||
630 | { |
||
631 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
632 | return BSAPICPP.SliderSetLimits2(constrainu.ptr, lowerUpper, linAng, val); |
||
633 | } |
||
634 | |||
635 | public override bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val) |
||
636 | { |
||
637 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
638 | return BSAPICPP.SliderSet2(constrainu.ptr, softRestDamp, dirLimOrtho, linAng, val); |
||
639 | } |
||
640 | |||
641 | public override bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse) |
||
642 | { |
||
643 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
644 | return BSAPICPP.SliderMotorEnable2(constrainu.ptr, linAng, numericTrueFalse); |
||
645 | } |
||
646 | |||
647 | public override bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val) |
||
648 | { |
||
649 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
650 | return BSAPICPP.SliderMotor2(constrainu.ptr, forceVel, linAng, val); |
||
651 | } |
||
652 | |||
653 | public override bool CalculateTransforms(BulletConstraint constrain) |
||
654 | { |
||
655 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
656 | return BSAPICPP.CalculateTransforms2(constrainu.ptr); |
||
657 | } |
||
658 | |||
659 | public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis) |
||
660 | { |
||
661 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
662 | return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis); |
||
663 | } |
||
664 | |||
665 | public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain) |
||
666 | { |
||
667 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
668 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
669 | return BSAPICPP.DestroyConstraint2(worldu.ptr, constrainu.ptr); |
||
670 | } |
||
671 | |||
672 | // ===================================================================================== |
||
673 | // btCollisionWorld entries |
||
674 | public override void UpdateSingleAabb(BulletWorld world, BulletBody obj) |
||
675 | { |
||
676 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
677 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
678 | BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr); |
||
679 | } |
||
680 | |||
681 | public override void UpdateAabbs(BulletWorld world) |
||
682 | { |
||
683 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
684 | BSAPICPP.UpdateAabbs2(worldu.ptr); |
||
685 | } |
||
686 | |||
687 | public override bool GetForceUpdateAllAabbs(BulletWorld world) |
||
688 | { |
||
689 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
690 | return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr); |
||
691 | } |
||
692 | |||
693 | public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) |
||
694 | { |
||
695 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
696 | BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force); |
||
697 | } |
||
698 | |||
699 | // ===================================================================================== |
||
700 | // btDynamicsWorld entries |
||
701 | public override bool AddObjectToWorld(BulletWorld world, BulletBody obj) |
||
702 | { |
||
703 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
704 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
705 | |||
706 | // Bullet resets several variables when an object is added to the world. |
||
707 | // Gravity is reset to world default depending on the static/dynamic |
||
708 | // type. Of course, the collision flags in the broadphase proxy are initialized to default. |
||
709 | Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr); |
||
710 | |||
711 | bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr); |
||
712 | |||
713 | if (ret) |
||
714 | { |
||
715 | BSAPICPP.SetGravity2(bodyu.ptr, origGrav); |
||
716 | obj.ApplyCollisionMask(world.physicsScene); |
||
717 | } |
||
718 | return ret; |
||
719 | } |
||
720 | |||
721 | public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj) |
||
722 | { |
||
723 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
724 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
725 | return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr); |
||
726 | } |
||
727 | |||
728 | public override bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj) |
||
729 | { |
||
730 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
731 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
732 | return BSAPICPP.ClearCollisionProxyCache2(worldu.ptr, bodyu.ptr); |
||
733 | } |
||
734 | |||
735 | public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) |
||
736 | { |
||
737 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
738 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
739 | return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects); |
||
740 | } |
||
741 | |||
742 | public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) |
||
743 | { |
||
744 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
745 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
746 | return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr); |
||
747 | } |
||
748 | // ===================================================================================== |
||
749 | // btCollisionObject entries |
||
750 | public override Vector3 GetAnisotripicFriction(BulletConstraint constrain) |
||
751 | { |
||
752 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
753 | return BSAPICPP.GetAnisotripicFriction2(constrainu.ptr); |
||
754 | } |
||
755 | |||
756 | public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict) |
||
757 | { |
||
758 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
759 | return BSAPICPP.SetAnisotripicFriction2(constrainu.ptr, frict); |
||
760 | } |
||
761 | |||
762 | public override bool HasAnisotripicFriction(BulletConstraint constrain) |
||
763 | { |
||
764 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
765 | return BSAPICPP.HasAnisotripicFriction2(constrainu.ptr); |
||
766 | } |
||
767 | |||
768 | public override void SetContactProcessingThreshold(BulletBody obj, float val) |
||
769 | { |
||
770 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
771 | BSAPICPP.SetContactProcessingThreshold2(bodyu.ptr, val); |
||
772 | } |
||
773 | |||
774 | public override float GetContactProcessingThreshold(BulletBody obj) |
||
775 | { |
||
776 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
777 | return BSAPICPP.GetContactProcessingThreshold2(bodyu.ptr); |
||
778 | } |
||
779 | |||
780 | public override bool IsStaticObject(BulletBody obj) |
||
781 | { |
||
782 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
783 | return BSAPICPP.IsStaticObject2(bodyu.ptr); |
||
784 | } |
||
785 | |||
786 | public override bool IsKinematicObject(BulletBody obj) |
||
787 | { |
||
788 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
789 | return BSAPICPP.IsKinematicObject2(bodyu.ptr); |
||
790 | } |
||
791 | |||
792 | public override bool IsStaticOrKinematicObject(BulletBody obj) |
||
793 | { |
||
794 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
795 | return BSAPICPP.IsStaticOrKinematicObject2(bodyu.ptr); |
||
796 | } |
||
797 | |||
798 | public override bool HasContactResponse(BulletBody obj) |
||
799 | { |
||
800 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
801 | return BSAPICPP.HasContactResponse2(bodyu.ptr); |
||
802 | } |
||
803 | |||
804 | public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape) |
||
805 | { |
||
806 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
807 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
808 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
809 | if (worldu != null && bodyu != null) |
||
810 | { |
||
811 | // Special case to allow the caller to zero out the reference to any physical shape |
||
812 | if (shapeu != null) |
||
813 | BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr); |
||
814 | else |
||
815 | BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero); |
||
816 | } |
||
817 | } |
||
818 | |||
819 | public override BulletShape GetCollisionShape(BulletBody obj) |
||
820 | { |
||
821 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
822 | return new BulletShapeUnman(BSAPICPP.GetCollisionShape2(bodyu.ptr), BSPhysicsShapeType.SHAPE_UNKNOWN); |
||
823 | } |
||
824 | |||
825 | public override int GetActivationState(BulletBody obj) |
