Cleanup

BulletSharpPInvoke/Collision/AxisSweep3.cs

@@ -11,7 +11,7 @@ namespace BulletSharp
 		public AxisSweep3(Vector3 worldAabbMin, Vector3 worldAabbMax, ushort maxHandles = 16384,
 			OverlappingPairCache pairCache = null, bool disableRaycastAccelerator = false)
 			: base(btAxisSweep3_new(ref worldAabbMin, ref worldAabbMax, maxHandles,
-				(pairCache != null) ? pairCache._native : IntPtr.Zero, disableRaycastAccelerator))
+				(pairCache != null) ? pairCache.Native : IntPtr.Zero, disableRaycastAccelerator))
 		{
 			_overlappingPairCache = pairCache ?? new HashedOverlappingPairCache(
 				btBroadphaseInterface_getOverlappingPairCache(Native), true);
@@ -80,7 +80,7 @@ namespace BulletSharp
 			get => _overlappingPairUserCallback;
 			set
 			{
-				btAxisSweep3_setOverlappingPairUserCallback(Native, (value != null) ? value._native : IntPtr.Zero);
+				btAxisSweep3_setOverlappingPairUserCallback(Native, (value != null) ? value.Native : IntPtr.Zero);
 				_overlappingPairUserCallback = value;
 			}
 		}
@@ -93,7 +93,7 @@ namespace BulletSharp
 		public AxisSweep3_32Bit(Vector3 worldAabbMin, Vector3 worldAabbMax, uint maxHandles = 1500000,
 			OverlappingPairCache pairCache = null, bool disableRaycastAccelerator = false)
 			: base(bt32BitAxisSweep3_new(ref worldAabbMin, ref worldAabbMax, maxHandles,
-				(pairCache != null) ? pairCache._native : IntPtr.Zero, disableRaycastAccelerator))
+				(pairCache != null) ? pairCache.Native : IntPtr.Zero, disableRaycastAccelerator))
 		{
 			_overlappingPairCache = (pairCache != null) ? pairCache : new HashedOverlappingPairCache(
 				btBroadphaseInterface_getOverlappingPairCache(Native), true);
@@ -158,7 +158,7 @@ namespace BulletSharp
 			get => _overlappingPairUserCallback;
 			set
 			{
-				bt32BitAxisSweep3_setOverlappingPairUserCallback(Native, (value != null) ? value._native : IntPtr.Zero);
+				bt32BitAxisSweep3_setOverlappingPairUserCallback(Native, (value != null) ? value.Native : IntPtr.Zero);
 				_overlappingPairUserCallback = value;
 			}
 		}

BulletSharpPInvoke/Collision/Box2DBox2DCollisionAlgorithm.cs

@@ -37,7 +37,7 @@ namespace BulletSharp
 
 		public Box2DBox2DCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
 			CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap)
-			: base(btBox2dBox2dCollisionAlgorithm_new2(mf._native, ci.Native, body0Wrap.Native,
+			: base(btBox2dBox2dCollisionAlgorithm_new2(mf.Native, ci.Native, body0Wrap.Native,
 				body1Wrap.Native))
 		{
 		}

BulletSharpPInvoke/Collision/BoxBoxCollisionAlgorithm.cs

@@ -37,7 +37,7 @@ namespace BulletSharp
 
 		public BoxBoxCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
 			CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap)
-			: base(btBoxBoxCollisionAlgorithm_new2(mf._native, ci.Native, body0Wrap.Native,
+			: base(btBoxBoxCollisionAlgorithm_new2(mf.Native, ci.Native, body0Wrap.Native,
 				body1Wrap.Native))
 		{
 		}

BulletSharpPInvoke/Collision/BoxBoxDetector.cs

@@ -19,7 +19,7 @@ namespace BulletSharp
 			get => _box1;
 			set
 			{
-				btBoxBoxDetector_setBox1(_native, value.Native);
+				btBoxBoxDetector_setBox1(Native, value.Native);
 				_box1 = value;
 			}
 		}
@@ -29,7 +29,7 @@ namespace BulletSharp
 			get => _box2;
 			set
 			{
-				btBoxBoxDetector_setBox2(_native, value.Native);
+				btBoxBoxDetector_setBox2(Native, value.Native);
 				_box2 = value;
 			}
 		}

BulletSharpPInvoke/Collision/BvhTriangleMeshShape.cs

@@ -16,7 +16,7 @@ namespace BulletSharp
 
 		public BvhTriangleMeshShape(StridingMeshInterface meshInterface, bool useQuantizedAabbCompression,
 			bool buildBvh = true)
-			: base(btBvhTriangleMeshShape_new(meshInterface._native, useQuantizedAabbCompression,
+			: base(btBvhTriangleMeshShape_new(meshInterface.Native, useQuantizedAabbCompression,
 				buildBvh))
 		{
 			_meshInterface = meshInterface;
@@ -24,7 +24,7 @@ namespace BulletSharp
 
 		public BvhTriangleMeshShape(StridingMeshInterface meshInterface, bool useQuantizedAabbCompression,
 			Vector3 bvhAabbMin, Vector3 bvhAabbMax, bool buildBvh = true)
-			: base(btBvhTriangleMeshShape_new2(meshInterface._native, useQuantizedAabbCompression,
+			: base(btBvhTriangleMeshShape_new2(meshInterface.Native, useQuantizedAabbCompression,
 				ref bvhAabbMin, ref bvhAabbMax, buildBvh))
 		{
 			_meshInterface = meshInterface;
@@ -49,14 +49,14 @@ namespace BulletSharp
 		public void PerformConvexcast(TriangleCallback callback, Vector3 boxSource,
 			Vector3 boxTarget, Vector3 boxMin, Vector3 boxMax)
 		{
-			btBvhTriangleMeshShape_performConvexcast(Native, callback._native, ref boxSource,
+			btBvhTriangleMeshShape_performConvexcast(Native, callback.Native, ref boxSource,
 				ref boxTarget, ref boxMin, ref boxMax);
 		}
 
 		public void PerformRaycast(TriangleCallback callback, Vector3 raySource,
 			Vector3 rayTarget)
 		{
-			btBvhTriangleMeshShape_performRaycast(Native, callback._native, ref raySource,
+			btBvhTriangleMeshShape_performRaycast(Native, callback.Native, ref raySource,
 				ref rayTarget);
 		}
 
@@ -124,7 +124,7 @@ namespace BulletSharp
 			}
 			set
 			{
-				btBvhTriangleMeshShape_setTriangleInfoMap(Native, (value != null) ? value._native : IntPtr.Zero);
+				btBvhTriangleMeshShape_setTriangleInfoMap(Native, (value != null) ? value.Native : IntPtr.Zero);
 				_triangleInfoMap = value;
 			}
 		}