||
826 | { |
||
827 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
828 | return BSAPICPP.GetActivationState2(bodyu.ptr); |
||
829 | } |
||
830 | |||
831 | public override void SetActivationState(BulletBody obj, int state) |
||
832 | { |
||
833 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
834 | BSAPICPP.SetActivationState2(bodyu.ptr, state); |
||
835 | } |
||
836 | |||
837 | public override void SetDeactivationTime(BulletBody obj, float dtime) |
||
838 | { |
||
839 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
840 | BSAPICPP.SetDeactivationTime2(bodyu.ptr, dtime); |
||
841 | } |
||
842 | |||
843 | public override float GetDeactivationTime(BulletBody obj) |
||
844 | { |
||
845 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
846 | return BSAPICPP.GetDeactivationTime2(bodyu.ptr); |
||
847 | } |
||
848 | |||
849 | public override void ForceActivationState(BulletBody obj, ActivationState state) |
||
850 | { |
||
851 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
852 | BSAPICPP.ForceActivationState2(bodyu.ptr, state); |
||
853 | } |
||
854 | |||
855 | public override void Activate(BulletBody obj, bool forceActivation) |
||
856 | { |
||
857 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
858 | BSAPICPP.Activate2(bodyu.ptr, forceActivation); |
||
859 | } |
||
860 | |||
861 | public override bool IsActive(BulletBody obj) |
||
862 | { |
||
863 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
864 | return BSAPICPP.IsActive2(bodyu.ptr); |
||
865 | } |
||
866 | |||
867 | public override void SetRestitution(BulletBody obj, float val) |
||
868 | { |
||
869 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
870 | BSAPICPP.SetRestitution2(bodyu.ptr, val); |
||
871 | } |
||
872 | |||
873 | public override float GetRestitution(BulletBody obj) |
||
874 | { |
||
875 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
876 | return BSAPICPP.GetRestitution2(bodyu.ptr); |
||
877 | } |
||
878 | |||
879 | public override void SetFriction(BulletBody obj, float val) |
||
880 | { |
||
881 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
882 | BSAPICPP.SetFriction2(bodyu.ptr, val); |
||
883 | } |
||
884 | |||
885 | public override float GetFriction(BulletBody obj) |
||
886 | { |
||
887 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
888 | return BSAPICPP.GetFriction2(bodyu.ptr); |
||
889 | } |
||
890 | |||
891 | public override Vector3 GetPosition(BulletBody obj) |
||
892 | { |
||
893 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
894 | return BSAPICPP.GetPosition2(bodyu.ptr); |
||
895 | } |
||
896 | |||
897 | public override Quaternion GetOrientation(BulletBody obj) |
||
898 | { |
||
899 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
900 | return BSAPICPP.GetOrientation2(bodyu.ptr); |
||
901 | } |
||
902 | |||
903 | public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation) |
||
904 | { |
||
905 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
906 | BSAPICPP.SetTranslation2(bodyu.ptr, position, rotation); |
||
907 | } |
||
908 | |||
909 | /* |
||
910 | public override IntPtr GetBroadphaseHandle(BulletBody obj) |
||
911 | { |
||
912 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
913 | return BSAPICPP.GetBroadphaseHandle2(bodyu.ptr); |
||
914 | } |
||
915 | |||
916 | public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle) |
||
917 | { |
||
918 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
919 | BSAPICPP.SetUserPointer2(bodyu.ptr, handle); |
||
920 | } |
||
921 | */ |
||
922 | |||
923 | public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel) |
||
924 | { |
||
925 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
926 | BSAPICPP.SetInterpolationLinearVelocity2(bodyu.ptr, vel); |
||
927 | } |
||
928 | |||
929 | public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel) |
||
930 | { |
||
931 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
932 | BSAPICPP.SetInterpolationAngularVelocity2(bodyu.ptr, vel); |
||
933 | } |
||
934 | |||
935 | public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel) |
||
936 | { |
||
937 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
938 | BSAPICPP.SetInterpolationVelocity2(bodyu.ptr, linearVel, angularVel); |
||
939 | } |
||
940 | |||
941 | public override float GetHitFraction(BulletBody obj) |
||
942 | { |
||
943 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
944 | return BSAPICPP.GetHitFraction2(bodyu.ptr); |
||
945 | } |
||
946 | |||
947 | public override void SetHitFraction(BulletBody obj, float val) |
||
948 | { |
||
949 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
950 | BSAPICPP.SetHitFraction2(bodyu.ptr, val); |
||
951 | } |
||
952 | |||
953 | public override CollisionFlags GetCollisionFlags(BulletBody obj) |
||
954 | { |
||
955 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
956 | return BSAPICPP.GetCollisionFlags2(bodyu.ptr); |
||
957 | } |
||
958 | |||
959 | public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags) |
||
960 | { |
||
961 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
962 | return BSAPICPP.SetCollisionFlags2(bodyu.ptr, flags); |
||
963 | } |
||
964 | |||
965 | public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags) |
||
966 | { |
||
967 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
968 | return BSAPICPP.AddToCollisionFlags2(bodyu.ptr, flags); |
||
969 | } |
||
970 | |||
971 | public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags) |
||
972 | { |
||
973 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
974 | return BSAPICPP.RemoveFromCollisionFlags2(bodyu.ptr, flags); |
||
975 | } |
||
976 | |||
977 | public override float GetCcdMotionThreshold(BulletBody obj) |
||
978 | { |
||
979 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
980 | return BSAPICPP.GetCcdMotionThreshold2(bodyu.ptr); |
||
981 | } |
||
982 | |||
983 | |||
984 | public override void SetCcdMotionThreshold(BulletBody obj, float val) |
||
985 | { |
||
986 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
987 | BSAPICPP.SetCcdMotionThreshold2(bodyu.ptr, val); |
||
988 | } |
||
989 | |||
990 | public override float GetCcdSweptSphereRadius(BulletBody obj) |
||
991 | { |
||
992 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
993 | return BSAPICPP.GetCcdSweptSphereRadius2(bodyu.ptr); |
||
994 | } |
||
995 | |||
996 | public override void SetCcdSweptSphereRadius(BulletBody obj, float val) |
||
997 | { |
||
998 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
999 | BSAPICPP.SetCcdSweptSphereRadius2(bodyu.ptr, val); |
||
1000 | } |
||
1001 | |||
1002 | public override IntPtr GetUserPointer(BulletBody obj) |
||
1003 | { |
||
1004 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1005 | return BSAPICPP.GetUserPointer2(bodyu.ptr); |
||
1006 | } |
||
1007 | |||
1008 | public override void SetUserPointer(BulletBody obj, IntPtr val) |
||
1009 | { |
||
1010 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1011 | BSAPICPP.SetUserPointer2(bodyu.ptr, val); |
||
1012 | } |
||
1013 | |||
1014 | // ===================================================================================== |
||
1015 | // btRigidBody entries |
||
1016 | public override void ApplyGravity(BulletBody obj) |
||
1017 | { |
||
1018 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1019 | BSAPICPP.ApplyGravity2(bodyu.ptr); |
||
1020 | } |
||
1021 | |||
1022 | public override void SetGravity(BulletBody obj, Vector3 val) |
||
1023 | { |
||
1024 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1025 | BSAPICPP.SetGravity2(bodyu.ptr, val); |
||
1026 | } |
||
1027 | |||
1028 | public override Vector3 GetGravity(BulletBody obj) |
||
1029 | { |
||
1030 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1031 | return BSAPICPP.GetGravity2(bodyu.ptr); |
||
1032 | } |
||
1033 | |||
1034 | public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping) |
||
1035 | { |
||
1036 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1037 | BSAPICPP.SetDamping2(bodyu.ptr, lin_damping, ang_damping); |
||
1038 | } |
||
1039 | |||
1040 | public override void SetLinearDamping(BulletBody obj, float lin_damping) |
||
1041 | { |
||
1042 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1043 | BSAPICPP.SetLinearDamping2(bodyu.ptr, lin_damping); |
||
1044 | } |
||
1045 | |||
1046 | public override void SetAngularDamping(BulletBody obj, float ang_damping) |
||
1047 | { |
||
1048 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1049 | BSAPICPP.SetAngularDamping2(bodyu.ptr, ang_damping); |
||
1050 | } |
||
1051 | |||
1052 | public override float GetLinearDamping(BulletBody obj) |
||
1053 | { |
||
1054 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1055 | return BSAPICPP.GetLinearDamping2(bodyu.ptr); |
||
1056 | } |
||
1057 | |||
1058 | public override float GetAngularDamping(BulletBody obj) |
||
1059 | { |
||
1060 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1061 | return BSAPICPP.GetAngularDamping2(bodyu.ptr); |
||
1062 | } |
||
1063 | |||
1064 | public override float GetLinearSleepingThreshold(BulletBody obj) |
||
1065 | { |
||
1066 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1067 | return BSAPICPP.GetLinearSleepingThreshold2(bodyu.ptr); |
||
1068 | } |
||
1069 | |||
1070 | public override void ApplyDamping(BulletBody obj, float timeStep) |
||
1071 | { |
||
1072 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1073 | BSAPICPP.ApplyDamping2(bodyu.ptr, timeStep); |
||
1074 | } |
||
1075 | |||
1076 | public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia) |
||
1077 | { |
||
1078 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1079 | BSAPICPP.SetMassProps2(bodyu.ptr, mass, inertia); |
||
1080 | } |
||
1081 | |||
1082 | public override Vector3 GetLinearFactor(BulletBody obj) |
||
1083 | { |
||
1084 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1085 | return BSAPICPP.GetLinearFactor2(bodyu.ptr); |
||
1086 | } |
||
1087 | |||
1088 | public override void SetLinearFactor(BulletBody obj, Vector3 factor) |
||
1089 | { |
||
1090 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1091 | BSAPICPP.SetLinearFactor2(bodyu.ptr, factor); |
||
1092 | } |
||
1093 | |||
1094 | public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) |
||
1095 | { |
||
1096 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1097 | BSAPICPP.SetCenterOfMassByPosRot2(bodyu.ptr, pos, rot); |
||
1098 | } |
||
1099 | |||
1100 | // Add a force to the object as if its mass is one. |
||
1101 | // Deep down in Bullet: m_totalForce += force*m_linearFactor; |
||
1102 | public override void ApplyCentralForce(BulletBody obj, Vector3 force) |
||
1103 | { |
||
1104 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1105 | BSAPICPP.ApplyCentralForce2(bodyu.ptr, force); |
||
1106 | } |
||
1107 | |||
1108 | // Set the force being applied to the object as if its mass is one. |
||
1109 | public override void SetObjectForce(BulletBody obj, Vector3 force) |
||
1110 | { |
||
1111 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1112 | BSAPICPP.SetObjectForce2(bodyu.ptr, force); |
||
1113 | } |
||
1114 | |||
1115 | public override Vector3 GetTotalForce(BulletBody obj) |
||
1116 | { |
||
1117 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1118 | return BSAPICPP.GetTotalForce2(bodyu.ptr); |
||
1119 | } |
||
1120 | |||
1121 | public override Vector3 GetTotalTorque(BulletBody obj) |
||
1122 | { |
||
1123 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1124 | return BSAPICPP.GetTotalTorque2(bodyu.ptr); |
||
1125 | } |
||
1126 | |||
1127 | public override Vector3 GetInvInertiaDiagLocal(BulletBody obj) |
||
1128 | { |
||
1129 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1130 | return BSAPICPP.GetInvInertiaDiagLocal2(bodyu.ptr); |
||
1131 | } |
||
1132 | |||
1133 | public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert) |
||
1134 | { |
||
1135 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1136 | BSAPICPP.SetInvInertiaDiagLocal2(bodyu.ptr, inert); |
||
1137 | } |
||
1138 | |||
1139 | public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold) |
||
1140 | { |
||
1141 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1142 | BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold); |
||
1143 | } |
||
1144 | |||
1145 | // Deep down in Bullet: m_totalTorque += torque*m_angularFactor; |
||
1146 | public override void ApplyTorque(BulletBody obj, Vector3 torque) |
||
1147 | { |
||
1148 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1149 | BSAPICPP.ApplyTorque2(bodyu.ptr, torque); |
||
1150 | } |
||
1151 | |||
1152 | // Apply force at the given point. Will add torque to the object. |
||
1153 | // Deep down in Bullet: applyCentralForce(force); |
||
1154 | // applyTorque(rel_pos.cross(force*m_linearFactor)); |
||
1155 | public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos) |
||
1156 | { |
||
1157 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1158 | BSAPICPP.ApplyForce2(bodyu.ptr, force, pos); |
||
1159 | } |
||
1160 | |||
1161 | // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. |
||
1162 | // Deep down in Bullet: m_linearVelocity += impulse *m_linearFactor * m_inverseMass; |
||
1163 | public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp) |
||
1164 | { |
||
1165 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1166 | BSAPICPP.ApplyCentralImpulse2(bodyu.ptr, imp); |
||
1167 | } |
||
1168 | |||
1169 | // Apply impulse to the object's torque. Force is scaled by object's mass. |
||
1170 | // Deep down in Bullet: m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; |
||
1171 | public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp) |
||
1172 | { |
||
1173 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1174 | BSAPICPP.ApplyTorqueImpulse2(bodyu.ptr, imp); |
||
1175 | } |
||
1176 | |||
1177 | // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. |
||
1178 | // Deep down in Bullet: applyCentralImpulse(impulse); |
||
1179 | // applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor)); |
||
1180 | public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos) |
||
1181 | { |
||
1182 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1183 | BSAPICPP.ApplyImpulse2(bodyu.ptr, imp, pos); |
||
1184 | } |
||
1185 | |||
1186 | public override void ClearForces(BulletBody obj) |
||
1187 | { |
||
1188 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1189 | BSAPICPP.ClearForces2(bodyu.ptr); |
||
1190 | } |
||
1191 | |||
1192 | public override void ClearAllForces(BulletBody obj) |
||
1193 | { |
||
1194 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1195 | BSAPICPP.ClearAllForces2(bodyu.ptr); |
||
1196 | } |
||
1197 | |||
1198 | public override void UpdateInertiaTensor(BulletBody obj) |
||
1199 | { |
||
1200 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1201 | BSAPICPP.UpdateInertiaTensor2(bodyu.ptr); |
||
1202 | } |
||
1203 | |||
1204 | public override Vector3 GetLinearVelocity(BulletBody obj) |
||
1205 | { |
||
1206 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1207 | return BSAPICPP.GetLinearVelocity2(bodyu.ptr); |
||
1208 | } |
||
1209 | |||
1210 | public override Vector3 GetAngularVelocity(BulletBody obj) |
||
1211 | { |
||
1212 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1213 | return BSAPICPP.GetAngularVelocity2(bodyu.ptr); |
||
1214 | } |
||
1215 | |||
1216 | public override void SetLinearVelocity(BulletBody obj, Vector3 vel) |
||
1217 | { |
||
1218 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1219 | BSAPICPP.SetLinearVelocity2(bodyu.ptr, vel); |
||
1220 | } |
||
1221 | |||
1222 | public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity) |
||
1223 | { |
||
1224 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1225 | BSAPICPP.SetAngularVelocity2(bodyu.ptr, angularVelocity); |
||
1226 | } |
||
1227 | |||
1228 | public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos) |
||
1229 | { |
||
1230 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1231 | return BSAPICPP.GetVelocityInLocalPoint2(bodyu.ptr, pos); |
||
1232 | } |
||
1233 | |||
1234 | public override void Translate(BulletBody obj, Vector3 trans) |
||
1235 | { |
||
1236 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1237 | BSAPICPP.Translate2(bodyu.ptr, trans); |
||
1238 | } |
||
1239 | |||
1240 | public override void UpdateDeactivation(BulletBody obj, float timeStep) |
||
1241 | { |
||
1242 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1243 | BSAPICPP.UpdateDeactivation2(bodyu.ptr, timeStep); |
||
1244 | } |
||
1245 | |||
1246 | public override bool WantsSleeping(BulletBody obj) |
||
1247 | { |
||
1248 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1249 | return BSAPICPP.WantsSleeping2(bodyu.ptr); |