BulletSharpPInvoke/Collision/CollisionAlgorithm.cs

@@ -37,7 +37,7 @@ namespace BulletSharp
 			get => _manifold;
 			set
 			{
-				btCollisionAlgorithmConstructionInfo_setManifold(Native, (value != null) ? value._native : IntPtr.Zero);
+				btCollisionAlgorithmConstructionInfo_setManifold(Native, (value != null) ? value.Native : IntPtr.Zero);
 				_manifold = value;
 			}
 		}

BulletSharpPInvoke/Collision/ConcaveShape.cs

@@ -24,7 +24,7 @@ namespace BulletSharp
 		public void ProcessAllTriangles(TriangleCallback callback, Vector3 aabbMin,
 			Vector3 aabbMax)
 		{
-			btConcaveShape_processAllTriangles(Native, callback._native, ref aabbMin,
+			btConcaveShape_processAllTriangles(Native, callback.Native, ref aabbMin,
 				ref aabbMax);
 		}
 	}

BulletSharpPInvoke/Collision/ContinuousConvexCollision.cs

@@ -7,7 +7,7 @@ namespace BulletSharp
 		public ContinuousConvexCollision(ConvexShape shapeA, ConvexShape shapeB,
 			VoronoiSimplexSolver simplexSolver, ConvexPenetrationDepthSolver penetrationDepthSolver)
 			: base(btContinuousConvexCollision_new(shapeA.Native, shapeB.Native,
-				simplexSolver._native, penetrationDepthSolver.Native))
+				simplexSolver.Native, penetrationDepthSolver.Native))
 		{
 		}
 

BulletSharpPInvoke/Collision/Convex2DConvex2DAlgorithm.cs

@@ -16,7 +16,7 @@ namespace BulletSharp
 			}
 
 			public CreateFunc(VoronoiSimplexSolver simplexSolver, ConvexPenetrationDepthSolver pdSolver)
-				: base(btConvex2dConvex2dAlgorithm_CreateFunc_new(simplexSolver._native,
+				: base(btConvex2dConvex2dAlgorithm_CreateFunc_new(simplexSolver.Native,
 					pdSolver.Native), false)
 			{
 				_pdSolver = pdSolver;
@@ -57,7 +57,7 @@ namespace BulletSharp
 				get => _simplexSolver;
 				set
 				{
-					btConvex2dConvex2dAlgorithm_CreateFunc_setSimplexSolver(Native, value._native);
+					btConvex2dConvex2dAlgorithm_CreateFunc_setSimplexSolver(Native, value.Native);
 					_simplexSolver = value;
 				}
 			}
@@ -71,8 +71,8 @@ namespace BulletSharp
 		public Convex2DConvex2DAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
 			CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, VoronoiSimplexSolver simplexSolver,
 			ConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-			: base(btConvex2dConvex2dAlgorithm_new(mf._native, ci.Native, body0Wrap.Native,
-				body1Wrap.Native, simplexSolver._native, pdSolver.Native, numPerturbationIterations,
+			: base(btConvex2dConvex2dAlgorithm_new(mf.Native, ci.Native, body0Wrap.Native,
+				body1Wrap.Native, simplexSolver.Native, pdSolver.Native, numPerturbationIterations,
 				minimumPointsPerturbationThreshold))
 		{
 		}

BulletSharpPInvoke/Collision/ConvexConcaveCollisionAlgorithm.cs

@@ -12,7 +12,7 @@ namespace BulletSharp
 
 		public ConvexTriangleCallback(Dispatcher dispatcher, CollisionObjectWrapper body0Wrap,
 			CollisionObjectWrapper body1Wrap, bool isSwapped)
-			: base(btConvexTriangleCallback_new(dispatcher._native, body0Wrap.Native,
+			: base(btConvexTriangleCallback_new(dispatcher.Native, body0Wrap.Native,
 				body1Wrap.Native, isSwapped))
 		{
 		}

BulletSharpPInvoke/Collision/ConvexConvexAlgorithm.cs

@@ -58,8 +58,8 @@ namespace BulletSharp
 		public ConvexConvexAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
 			CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, VoronoiSimplexSolver simplexSolver,
 			ConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-			: base(btConvexConvexAlgorithm_new(mf._native, ci.Native, body0Wrap.Native,
-				body1Wrap.Native, simplexSolver._native, pdSolver.Native, numPerturbationIterations,
+			: base(btConvexConvexAlgorithm_new(mf.Native, ci.Native, body0Wrap.Native,
+				body1Wrap.Native, simplexSolver.Native, pdSolver.Native, numPerturbationIterations,
 				minimumPointsPerturbationThreshold))
 		{
 		}

BulletSharpPInvoke/Collision/ConvexPenetrationDepthSolver.cs

@@ -17,7 +17,7 @@ namespace BulletSharp
 			ConvexShape convexB, Matrix transA, Matrix transB, out Vector3 v, out Vector3 pa,
 			out Vector3 pb, IDebugDraw debugDraw)
 		{
-			return btConvexPenetrationDepthSolver_calcPenDepth(Native, simplexSolver._native,
+			return btConvexPenetrationDepthSolver_calcPenDepth(Native, simplexSolver.Native,
 				convexA.Native, convexB.Native, ref transA, ref transB, out v, out pa,
 				out pb, DebugDraw.GetUnmanaged(debugDraw));
 		}

BulletSharpPInvoke/Collision/ConvexPlaneCollisionAlgorithm.cs

@@ -46,7 +46,7 @@ namespace BulletSharp
 		public ConvexPlaneCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
 			CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, bool isSwapped,
 			int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-			: base(btConvexPlaneCollisionAlgorithm_new(mf._native, ci.Native, body0Wrap.Native,
+			: base(btConvexPlaneCollisionAlgorithm_new(mf.Native, ci.Native, body0Wrap.Native,
 				body1Wrap.Native, isSwapped, numPerturbationIterations, minimumPointsPerturbationThreshold))
 		{
 		}

BulletSharpPInvoke/Collision/ConvexPolyhedron.cs

@@ -6,26 +6,26 @@ namespace BulletSharp
 {
 	public class Face : IDisposable
 	{
-		internal IntPtr _native;
+		internal IntPtr Native;
 
 		internal Face(IntPtr native)
 		{
-			_native = native;
+			Native = native;
 		}
 
 		public Face()
 		{
-			_native = btFace_new();
+			Native = btFace_new();
 		}
 		/*
 		public AlignedIntArray Indices
 		{
-			get { return new AlignedIntArray(btFace_getIndices(_native)); }
+			get { return new AlignedIntArray(btFace_getIndices(Native)); }
 		}
 
 		public ScalarArray Plane
 		{
-			get { return new ScalarArray(btFace_getPlane(_native)); }
+			get { return new ScalarArray(btFace_getPlane(Native)); }
 		}
 		*/
 		public void Dispose()
@@ -36,10 +36,10 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-				btFace_delete(_native);
-				_native = IntPtr.Zero;
+				btFace_delete(Native);
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -51,7 +51,7 @@ namespace BulletSharp
 
 	public class ConvexPolyhedron : IDisposable
 	{
-		internal IntPtr _native;
+		internal IntPtr Native;
 