||
1250 | } |
||
1251 | |||
1252 | public override void SetAngularFactor(BulletBody obj, float factor) |
||
1253 | { |
||
1254 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1255 | BSAPICPP.SetAngularFactor2(bodyu.ptr, factor); |
||
1256 | } |
||
1257 | |||
1258 | public override void SetAngularFactorV(BulletBody obj, Vector3 factor) |
||
1259 | { |
||
1260 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1261 | BSAPICPP.SetAngularFactorV2(bodyu.ptr, factor); |
||
1262 | } |
||
1263 | |||
1264 | public override Vector3 GetAngularFactor(BulletBody obj) |
||
1265 | { |
||
1266 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1267 | return BSAPICPP.GetAngularFactor2(bodyu.ptr); |
||
1268 | } |
||
1269 | |||
1270 | public override bool IsInWorld(BulletWorld world, BulletBody obj) |
||
1271 | { |
||
1272 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1273 | return BSAPICPP.IsInWorld2(bodyu.ptr); |
||
1274 | } |
||
1275 | |||
1276 | public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain) |
||
1277 | { |
||
1278 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1279 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
1280 | BSAPICPP.AddConstraintRef2(bodyu.ptr, constrainu.ptr); |
||
1281 | } |
||
1282 | |||
1283 | public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain) |
||
1284 | { |
||
1285 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1286 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
1287 | BSAPICPP.RemoveConstraintRef2(bodyu.ptr, constrainu.ptr); |
||
1288 | } |
||
1289 | |||
1290 | public override BulletConstraint GetConstraintRef(BulletBody obj, int index) |
||
1291 | { |
||
1292 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1293 | return new BulletConstraintUnman(BSAPICPP.GetConstraintRef2(bodyu.ptr, index)); |
||
1294 | } |
||
1295 | |||
1296 | public override int GetNumConstraintRefs(BulletBody obj) |
||
1297 | { |
||
1298 | BulletBodyUnman bodyu = obj as BulletBodyUnman; |
||
1299 | return BSAPICPP.GetNumConstraintRefs2(bodyu.ptr); |
||
1300 | } |
||
1301 | |||
1302 | public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask) |
||
1303 | { |
||
1304 | BulletBodyUnman bodyu = body as BulletBodyUnman; |
||
1305 | return BSAPICPP.SetCollisionGroupMask2(bodyu.ptr, filter, mask); |
||
1306 | } |
||
1307 | |||
1308 | // ===================================================================================== |
||
1309 | // btCollisionShape entries |
||
1310 | |||
1311 | public override float GetAngularMotionDisc(BulletShape shape) |
||
1312 | { |
||
1313 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1314 | return BSAPICPP.GetAngularMotionDisc2(shapeu.ptr); |
||
1315 | } |
||
1316 | |||
1317 | public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor) |
||
1318 | { |
||
1319 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1320 | return BSAPICPP.GetContactBreakingThreshold2(shapeu.ptr, defaultFactor); |
||
1321 | } |
||
1322 | |||
1323 | public override bool IsPolyhedral(BulletShape shape) |
||
1324 | { |
||
1325 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1326 | return BSAPICPP.IsPolyhedral2(shapeu.ptr); |
||
1327 | } |
||
1328 | |||
1329 | public override bool IsConvex2d(BulletShape shape) |
||
1330 | { |
||
1331 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1332 | return BSAPICPP.IsConvex2d2(shapeu.ptr); |
||
1333 | } |
||
1334 | |||
1335 | public override bool IsConvex(BulletShape shape) |
||
1336 | { |
||
1337 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1338 | return BSAPICPP.IsConvex2(shapeu.ptr); |
||
1339 | } |
||
1340 | |||
1341 | public override bool IsNonMoving(BulletShape shape) |
||
1342 | { |
||
1343 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1344 | return BSAPICPP.IsNonMoving2(shapeu.ptr); |
||
1345 | } |
||
1346 | |||
1347 | public override bool IsConcave(BulletShape shape) |
||
1348 | { |
||
1349 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1350 | return BSAPICPP.IsConcave2(shapeu.ptr); |
||
1351 | } |
||
1352 | |||
1353 | public override bool IsCompound(BulletShape shape) |
||
1354 | { |
||
1355 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1356 | return BSAPICPP.IsCompound2(shapeu.ptr); |
||
1357 | } |
||
1358 | |||
1359 | public override bool IsSoftBody(BulletShape shape) |
||
1360 | { |
||
1361 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1362 | return BSAPICPP.IsSoftBody2(shapeu.ptr); |
||
1363 | } |
||
1364 | |||
1365 | public override bool IsInfinite(BulletShape shape) |
||
1366 | { |
||
1367 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1368 | return BSAPICPP.IsInfinite2(shapeu.ptr); |
||
1369 | } |
||
1370 | |||
1371 | public override void SetLocalScaling(BulletShape shape, Vector3 scale) |
||
1372 | { |
||
1373 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1374 | BSAPICPP.SetLocalScaling2(shapeu.ptr, scale); |
||
1375 | } |
||
1376 | |||
1377 | public override Vector3 GetLocalScaling(BulletShape shape) |
||
1378 | { |
||
1379 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1380 | return BSAPICPP.GetLocalScaling2(shapeu.ptr); |
||
1381 | } |
||
1382 | |||
1383 | public override Vector3 CalculateLocalInertia(BulletShape shape, float mass) |
||
1384 | { |
||
1385 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1386 | return BSAPICPP.CalculateLocalInertia2(shapeu.ptr, mass); |
||
1387 | } |
||
1388 | |||
1389 | public override int GetShapeType(BulletShape shape) |
||
1390 | { |
||
1391 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1392 | return BSAPICPP.GetShapeType2(shapeu.ptr); |
||
1393 | } |
||
1394 | |||
1395 | public override void SetMargin(BulletShape shape, float val) |
||
1396 | { |
||
1397 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1398 | BSAPICPP.SetMargin2(shapeu.ptr, val); |
||
1399 | } |
||
1400 | |||
1401 | public override float GetMargin(BulletShape shape) |
||
1402 | { |
||
1403 | BulletShapeUnman shapeu = shape as BulletShapeUnman; |
||
1404 | return BSAPICPP.GetMargin2(shapeu.ptr); |
||
1405 | } |
||
1406 | |||
1407 | // ===================================================================================== |
||
1408 | // Debugging |
||
1409 | public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject) |
||
1410 | { |
||
1411 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
1412 | BulletBodyUnman bodyu = collisionObject as BulletBodyUnman; |
||
1413 | BSAPICPP.DumpRigidBody2(worldu.ptr, bodyu.ptr); |
||
1414 | } |
||
1415 | |||
1416 | public override void DumpCollisionShape(BulletWorld world, BulletShape collisionShape) |
||
1417 | { |
||
1418 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
1419 | BulletShapeUnman shapeu = collisionShape as BulletShapeUnman; |
||
1420 | BSAPICPP.DumpCollisionShape2(worldu.ptr, shapeu.ptr); |
||
1421 | } |
||
1422 | |||
1423 | public override void DumpConstraint(BulletWorld world, BulletConstraint constrain) |
||
1424 | { |
||
1425 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
1426 | BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; |
||
1427 | BSAPICPP.DumpConstraint2(worldu.ptr, constrainu.ptr); |
||
1428 | } |
||
1429 | |||
1430 | public override void DumpActivationInfo(BulletWorld world) |
||
1431 | { |
||
1432 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
1433 | BSAPICPP.DumpActivationInfo2(worldu.ptr); |
||
1434 | } |
||
1435 | |||
1436 | public override void DumpAllInfo(BulletWorld world) |
||
1437 | { |
||
1438 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
1439 | BSAPICPP.DumpAllInfo2(worldu.ptr); |
||
1440 | } |
||
1441 | |||
1442 | public override void DumpPhysicsStatistics(BulletWorld world) |
||
1443 | { |
||
1444 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
1445 | BSAPICPP.DumpPhysicsStatistics2(worldu.ptr); |
||
1446 | } |
||
1447 | public override void ResetBroadphasePool(BulletWorld world) |
||
1448 | { |
||
1449 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
1450 | BSAPICPP.ResetBroadphasePool(worldu.ptr); |
||
1451 | } |
||
1452 | public override void ResetConstraintSolver(BulletWorld world) |
||
1453 | { |
||
1454 | BulletWorldUnman worldu = world as BulletWorldUnman; |
||
1455 | BSAPICPP.ResetConstraintSolver(worldu.ptr); |
||
1456 | } |
||
1457 | |||
1458 | // ===================================================================================== |
||
1459 | // ===================================================================================== |
||
1460 | // ===================================================================================== |
||
1461 | // ===================================================================================== |
||
1462 | // ===================================================================================== |
||
1463 | // The actual interface to the unmanaged code |
||
1464 | static class BSAPICPP |
||
1465 | { |
||
1466 | // =============================================================================== |
||
1467 | // Link back to the managed code for outputting log messages |
||
1468 | [UnmanagedFunctionPointer(CallingConvention.Cdecl)] |
||
1469 | public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); |
||
1470 | |||
1471 | // =============================================================================== |
||
1472 | // Initialization and simulation |
||
1473 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1474 | public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, |
||
1475 | int maxCollisions, IntPtr collisionArray, |
||
1476 | int maxUpdates, IntPtr updateArray, |
||
1477 | DebugLogCallback logRoutine); |
||
1478 | |||
1479 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1480 | public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, |
||
1481 | out int updatedEntityCount, out int collidersCount); |
||
1482 | |||
1483 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1484 | public static extern void Shutdown2(IntPtr sim); |
||
1485 | |||
1486 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1487 | public static extern bool PushUpdate2(IntPtr obj); |
||
1488 | |||
1489 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1490 | public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); |
||
1491 | |||
1492 | // ===================================================================================== |
||
1493 | // Mesh, hull, shape and body creation helper routines |
||
1494 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1495 | public static extern IntPtr CreateMeshShape2(IntPtr world, |
||
1496 | int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, |
||
1497 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); |
||
1498 | |||
1499 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1500 | public static extern IntPtr CreateGImpactShape2(IntPtr world, |
||
1501 | int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, |
||
1502 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); |
||
1503 | |||
1504 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1505 | public static extern IntPtr CreateHullShape2(IntPtr world, |
||
1506 | int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); |
||
1507 | |||
1508 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1509 | public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape, HACDParams parms); |
||
1510 | |||
1511 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1512 | public static extern IntPtr BuildConvexHullShapeFromMesh2(IntPtr world, IntPtr meshShape); |
||
1513 | |||
1514 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1515 | public static extern IntPtr CreateConvexHullShape2(IntPtr world, |
||
1516 | int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, |
||
1517 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); |
||
1518 | |||
1519 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1520 | public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); |
||
1521 | |||
1522 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1523 | public static extern bool IsNativeShape2(IntPtr shape); |
||
1524 | |||
1525 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1526 | public static extern void SetShapeCollisionMargin(IntPtr shape, float margin); |
||
1527 | |||
1528 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1529 | public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); |
||
1530 | |||
1531 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1532 | public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree); |
||
1533 | |||
1534 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1535 | public static extern int GetNumberOfCompoundChildren2(IntPtr cShape); |
||
1536 | |||
1537 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1538 | public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot); |
||
1539 | |||
1540 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1541 | public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); |
||
1542 | |||
1543 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1544 | public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); |
||
1545 | |||
1546 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1547 | public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape); |
||
1548 | |||
1549 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1550 | public static extern void UpdateChildTransform2(IntPtr pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb); |
||
1551 | |||
1552 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1553 | public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape); |
||
1554 | |||
1555 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1556 | public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); |
||
1557 | |||
1558 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1559 | public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); |
||
1560 | |||
1561 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1562 | public static extern int GetBodyType2(IntPtr obj); |
||
1563 | |||
1564 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1565 | public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); |
||
1566 | |||
1567 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1568 | public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot); |
||
1569 | |||
1570 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1571 | public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); |
||
1572 | |||
1573 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1574 | public static extern void DestroyObject2(IntPtr sim, IntPtr obj); |
||
1575 | |||
1576 | // ===================================================================================== |
||
1577 | // Terrain creation and helper routines |
||
1578 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1579 | public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); |
||
1580 | |||
1581 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1582 | public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, |
||
1583 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, |
||
1584 | float scaleFactor, float collisionMargin); |
||
1585 | |||
1586 | // ===================================================================================== |
||
1587 | // Constraint creation and helper routines |
||
1588 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1589 | public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, |
||
1590 | Vector3 frame1loc, Quaternion frame1rot, |
||
1591 | Vector3 frame2loc, Quaternion frame2rot, |
||
1592 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); |
||
1593 | |||
1594 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1595 | public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2, |
||
1596 | Vector3 joinPoint, |
||
1597 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); |
||
1598 | |||
1599 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1600 | public static extern IntPtr Create6DofConstraintFixed2(IntPtr world, IntPtr obj1, |
||
1601 | Vector3 frameInBloc, Quaternion frameInBrot, |
||
1602 | bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies); |
||
1603 | |||
1604 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1605 | public static extern IntPtr Create6DofSpringConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, |
||
1606 | Vector3 frame1loc, Quaternion frame1rot, |
||
1607 | Vector3 frame2loc, Quaternion frame2rot, |
||
1608 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); |
||
1609 | |||
1610 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1611 | public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, |
||
1612 | Vector3 pivotinA, Vector3 pivotinB, |