 		//AlignedFaceArray _faces;
 		AlignedVector3Array _uniqueEdges;
@@ -59,36 +59,36 @@ namespace BulletSharp
 
 		internal ConvexPolyhedron(IntPtr native)
 		{
-			_native = native;
+			Native = native;
 		}
 
 		public ConvexPolyhedron()
 		{
-			_native = btConvexPolyhedron_new();
+			Native = btConvexPolyhedron_new();
 		}
 
 		public void Initialize()
 		{
-			btConvexPolyhedron_initialize(_native);
+			btConvexPolyhedron_initialize(Native);
 		}
 
 		public void ProjectRef(ref Matrix trans, ref Vector3 dir, out float minProj, out float maxProj,
 			out Vector3 witnesPtMin, out Vector3 witnesPtMax)
 		{
-			btConvexPolyhedron_project(_native, ref trans, ref dir, out minProj,
+			btConvexPolyhedron_project(Native, ref trans, ref dir, out minProj,
 				out maxProj, out witnesPtMin, out witnesPtMax);
 		}
 
 		public void Project(Matrix trans, Vector3 dir, out float minProj, out float maxProj,
 			out Vector3 witnesPtMin, out Vector3 witnesPtMax)
 		{
-			btConvexPolyhedron_project(_native, ref trans, ref dir, out minProj,
+			btConvexPolyhedron_project(Native, ref trans, ref dir, out minProj,
 				out maxProj, out witnesPtMin, out witnesPtMax);
 		}
 
 		public bool TestContainment()
 		{
-			return btConvexPolyhedron_testContainment(_native);
+			return btConvexPolyhedron_testContainment(Native);
 		}
 
 		public Vector3 Extents
@@ -96,15 +96,15 @@ namespace BulletSharp
 			get
 			{
 				Vector3 value;
-				btConvexPolyhedron_getExtents(_native, out value);
+				btConvexPolyhedron_getExtents(Native, out value);
 				return value;
 			}
-			set => btConvexPolyhedron_setExtents(_native, ref value);
+			set => btConvexPolyhedron_setExtents(Native, ref value);
 		}
 		/*
 		public AlignedFaceArray Faces
 		{
-			get { return btConvexPolyhedron_getFaces(_native); }
+			get { return btConvexPolyhedron_getFaces(Native); }
 		}
 		*/
 		public Vector3 LocalCenter
@@ -112,10 +112,10 @@ namespace BulletSharp
 			get
 			{
 				Vector3 value;
-				btConvexPolyhedron_getLocalCenter(_native, out value);
+				btConvexPolyhedron_getLocalCenter(Native, out value);
 				return value;
 			}
-			set => btConvexPolyhedron_setLocalCenter(_native, ref value);
+			set => btConvexPolyhedron_setLocalCenter(Native, ref value);
 		}
 
 		public Vector3 C
@@ -123,10 +123,10 @@ namespace BulletSharp
 			get
 			{
 				Vector3 value;
-				btConvexPolyhedron_getMC(_native, out value);
+				btConvexPolyhedron_getMC(Native, out value);
 				return value;
 			}
-			set => btConvexPolyhedron_setMC(_native, ref value);
+			set => btConvexPolyhedron_setMC(Native, ref value);
 		}
 
 		public Vector3 E
@@ -134,16 +134,16 @@ namespace BulletSharp
 			get
 			{
 				Vector3 value;
-				btConvexPolyhedron_getME(_native, out value);
+				btConvexPolyhedron_getME(Native, out value);
 				return value;
 			}
-			set => btConvexPolyhedron_setME(_native, ref value);
+			set => btConvexPolyhedron_setME(Native, ref value);
 		}
 
 		public float Radius
 		{
-			get => btConvexPolyhedron_getRadius(_native);
-			set => btConvexPolyhedron_setRadius(_native, value);
+			get => btConvexPolyhedron_getRadius(Native);
+			set => btConvexPolyhedron_setRadius(Native, value);
 		}
 
 		public AlignedVector3Array UniqueEdges
@@ -152,7 +152,7 @@ namespace BulletSharp
 			{
 				if (_uniqueEdges == null)
 				{
-					_uniqueEdges = new AlignedVector3Array(btConvexPolyhedron_getUniqueEdges(_native));
+					_uniqueEdges = new AlignedVector3Array(btConvexPolyhedron_getUniqueEdges(Native));
 				}
 				return _uniqueEdges;
 			}
@@ -164,7 +164,7 @@ namespace BulletSharp
 			{
 				if (_vertices == null)
 				{
-					_vertices = new AlignedVector3Array(btConvexPolyhedron_getVertices(_native));
+					_vertices = new AlignedVector3Array(btConvexPolyhedron_getVertices(Native));
 				}
 				return _vertices;
 			}
@@ -178,10 +178,10 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-				btConvexPolyhedron_delete(_native);
-				_native = IntPtr.Zero;
+				btConvexPolyhedron_delete(Native);
+				Native = IntPtr.Zero;
 			}
 		}
 

BulletSharpPInvoke/Collision/ConvexTriangleMeshShape.cs

@@ -14,7 +14,7 @@ namespace BulletSharp
 		}
 
 		public ConvexTriangleMeshShape(StridingMeshInterface meshInterface, bool calcAabb = true)
-			: base(btConvexTriangleMeshShape_new(meshInterface._native, calcAabb))
+			: base(btConvexTriangleMeshShape_new(meshInterface.Native, calcAabb))
 		{
 			_meshInterface = meshInterface;
 		}

BulletSharpPInvoke/Collision/Dbvt.cs

@@ -146,7 +146,7 @@ namespace BulletSharp
 
 		public DbvtNodePtrArray Childs
 		{
-			get { return btDbvtNode_getChilds(_native); }
+			get { return btDbvtNode_getChilds(Native); }
 		}
 		*/
 		public IntPtr Data

BulletSharpPInvoke/Collision/DbvtBroadphase.cs

@@ -21,7 +21,7 @@ namespace BulletSharp
 			set => btDbvtProxy_setLeaf(Native, (value != null) ? value.Native : IntPtr.Zero);
 		}
 
-		//public DbvtProxyPtrArray Links => btDbvtProxy_getLinks(_native);
+		//public DbvtProxyPtrArray Links => btDbvtProxy_getLinks(Native);
 
 		public int Stage
 		{
@@ -33,7 +33,7 @@ namespace BulletSharp
 	public class DbvtBroadphase : BroadphaseInterface
 	{
 		public DbvtBroadphase(OverlappingPairCache pairCache = null)
-			: base(btDbvtBroadphase_new((pairCache != null) ? pairCache._native : IntPtr.Zero))
+			: base(btDbvtBroadphase_new((pairCache != null) ? pairCache.Native : IntPtr.Zero))
 		{
 			_overlappingPairCache = (pairCache != null) ? pairCache : new HashedOverlappingPairCache(
 				btBroadphaseInterface_getOverlappingPairCache(Native), true);
@@ -138,7 +138,7 @@ namespace BulletSharp
 			set
 			{
 				_overlappingPairCache = value;
-				btDbvtBroadphase_setPaircache(Native, value._native);
+				btDbvtBroadphase_setPaircache(Native, value.Native);
 			}
 		}
 
@@ -160,17 +160,17 @@ namespace BulletSharp
 			set => btDbvtBroadphase_setReleasepaircache(Native, value);
 		}
 
-		//public DbvtArray Sets => btDbvtBroadphase_getSets(_native);
+        //public DbvtArray Sets => btDbvtBroadphase_getSets(Native);
 
-		public int StageCurrent
+        public int StageCurrent
 		{
 			get => btDbvtBroadphase_getStageCurrent(Native);
 			set => btDbvtBroadphase_setStageCurrent(Native, value);
 		}
 
-		//public DbvtProxyPtrArray StageRoots => btDbvtBroadphase_getStageRoots(_native);
+        //public DbvtProxyPtrArray StageRoots => btDbvtBroadphase_getStageRoots(Native);
 
-		public uint UpdatesCall
+        public uint UpdatesCall
 		{
 			get => btDbvtBroadphase_getUpdates_call(Native);
 			set => btDbvtBroadphase_setUpdates_call(Native, value);

BulletSharpPInvoke/Collision/DiscreteCollisionDetectorInterface.cs

@@ -113,17 +113,17 @@ namespace BulletSharp
 			}
 		}
 
-		internal IntPtr _native;
+		internal IntPtr Native;
 
 		internal DiscreteCollisionDetectorInterface(IntPtr native)
 		{
-			_native = native;
+			Native = native;
 		}
 
 		public void GetClosestPoints(ClosestPointInput input, Result output, IDebugDraw debugDraw,
 			bool swapResults = false)
 		{
-			btDiscreteCollisionDetectorInterface_getClosestPoints(_native, input.Native,
+			btDiscreteCollisionDetectorInterface_getClosestPoints(Native, input.Native,
 				output.Native, DebugDraw.GetUnmanaged(debugDraw), swapResults);
 		}
 
@@ -135,10 +135,10 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-				btDiscreteCollisionDetectorInterface_delete(_native);
-				_native = IntPtr.Zero;
+				btDiscreteCollisionDetectorInterface_delete(Native);
+				Native = IntPtr.Zero;
 			}
 		}
 

BulletSharpPInvoke/Collision/Dispatcher.cs

@@ -117,13 +117,13 @@ namespace BulletSharp
 
 		public void ClearManifold(PersistentManifold manifold)
 		{
-			btDispatcher_clearManifold(Native, manifold._native);
+			btDispatcher_clearManifold(Native, manifold.Native);
 		}
 
 		public void DispatchAllCollisionPairs(OverlappingPairCache pairCache, DispatcherInfo dispatchInfo,
 			Dispatcher dispatcher)
 		{
-			btDispatcher_dispatchAllCollisionPairs(Native, pairCache._native, dispatchInfo.Native,
+			btDispatcher_dispatchAllCollisionPairs(Native, pairCache.Native, dispatchInfo.Native,
 				dispatcher.Native);
 		}
 
@@ -131,7 +131,7 @@ namespace BulletSharp
 			CollisionObjectWrapper body1Wrap, PersistentManifold sharedManifold,
 			DispatcherQueryType queryType)
 		{
-			return new CollisionAlgorithm(btDispatcher_findAlgorithm(Native, body0Wrap.Native, body1Wrap.Native, sharedManifold._native, queryType));
+			return new CollisionAlgorithm(btDispatcher_findAlgorithm(Native, body0Wrap.Native, body1Wrap.Native, sharedManifold.Native, queryType));
 		}
 
 		public void FreeCollisionAlgorithm(IntPtr ptr)
@@ -161,7 +161,7 @@ namespace BulletSharp
 
 		public void ReleaseManifold(PersistentManifold manifold)
 		{
-			btDispatcher_releaseManifold(Native, manifold._native);
+			btDispatcher_releaseManifold(Native, manifold.Native);
 		}
 		/*
 		public PersistentManifold InternalManifoldPointer

BulletSharpPInvoke/Collision/GImpact/GImpactShape.cs

@@ -76,14 +76,14 @@ namespace BulletSharp
 		public void ProcessAllTrianglesRayRef(TriangleCallback callback, ref Vector3 rayFrom,
 			ref Vector3 rayTo)
 		{
-			btGImpactShapeInterface_processAllTrianglesRay(Native, callback._native,
+			btGImpactShapeInterface_processAllTrianglesRay(Native, callback.Native,
 				ref rayFrom, ref rayTo);
 		}
 
 		public void ProcessAllTrianglesRay(TriangleCallback callback, Vector3 rayFrom,
 			Vector3 rayTo)
 		{
-			btGImpactShapeInterface_processAllTrianglesRay(Native, callback._native,
+			btGImpactShapeInterface_processAllTrianglesRay(Native, callback.Native,
 				ref rayFrom, ref rayTo);
 		}
 
@@ -205,7 +205,7 @@ namespace BulletSharp
 		}
 
 		public TrimeshPrimitiveManager(StridingMeshInterface meshInterface, int part)
-			: base(btGImpactMeshShapePart_TrimeshPrimitiveManager_new(meshInterface._native,
+			: base(btGImpactMeshShapePart_TrimeshPrimitiveManager_new(meshInterface.Native,
 				part))
 		{
 			_meshInterface = meshInterface;
@@ -284,7 +284,7 @@ namespace BulletSharp
 			get => _meshInterface;
 			set
 			{
-				btGImpactMeshShapePart_TrimeshPrimitiveManager_setMeshInterface(Native, value._native);
+				btGImpactMeshShapePart_TrimeshPrimitiveManager_setMeshInterface(Native, value.Native);
 				_meshInterface = value;
 			}
 		}
@@ -354,7 +354,7 @@ namespace BulletSharp
 		}
 
 		public GImpactMeshShapePart(StridingMeshInterface meshInterface, int part)
-			: base(btGImpactMeshShapePart_new2(meshInterface._native, part))
+			: base(btGImpactMeshShapePart_new2(meshInterface.Native, part))
 		{
 		}
 