||
1613 | Vector3 axisInA, Vector3 axisInB, |
||
1614 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); |
||
1615 | |||
1616 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1617 | public static extern IntPtr CreateSliderConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, |
||
1618 | Vector3 frameInAloc, Quaternion frameInArot, |
||
1619 | Vector3 frameInBloc, Quaternion frameInBrot, |
||
1620 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); |
||
1621 | |||
1622 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1623 | public static extern IntPtr CreateConeTwistConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, |
||
1624 | Vector3 frameInAloc, Quaternion frameInArot, |
||
1625 | Vector3 frameInBloc, Quaternion frameInBrot, |
||
1626 | bool disableCollisionsBetweenLinkedBodies); |
||
1627 | |||
1628 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1629 | public static extern IntPtr CreateGearConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, |
||
1630 | Vector3 axisInA, Vector3 axisInB, |
||
1631 | float ratio, bool disableCollisionsBetweenLinkedBodies); |
||
1632 | |||
1633 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1634 | public static extern IntPtr CreatePoint2PointConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, |
||
1635 | Vector3 pivotInA, Vector3 pivotInB, |
||
1636 | bool disableCollisionsBetweenLinkedBodies); |
||
1637 | |||
1638 | |||
1639 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1640 | public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse); |
||
1641 | |||
1642 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1643 | public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); |
||
1644 | |||
1645 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1646 | public static extern bool SetFrames2(IntPtr constrain, |
||
1647 | Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); |
||
1648 | |||
1649 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1650 | public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); |
||
1651 | |||
1652 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1653 | public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi); |
||
1654 | |||
1655 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1656 | public static extern bool UseFrameOffset2(IntPtr constrain, float enable); |
||
1657 | |||
1658 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1659 | public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); |
||
1660 | |||
1661 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1662 | public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); |
||
1663 | |||
1664 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1665 | public static extern bool HingeSetLimits2(IntPtr constrain, float low, float high, float softness, float bias, float relaxation); |
||
1666 | |||
1667 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1668 | public static extern bool ConstraintSpringEnable2(IntPtr constrain, int index, float numericTrueFalse); |
||
1669 | |||
1670 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1671 | public static extern bool ConstraintSpringSetEquilibriumPoint2(IntPtr constrain, int index, float equilibriumPoint); |
||
1672 | |||
1673 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1674 | public static extern bool ConstraintSpringSetStiffness2(IntPtr constrain, int index, float stiffness); |
||
1675 | |||
1676 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1677 | public static extern bool ConstraintSpringSetDamping2(IntPtr constrain, int index, float damping); |
||
1678 | |||
1679 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1680 | public static extern bool SliderSetLimits2(IntPtr constrain, int lowerUpper, int linAng, float val); |
||
1681 | |||
1682 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1683 | public static extern bool SliderSet2(IntPtr constrain, int softRestDamp, int dirLimOrtho, int linAng, float val); |
||
1684 | |||
1685 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1686 | public static extern bool SliderMotorEnable2(IntPtr constrain, int linAng, float numericTrueFalse); |
||
1687 | |||
1688 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1689 | public static extern bool SliderMotor2(IntPtr constrain, int forceVel, int linAng, float val); |
||
1690 | |||
1691 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1692 | public static extern bool CalculateTransforms2(IntPtr constrain); |
||
1693 | |||
1694 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1695 | public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); |
||
1696 | |||
1697 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1698 | public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); |
||
1699 | |||
1700 | // ===================================================================================== |
||
1701 | // btCollisionWorld entries |
||
1702 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1703 | public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj); |
||
1704 | |||
1705 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1706 | public static extern void UpdateAabbs2(IntPtr world); |
||
1707 | |||
1708 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1709 | public static extern bool GetForceUpdateAllAabbs2(IntPtr world); |
||
1710 | |||
1711 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1712 | public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force); |
||
1713 | |||
1714 | // ===================================================================================== |
||
1715 | // btDynamicsWorld entries |
||
1716 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1717 | public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); |
||
1718 | |||
1719 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1720 | public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); |
||
1721 | |||
1722 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1723 | public static extern bool ClearCollisionProxyCache2(IntPtr world, IntPtr obj); |
||
1724 | |||
1725 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1726 | public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects); |
||
1727 | |||
1728 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1729 | public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain); |
||
1730 | // ===================================================================================== |
||
1731 | // btCollisionObject entries |
||
1732 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1733 | public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain); |
||
1734 | |||
1735 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1736 | public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict); |
||
1737 | |||
1738 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1739 | public static extern bool HasAnisotripicFriction2(IntPtr constrain); |
||
1740 | |||
1741 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1742 | public static extern void SetContactProcessingThreshold2(IntPtr obj, float val); |
||
1743 | |||
1744 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1745 | public static extern float GetContactProcessingThreshold2(IntPtr obj); |
||
1746 | |||
1747 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1748 | public static extern bool IsStaticObject2(IntPtr obj); |
||
1749 | |||
1750 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1751 | public static extern bool IsKinematicObject2(IntPtr obj); |
||
1752 | |||
1753 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1754 | public static extern bool IsStaticOrKinematicObject2(IntPtr obj); |
||
1755 | |||
1756 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1757 | public static extern bool HasContactResponse2(IntPtr obj); |
||
1758 | |||
1759 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1760 | public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape); |
||
1761 | |||
1762 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1763 | public static extern IntPtr GetCollisionShape2(IntPtr obj); |
||
1764 | |||
1765 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1766 | public static extern int GetActivationState2(IntPtr obj); |
||
1767 | |||
1768 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1769 | public static extern void SetActivationState2(IntPtr obj, int state); |