@@ -401,7 +401,7 @@ namespace BulletSharp
 		}
 
 		public GImpactMeshShape(StridingMeshInterface meshInterface)
-			: base(btGImpactMeshShape_new(meshInterface._native))
+			: base(btGImpactMeshShape_new(meshInterface.Native))
 		{
 			_meshInterface = meshInterface;
 		}

BulletSharpPInvoke/Collision/GhostObject.cs

@@ -117,20 +117,20 @@ namespace BulletSharp
 
 		public override BroadphasePair AddOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1)
 		{
-			return new BroadphasePair(btOverlappingPairCallback_addOverlappingPair(_native, proxy0.Native,
+			return new BroadphasePair(btOverlappingPairCallback_addOverlappingPair(Native, proxy0.Native,
 				proxy1.Native));
 		}
 
 		public override IntPtr RemoveOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1, Dispatcher dispatcher)
 		{
-			return btOverlappingPairCallback_removeOverlappingPair(_native, proxy0.Native,
+			return btOverlappingPairCallback_removeOverlappingPair(Native, proxy0.Native,
 				proxy1.Native, dispatcher.Native);
 		}
 
 		public override void RemoveOverlappingPairsContainingProxy(BroadphaseProxy proxy0,
 			Dispatcher dispatcher)
 		{
-			btOverlappingPairCallback_removeOverlappingPairsContainingProxy(_native, proxy0.Native,
+			btOverlappingPairCallback_removeOverlappingPairsContainingProxy(Native, proxy0.Native,
 				dispatcher.Native);
 		}
 	}

BulletSharpPInvoke/Collision/GjkConvexCast.cs

@@ -5,7 +5,7 @@ namespace BulletSharp
 	public class GjkConvexCast : ConvexCast
 	{
 		public GjkConvexCast(ConvexShape convexA, ConvexShape convexB, VoronoiSimplexSolver simplexSolver)
-			: base(btGjkConvexCast_new(convexA.Native, convexB.Native, simplexSolver._native))
+			: base(btGjkConvexCast_new(convexA.Native, convexB.Native, simplexSolver.Native))
 		{
 		}
 	}

BulletSharpPInvoke/Collision/GjkPairDetector.cs

@@ -13,7 +13,7 @@ namespace BulletSharp
 
 		public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, VoronoiSimplexSolver simplexSolver,
 			ConvexPenetrationDepthSolver penetrationDepthSolver)
-			: base(btGjkPairDetector_new(objectA.Native, objectB.Native, simplexSolver._native,
+			: base(btGjkPairDetector_new(objectA.Native, objectB.Native, simplexSolver.Native,
 				(penetrationDepthSolver != null) ? penetrationDepthSolver.Native : IntPtr.Zero))
 		{
 		}
@@ -22,35 +22,35 @@ namespace BulletSharp
 			int shapeTypeB, float marginA, float marginB, VoronoiSimplexSolver simplexSolver,
 			ConvexPenetrationDepthSolver penetrationDepthSolver)
 			: base(btGjkPairDetector_new2(objectA.Native, objectB.Native, shapeTypeA,
-				shapeTypeB, marginA, marginB, simplexSolver._native, (penetrationDepthSolver != null) ? penetrationDepthSolver.Native : IntPtr.Zero))
+				shapeTypeB, marginA, marginB, simplexSolver.Native, (penetrationDepthSolver != null) ? penetrationDepthSolver.Native : IntPtr.Zero))
 		{
 		}
 
 		public void GetClosestPointsNonVirtual(ClosestPointInput input, Result output,
 			IDebugDraw debugDraw)
 		{
-			btGjkPairDetector_getClosestPointsNonVirtual(_native, input.Native,
+			btGjkPairDetector_getClosestPointsNonVirtual(Native, input.Native,
 				output.Native, DebugDraw.GetUnmanaged(debugDraw));
 		}
 
 		public void SetIgnoreMargin(bool ignoreMargin)
 		{
-			btGjkPairDetector_setIgnoreMargin(_native, ignoreMargin);
+			btGjkPairDetector_setIgnoreMargin(Native, ignoreMargin);
 		}
 
 		public void SetMinkowskiA(ConvexShape minkA)
 		{
-			btGjkPairDetector_setMinkowskiA(_native, minkA.Native);
+			btGjkPairDetector_setMinkowskiA(Native, minkA.Native);
 		}
 
 		public void SetMinkowskiB(ConvexShape minkB)
 		{
-			btGjkPairDetector_setMinkowskiB(_native, minkB.Native);
+			btGjkPairDetector_setMinkowskiB(Native, minkB.Native);
 		}
 
 		public void SetPenetrationDepthSolver(ConvexPenetrationDepthSolver penetrationDepthSolver)
 		{
-			btGjkPairDetector_setPenetrationDepthSolver(_native, penetrationDepthSolver.Native);
+			btGjkPairDetector_setPenetrationDepthSolver(Native, penetrationDepthSolver.Native);
 		}
 
 		public Vector3 CachedSeparatingAxis
@@ -58,42 +58,42 @@ namespace BulletSharp
 			get
 			{
 				Vector3 value;
-				btGjkPairDetector_getCachedSeparatingAxis(_native, out value);
+				btGjkPairDetector_getCachedSeparatingAxis(Native, out value);
 				return value;
 			}
-			set => btGjkPairDetector_setCachedSeparatingAxis(_native, ref value);
+			set => btGjkPairDetector_setCachedSeparatingAxis(Native, ref value);
 		}
 
-		public float CachedSeparatingDistance => btGjkPairDetector_getCachedSeparatingDistance(_native);
+		public float CachedSeparatingDistance => btGjkPairDetector_getCachedSeparatingDistance(Native);
 
 		public int CatchDegeneracies
 		{
-			get => btGjkPairDetector_getCatchDegeneracies(_native);
-			set => btGjkPairDetector_setCatchDegeneracies(_native, value);
+			get => btGjkPairDetector_getCatchDegeneracies(Native);
+			set => btGjkPairDetector_setCatchDegeneracies(Native, value);
 		}
 
 		public int CurIter
 		{
-			get => btGjkPairDetector_getCurIter(_native);
-			set => btGjkPairDetector_setCurIter(_native, value);
+			get => btGjkPairDetector_getCurIter(Native);
+			set => btGjkPairDetector_setCurIter(Native, value);
 		}
 
 		public int DegenerateSimplex
 		{
-			get => btGjkPairDetector_getDegenerateSimplex(_native);
-			set => btGjkPairDetector_setDegenerateSimplex(_native, value);
+			get => btGjkPairDetector_getDegenerateSimplex(Native);
+			set => btGjkPairDetector_setDegenerateSimplex(Native, value);
 		}
 
 		public int FixContactNormalDirection
 		{
-			get => btGjkPairDetector_getFixContactNormalDirection(_native);
-			set => btGjkPairDetector_setFixContactNormalDirection(_native, value);
+			get => btGjkPairDetector_getFixContactNormalDirection(Native);
+			set => btGjkPairDetector_setFixContactNormalDirection(Native, value);
 		}
 
 		public int LastUsedMethod
 		{
-			get => btGjkPairDetector_getLastUsedMethod(_native);
-			set => btGjkPairDetector_setLastUsedMethod(_native, value);
+			get => btGjkPairDetector_getLastUsedMethod(Native);
+			set => btGjkPairDetector_setLastUsedMethod(Native, value);
 		}
 	}
 }

BulletSharpPInvoke/Collision/ManifoldResult.cs

@@ -81,7 +81,7 @@ namespace BulletSharp
 		public PersistentManifold PersistentManifold
 		{
 			get => new PersistentManifold(btManifoldResult_getPersistentManifold(Native), true);
-			set => btManifoldResult_setPersistentManifold(Native, value._native);
+			set => btManifoldResult_setPersistentManifold(Native, value.Native);
 		}
 	}
 }

BulletSharpPInvoke/Collision/MultimaterialTriangleMeshShape.cs

@@ -7,7 +7,7 @@ namespace BulletSharp
 	{
 		public MultimaterialTriangleMeshShape(StridingMeshInterface meshInterface,
 			bool useQuantizedAabbCompression, bool buildBvh = true)
-			: base(btMultimaterialTriangleMeshShape_new(meshInterface._native, useQuantizedAabbCompression,
+			: base(btMultimaterialTriangleMeshShape_new(meshInterface.Native, useQuantizedAabbCompression,
 				buildBvh))
 		{
 			_meshInterface = meshInterface;
@@ -16,7 +16,7 @@ namespace BulletSharp
 		public MultimaterialTriangleMeshShape(StridingMeshInterface meshInterface,
 			bool useQuantizedAabbCompression, Vector3 bvhAabbMin, Vector3 bvhAabbMax,
 			bool buildBvh = true)
-			: base(btMultimaterialTriangleMeshShape_new2(meshInterface._native, useQuantizedAabbCompression,
+			: base(btMultimaterialTriangleMeshShape_new2(meshInterface.Native, useQuantizedAabbCompression,
 				ref bvhAabbMin, ref bvhAabbMax, buildBvh))
 		{
 			_meshInterface = meshInterface;
@@ -24,7 +24,7 @@ namespace BulletSharp
 		/*
 		public BulletMaterial GetMaterialProperties(int partID, int triIndex)
 		{
-			return btMultimaterialTriangleMeshShape_getMaterialProperties(_native,
+			return btMultimaterialTriangleMeshShape_getMaterialProperties(Native,
 				partID, triIndex);
 		}
 		*/

BulletSharpPInvoke/Collision/OptimizedBvh.cs

@@ -1,7 +1,6 @@
 using System;
-using System.Runtime.InteropServices;
-using System.Security;
 using BulletSharp.Math;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
@@ -20,7 +19,7 @@ namespace BulletSharp
 		public void Build(StridingMeshInterface triangles, bool useQuantizedAabbCompression,
 			Vector3 bvhAabbMin, Vector3 bvhAabbMax)
 		{
-			btOptimizedBvh_build(_native, triangles._native, useQuantizedAabbCompression,
+			btOptimizedBvh_build(_native, triangles.Native, useQuantizedAabbCompression,
 				ref bvhAabbMin, ref bvhAabbMax);
 		}
 
@@ -33,13 +32,13 @@ namespace BulletSharp
 
 		public void Refit(StridingMeshInterface triangles, Vector3 aabbMin, Vector3 aabbMax)
 		{
-			btOptimizedBvh_refit(_native, triangles._native, ref aabbMin, ref aabbMax);
+			btOptimizedBvh_refit(_native, triangles.Native, ref aabbMin, ref aabbMax);
 		}
 
 		public void RefitPartial(StridingMeshInterface triangles, Vector3 aabbMin,
 			Vector3 aabbMax)
 		{
-			btOptimizedBvh_refitPartial(_native, triangles._native, ref aabbMin,
+			btOptimizedBvh_refitPartial(_native, triangles.Native, ref aabbMin,
 				ref aabbMax);
 		}
 
@@ -53,24 +52,8 @@ namespace BulletSharp
 		public void UpdateBvhNodes(StridingMeshInterface meshInterface, int firstNode,
 			int endNode, int index)
 		{
-			btOptimizedBvh_updateBvhNodes(_native, meshInterface._native, firstNode,
+			btOptimizedBvh_updateBvhNodes(_native, meshInterface.Native, firstNode,
 				endNode, index);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btOptimizedBvh_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOptimizedBvh_build(IntPtr obj, IntPtr triangles, bool useQuantizedAabbCompression, [In] ref Vector3 bvhAabbMin, [In] ref Vector3 bvhAabbMax);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btOptimizedBvh_deSerializeInPlace(IntPtr i_alignedDataBuffer, uint i_dataBufferSize, bool i_swapEndian);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOptimizedBvh_refit(IntPtr obj, IntPtr triangles, [In] ref Vector3 aabbMin, [In] ref Vector3 aabbMax);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOptimizedBvh_refitPartial(IntPtr obj, IntPtr triangles, [In] ref Vector3 aabbMin, [In] ref Vector3 aabbMax);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btOptimizedBvh_serializeInPlace(IntPtr obj, IntPtr o_alignedDataBuffer, uint i_dataBufferSize, bool i_swapEndian);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOptimizedBvh_updateBvhNodes(IntPtr obj, IntPtr meshInterface, int firstNode, int endNode, int index);
 	}
 }

BulletSharpPInvoke/Collision/OverlappingPairCache.cs

@@ -1,16 +1,17 @@
 using System;
 using System.Runtime.InteropServices;
 using System.Security;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
 	public abstract class OverlapCallback : IDisposable
 	{
-		internal IntPtr _native;
+		internal IntPtr Native;
 
 		public bool ProcessOverlap(BroadphasePair pair)
 		{
-			return btOverlapCallback_processOverlap(_native, pair.Native);
+			return btOverlapCallback_processOverlap(Native, pair.Native);
 		}
 
 		public void Dispose()
@@ -21,10 +22,10 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-				btOverlapCallback_delete(_native);
-				_native = IntPtr.Zero;
+				btOverlapCallback_delete(Native);
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -32,39 +33,33 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btOverlapCallback_processOverlap(IntPtr obj, IntPtr pair);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOverlapCallback_delete(IntPtr obj);
 	}
 
 	public abstract class OverlapFilterCallback : IDisposable
 	{
-        [UnmanagedFunctionPointer(Native.Conv), SuppressUnmanagedCodeSecurity]
-        private delegate bool NeedBroadphaseCollisionUnmanagedDelegate(IntPtr proxy0, IntPtr proxy1);
+		[UnmanagedFunctionPointer(BulletSharp.Native.Conv), SuppressUnmanagedCodeSecurity]
+		private delegate bool NeedBroadphaseCollisionUnmanagedDelegate(IntPtr proxy0, IntPtr proxy1);
 