||
1770 | |||
1771 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1772 | public static extern void SetDeactivationTime2(IntPtr obj, float dtime); |
||
1773 | |||
1774 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1775 | public static extern float GetDeactivationTime2(IntPtr obj); |
||
1776 | |||
1777 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1778 | public static extern void ForceActivationState2(IntPtr obj, ActivationState state); |
||
1779 | |||
1780 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1781 | public static extern void Activate2(IntPtr obj, bool forceActivation); |
||
1782 | |||
1783 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1784 | public static extern bool IsActive2(IntPtr obj); |
||
1785 | |||
1786 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1787 | public static extern void SetRestitution2(IntPtr obj, float val); |
||
1788 | |||
1789 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1790 | public static extern float GetRestitution2(IntPtr obj); |
||
1791 | |||
1792 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1793 | public static extern void SetFriction2(IntPtr obj, float val); |
||
1794 | |||
1795 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1796 | public static extern float GetFriction2(IntPtr obj); |
||
1797 | |||
1798 | /* Haven't defined the type 'Transform' |
||
1799 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1800 | public static extern Transform GetWorldTransform2(IntPtr obj); |
||
1801 | |||
1802 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1803 | public static extern void setWorldTransform2(IntPtr obj, Transform trans); |
||
1804 | */ |
||
1805 | |||
1806 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1807 | public static extern Vector3 GetPosition2(IntPtr obj); |
||
1808 | |||
1809 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1810 | public static extern Quaternion GetOrientation2(IntPtr obj); |
||
1811 | |||
1812 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1813 | public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); |
||
1814 | |||
1815 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1816 | public static extern IntPtr GetBroadphaseHandle2(IntPtr obj); |
||
1817 | |||
1818 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1819 | public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle); |
||
1820 | |||
1821 | /* |
||
1822 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1823 | public static extern Transform GetInterpolationWorldTransform2(IntPtr obj); |
||
1824 | |||
1825 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1826 | public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); |
||
1827 | */ |
||
1828 | |||
1829 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1830 | public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel); |
||
1831 | |||
1832 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1833 | public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel); |
||
1834 | |||
1835 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1836 | public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel); |
||
1837 | |||
1838 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1839 | public static extern float GetHitFraction2(IntPtr obj); |
||
1840 | |||
1841 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1842 | public static extern void SetHitFraction2(IntPtr obj, float val); |
||
1843 | |||
1844 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1845 | public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); |
||
1846 | |||
1847 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1848 | public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags); |
||
1849 | |||
1850 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1851 | public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); |
||
1852 | |||
1853 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1854 | public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); |
||
1855 | |||
1856 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1857 | public static extern float GetCcdMotionThreshold2(IntPtr obj); |
||
1858 | |||
1859 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1860 | public static extern void SetCcdMotionThreshold2(IntPtr obj, float val); |
||
1861 | |||
1862 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1863 | public static extern float GetCcdSweptSphereRadius2(IntPtr obj); |
||
1864 | |||
1865 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1866 | public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val); |
||
1867 | |||
1868 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1869 | public static extern IntPtr GetUserPointer2(IntPtr obj); |
||
1870 | |||
1871 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1872 | public static extern void SetUserPointer2(IntPtr obj, IntPtr val); |
||
1873 | |||
1874 | // ===================================================================================== |
||
1875 | // btRigidBody entries |
||
1876 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1877 | public static extern void ApplyGravity2(IntPtr obj); |
||
1878 | |||
1879 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1880 | public static extern void SetGravity2(IntPtr obj, Vector3 val); |
||
1881 | |||
1882 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1883 | public static extern Vector3 GetGravity2(IntPtr obj); |
||
1884 | |||
1885 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1886 | public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping); |
||
1887 | |||
1888 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1889 | public static extern void SetLinearDamping2(IntPtr obj, float lin_damping); |
||
1890 | |||
1891 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1892 | public static extern void SetAngularDamping2(IntPtr obj, float ang_damping); |
||
1893 | |||
1894 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1895 | public static extern float GetLinearDamping2(IntPtr obj); |
||
1896 | |||
1897 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1898 | public static extern float GetAngularDamping2(IntPtr obj); |
||
1899 | |||
1900 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1901 | public static extern float GetLinearSleepingThreshold2(IntPtr obj); |
||
1902 | |||
1903 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1904 | public static extern float GetAngularSleepingThreshold2(IntPtr obj); |
||
1905 | |||
1906 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1907 | public static extern void ApplyDamping2(IntPtr obj, float timeStep); |
||
1908 | |||
1909 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1910 | public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia); |
||
1911 | |||
1912 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1913 | public static extern Vector3 GetLinearFactor2(IntPtr obj); |
||
1914 | |||
1915 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1916 | public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor); |
||
1917 | |||
1918 | /* |
||
1919 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1920 | public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans); |
||
1921 | */ |
||
1922 | |||
1923 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1924 | public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot); |
||
1925 | |||
1926 | // Add a force to the object as if its mass is one. |
||
1927 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1928 | public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force); |
||
1929 | |||
1930 | // Set the force being applied to the object as if its mass is one. |
||
1931 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1932 | public static extern void SetObjectForce2(IntPtr obj, Vector3 force); |
||
1933 | |||
1934 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1935 | public static extern Vector3 GetTotalForce2(IntPtr obj); |
||
1936 | |||
1937 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1938 | public static extern Vector3 GetTotalTorque2(IntPtr obj); |
||
1939 | |||
1940 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1941 | public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj); |
||
1942 | |||
1943 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1944 | public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert); |
||
1945 | |||
1946 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1947 | public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); |
||
1948 | |||
1949 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1950 | public static extern void ApplyTorque2(IntPtr obj, Vector3 torque); |
||
1951 | |||
1952 | // Apply force at the given point. Will add torque to the object. |
||
1953 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1954 | public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos); |
||
1955 | |||
1956 | // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. |
||
1957 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1958 | public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp); |
||
1959 | |||
1960 | // Apply impulse to the object's torque. Force is scaled by object's mass. |
||
1961 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1962 | public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp); |
||
1963 | |||
1964 | // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. |
||
1965 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1966 | public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos); |
||
1967 | |||
1968 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1969 | public static extern void ClearForces2(IntPtr obj); |
||
1970 | |||
1971 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1972 | public static extern void ClearAllForces2(IntPtr obj); |
||
1973 | |||
1974 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1975 | public static extern void UpdateInertiaTensor2(IntPtr obj); |
||
1976 | |||
1977 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1978 | public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj); |
||
1979 | |||
1980 | /* |
||
1981 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1982 | public static extern Transform GetCenterOfMassTransform2(IntPtr obj); |
||
1983 | */ |
||
1984 | |||
1985 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1986 | public static extern Vector3 GetLinearVelocity2(IntPtr obj); |
||
1987 | |||
1988 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1989 | public static extern Vector3 GetAngularVelocity2(IntPtr obj); |
||
1990 | |||
1991 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1992 | public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val); |
||
1993 | |||
1994 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1995 | public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); |
||
1996 | |||
1997 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
1998 | public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos); |
||
1999 | |||
2000 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2001 | public static extern void Translate2(IntPtr obj, Vector3 trans); |
||
2002 | |||
2003 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2004 | public static extern void UpdateDeactivation2(IntPtr obj, float timeStep); |
||
2005 | |||
2006 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2007 | public static extern bool WantsSleeping2(IntPtr obj); |
||
2008 | |||
2009 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2010 | public static extern void SetAngularFactor2(IntPtr obj, float factor); |
||
2011 | |||
2012 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2013 | public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor); |
||
2014 | |||
2015 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2016 | public static extern Vector3 GetAngularFactor2(IntPtr obj); |
||
2017 | |||
2018 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2019 | public static extern bool IsInWorld2(IntPtr obj); |
||
2020 | |||
2021 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2022 | public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain); |
||
2023 | |||
2024 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2025 | public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain); |
||
2026 | |||
2027 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2028 | public static extern IntPtr GetConstraintRef2(IntPtr obj, int index); |
||
2029 | |||
2030 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2031 | public static extern int GetNumConstraintRefs2(IntPtr obj); |
||
2032 | |||
2033 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2034 | public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask); |
||
2035 | |||
2036 | // ===================================================================================== |
||
2037 | // btCollisionShape entries |
||
2038 | |||
2039 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2040 | public static extern float GetAngularMotionDisc2(IntPtr shape); |
||
2041 | |||
2042 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2043 | public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor); |
||
2044 | |||
2045 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2046 | public static extern bool IsPolyhedral2(IntPtr shape); |
||
2047 | |||
2048 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2049 | public static extern bool IsConvex2d2(IntPtr shape); |
||
2050 | |||
2051 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2052 | public static extern bool IsConvex2(IntPtr shape); |
||
2053 | |||
2054 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2055 | public static extern bool IsNonMoving2(IntPtr shape); |
||
2056 | |||
2057 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2058 | public static extern bool IsConcave2(IntPtr shape); |
||
2059 | |||
2060 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2061 | public static extern bool IsCompound2(IntPtr shape); |
||
2062 | |||
2063 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2064 | public static extern bool IsSoftBody2(IntPtr shape); |
||
2065 | |||
2066 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2067 | public static extern bool IsInfinite2(IntPtr shape); |
||
2068 | |||
2069 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2070 | public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale); |
||
2071 | |||
2072 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2073 | public static extern Vector3 GetLocalScaling2(IntPtr shape); |
||
2074 | |||
2075 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2076 | public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass); |
||
2077 | |||
2078 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2079 | public static extern int GetShapeType2(IntPtr shape); |
||
2080 | |||
2081 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2082 | public static extern void SetMargin2(IntPtr shape, float val); |
||
2083 | |||
2084 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2085 | public static extern float GetMargin2(IntPtr shape); |
||
2086 | |||
2087 | // ===================================================================================== |
||
2088 | // Debugging |
||
2089 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2090 | public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); |
||
2091 | |||
2092 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2093 | public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape); |
||
2094 | |||
2095 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2096 | public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); |
||
2097 | |||
2098 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2099 | public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain); |
||
2100 | |||
2101 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2102 | public static extern void DumpActivationInfo2(IntPtr sim); |
||
2103 | |||
2104 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2105 | public static extern void DumpAllInfo2(IntPtr sim); |
||
2106 | |||
2107 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2108 | public static extern void DumpPhysicsStatistics2(IntPtr sim); |
||
2109 | |||
2110 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2111 | public static extern void ResetBroadphasePool(IntPtr sim); |
||
2112 | |||
2113 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
||
2114 | public static extern void ResetConstraintSolver(IntPtr sim); |
||
2115 | |||
2116 | } |
||
2117 | |||
2118 | } |
||
2119 | |||
2120 | } |