-		internal IntPtr _native;
-        private NeedBroadphaseCollisionUnmanagedDelegate _needBroadphaseCollision;
+		internal IntPtr Native;
+		private NeedBroadphaseCollisionUnmanagedDelegate _needBroadphaseCollision;
 
 		internal OverlapFilterCallback(IntPtr native)
 		{
-			_native = native;
+			Native = native;
 		}
 
-        public OverlapFilterCallback()
-        {
-            _needBroadphaseCollision = NeedBroadphaseCollisionUnmanaged;
-            _native = btOverlapFilterCallbackWrapper_new(Marshal.GetFunctionPointerForDelegate(_needBroadphaseCollision));
-        }
+		public OverlapFilterCallback()
+		{
+			_needBroadphaseCollision = NeedBroadphaseCollisionUnmanaged;
+			Native = btOverlapFilterCallbackWrapper_new(Marshal.GetFunctionPointerForDelegate(_needBroadphaseCollision));
+		}
 
-        private bool NeedBroadphaseCollisionUnmanaged(IntPtr proxy0, IntPtr proxy1)
-        {
-            return NeedBroadphaseCollision(BroadphaseProxy.GetManaged(proxy0), BroadphaseProxy.GetManaged(proxy1));
-        }
+		private bool NeedBroadphaseCollisionUnmanaged(IntPtr proxy0, IntPtr proxy1)
+		{
+			return NeedBroadphaseCollision(BroadphaseProxy.GetManaged(proxy0), BroadphaseProxy.GetManaged(proxy1));
+		}
 
-        public abstract bool NeedBroadphaseCollision(BroadphaseProxy proxy0, BroadphaseProxy proxy1);
+		public abstract bool NeedBroadphaseCollision(BroadphaseProxy proxy0, BroadphaseProxy proxy1);
 
 		public void Dispose()
 		{
@@ -74,10 +69,10 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-				btOverlapFilterCallback_delete(_native);
-				_native = IntPtr.Zero;
+				btOverlapFilterCallback_delete(Native);
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -85,21 +80,12 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btOverlapFilterCallback_needBroadphaseCollision(IntPtr obj, IntPtr proxy0, IntPtr proxy1);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOverlapFilterCallback_delete(IntPtr obj);
-
-        [DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern IntPtr btOverlapFilterCallbackWrapper_new(IntPtr needBroadphaseCollision);
-    }
+	}
 
 	public abstract class OverlappingPairCache : OverlappingPairCallback
 	{
-        private OverlappingPairCallback _ghostPairCallback;
-        private AlignedBroadphasePairArray _overlappingPairArray;
+		private OverlappingPairCallback _ghostPairCallback;
+		private AlignedBroadphasePairArray _overlappingPairArray;
 
 		internal OverlappingPairCache(IntPtr native, bool preventDelete)
 			: base(native, preventDelete)
@@ -108,92 +94,62 @@ namespace BulletSharp
 
 		public void CleanOverlappingPair(BroadphasePair pair, Dispatcher dispatcher)
 		{
-			btOverlappingPairCache_cleanOverlappingPair(_native, pair.Native, dispatcher.Native);
+			btOverlappingPairCache_cleanOverlappingPair(Native, pair.Native, dispatcher.Native);
 		}
 
 		public void CleanProxyFromPairs(BroadphaseProxy proxy, Dispatcher dispatcher)
 		{
-			btOverlappingPairCache_cleanProxyFromPairs(_native, proxy.Native, dispatcher.Native);
+			btOverlappingPairCache_cleanProxyFromPairs(Native, proxy.Native, dispatcher.Native);
 		}
 
 		public BroadphasePair FindPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1)
 		{
-            return new BroadphasePair(btOverlappingPairCache_findPair(_native, proxy0.Native, proxy1.Native));
+			return new BroadphasePair(btOverlappingPairCache_findPair(Native, proxy0.Native, proxy1.Native));
 		}
-        /*
+		/*
 		public void ProcessAllOverlappingPairs(OverlapCallback __unnamed0, Dispatcher dispatcher)
 		{
-			btOverlappingPairCache_processAllOverlappingPairs(_native, __unnamed0._native,
-				dispatcher._native);
+			btOverlappingPairCache_processAllOverlappingPairs(Native, __unnamed0.Native,
+				dispatcher.Native);
 		}
-        */
+		*/
 		public void SetInternalGhostPairCallback(OverlappingPairCallback ghostPairCallback)
 		{
-            _ghostPairCallback = ghostPairCallback;
-			btOverlappingPairCache_setInternalGhostPairCallback(_native, ghostPairCallback._native);
+			_ghostPairCallback = ghostPairCallback;
+			btOverlappingPairCache_setInternalGhostPairCallback(Native, ghostPairCallback.Native);
 		}
 
 		public void SetOverlapFilterCallback(OverlapFilterCallback callback)
 		{
-			btOverlappingPairCache_setOverlapFilterCallback(_native, callback._native);
+			btOverlappingPairCache_setOverlapFilterCallback(Native, callback.Native);
 		}
 
 		public void SortOverlappingPairs(Dispatcher dispatcher)
 		{
-			btOverlappingPairCache_sortOverlappingPairs(_native, dispatcher.Native);
+			btOverlappingPairCache_sortOverlappingPairs(Native, dispatcher.Native);
 		}
 
-		public bool HasDeferredRemoval
-		{
-			get { return btOverlappingPairCache_hasDeferredRemoval(_native); }
-		}
+		public bool HasDeferredRemoval => btOverlappingPairCache_hasDeferredRemoval(Native);
 
-		public int NumOverlappingPairs
-		{
-			get { return btOverlappingPairCache_getNumOverlappingPairs(_native); }
-		}
+		public int NumOverlappingPairs => btOverlappingPairCache_getNumOverlappingPairs(Native);
 
 		public AlignedBroadphasePairArray OverlappingPairArray
 		{
-            get
-            {
-                IntPtr pairArrayPtr = btOverlappingPairCache_getOverlappingPairArray(_native);
-                if (_overlappingPairArray == null || _overlappingPairArray._native != pairArrayPtr)
-                {
-                    _overlappingPairArray = new AlignedBroadphasePairArray(pairArrayPtr);
-                }
-                return _overlappingPairArray;
-            }
+			get
+			{
+				IntPtr pairArrayPtr = btOverlappingPairCache_getOverlappingPairArray(Native);
+				if (_overlappingPairArray == null || _overlappingPairArray._native != pairArrayPtr)
+				{
+					_overlappingPairArray = new AlignedBroadphasePairArray(pairArrayPtr);
+				}
+				return _overlappingPairArray;
+			}
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOverlappingPairCache_cleanOverlappingPair(IntPtr obj, IntPtr pair, IntPtr dispatcher);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOverlappingPairCache_cleanProxyFromPairs(IntPtr obj, IntPtr proxy, IntPtr dispatcher);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btOverlappingPairCache_findPair(IntPtr obj, IntPtr proxy0, IntPtr proxy1);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btOverlappingPairCache_getNumOverlappingPairs(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btOverlappingPairCache_getOverlappingPairArray(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btOverlappingPairCache_getOverlappingPairArrayPtr(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btOverlappingPairCache_hasDeferredRemoval(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOverlappingPairCache_processAllOverlappingPairs(IntPtr obj, IntPtr __unnamed0, IntPtr dispatcher);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOverlappingPairCache_setInternalGhostPairCallback(IntPtr obj, IntPtr ghostPairCallback);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOverlappingPairCache_setOverlapFilterCallback(IntPtr obj, IntPtr callback);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOverlappingPairCache_sortOverlappingPairs(IntPtr obj, IntPtr dispatcher);
 	}
 
 	public class HashedOverlappingPairCache : OverlappingPairCache
 	{
-        private OverlapFilterCallback _overlapFilterCallback;
+		private OverlapFilterCallback _overlapFilterCallback;
 
 		internal HashedOverlappingPairCache(IntPtr native, bool preventDelete)
 			: base(native, preventDelete)
@@ -205,108 +161,89 @@ namespace BulletSharp
 		{
 		}
 
-        public override BroadphasePair AddOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1)
-        {
-            return new BroadphasePair(btOverlappingPairCallback_addOverlappingPair(_native, proxy0.Native,
-                proxy1.Native));
-        }
+		public override BroadphasePair AddOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1)
+		{
+			return new BroadphasePair(btOverlappingPairCallback_addOverlappingPair(Native, proxy0.Native,
+				proxy1.Native));
+		}
 
 		public bool NeedsBroadphaseCollision(BroadphaseProxy proxy0, BroadphaseProxy proxy1)
 		{
-			return btHashedOverlappingPairCache_needsBroadphaseCollision(_native,
+			return btHashedOverlappingPairCache_needsBroadphaseCollision(Native,
 				proxy0.Native, proxy1.Native);
 		}
 
-        public override IntPtr RemoveOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1,
-            Dispatcher dispatcher)
-        {
-            return btOverlappingPairCallback_removeOverlappingPair(_native, proxy0.Native,
-                proxy1.Native, dispatcher.Native);
-        }
-
-        public override void RemoveOverlappingPairsContainingProxy(BroadphaseProxy proxy0,
-            Dispatcher dispatcher)
-        {
-            btOverlappingPairCallback_removeOverlappingPairsContainingProxy(_native,
-                proxy0.Native, dispatcher.Native);
-        }
-
-		public int Count
+		public override IntPtr RemoveOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1,
+			Dispatcher dispatcher)
 		{
-			get { return btHashedOverlappingPairCache_GetCount(_native); }
+			return btOverlappingPairCallback_removeOverlappingPair(Native, proxy0.Native,
+				proxy1.Native, dispatcher.Native);
 		}
 
+		public override void RemoveOverlappingPairsContainingProxy(BroadphaseProxy proxy0,
+			Dispatcher dispatcher)
+		{
+			btOverlappingPairCallback_removeOverlappingPairsContainingProxy(Native,
+				proxy0.Native, dispatcher.Native);
+		}
+
+		public int Count => btHashedOverlappingPairCache_GetCount(Native);
+
 		public OverlapFilterCallback OverlapFilterCallback
 		{
-			get { return _overlapFilterCallback; }
-            set
-            {
-                _overlapFilterCallback = value;
-                SetOverlapFilterCallback(value);
-            }
+			get => _overlapFilterCallback;
+			set
+			{
+				_overlapFilterCallback = value;
+				SetOverlapFilterCallback(value);
+			}
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btHashedOverlappingPairCache_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btHashedOverlappingPairCache_GetCount(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btHashedOverlappingPairCache_needsBroadphaseCollision(IntPtr obj, IntPtr proxy0, IntPtr proxy1);
 	}
 
 	public class SortedOverlappingPairCache : OverlappingPairCache
 	{
-        private OverlapFilterCallback _overlapFilterCallback;
+		private OverlapFilterCallback _overlapFilterCallback;
 
 		public SortedOverlappingPairCache()
 			: base(btSortedOverlappingPairCache_new(), false)
 		{
 		}
 
-        public override BroadphasePair AddOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1)
-        {
-            return new BroadphasePair(btOverlappingPairCallback_addOverlappingPair(_native, proxy0.Native,
-                proxy1.Native));
-        }
+		public override BroadphasePair AddOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1)
+		{
+			return new BroadphasePair(btOverlappingPairCallback_addOverlappingPair(Native, proxy0.Native,
+				proxy1.Native));
+		}
 
 		public bool NeedsBroadphaseCollision(BroadphaseProxy proxy0, BroadphaseProxy proxy1)
 		{
-			return btSortedOverlappingPairCache_needsBroadphaseCollision(_native,
+			return btSortedOverlappingPairCache_needsBroadphaseCollision(Native,
 				proxy0.Native, proxy1.Native);
 		}
 
-        public override IntPtr RemoveOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1, 
-            Dispatcher dispatcher)
-        {
-            return btOverlappingPairCallback_removeOverlappingPair(_native, proxy0.Native,
-                proxy1.Native, dispatcher.Native);
-        }
+		public override IntPtr RemoveOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1, 
+			Dispatcher dispatcher)
+		{
+			return btOverlappingPairCallback_removeOverlappingPair(Native, proxy0.Native,
+				proxy1.Native, dispatcher.Native);
+		}
 
-        public override void RemoveOverlappingPairsContainingProxy(BroadphaseProxy proxy0,
-            Dispatcher dispatcher)
-        {
-            btOverlappingPairCallback_removeOverlappingPairsContainingProxy(_native,
-                proxy0.Native, dispatcher.Native);
-        }
+		public override void RemoveOverlappingPairsContainingProxy(BroadphaseProxy proxy0,
+			Dispatcher dispatcher)
+		{
+			btOverlappingPairCallback_removeOverlappingPairsContainingProxy(Native,
+				proxy0.Native, dispatcher.Native);
+		}
 
-        public OverlapFilterCallback OverlapFilterCallback
-        {
-            get { return _overlapFilterCallback; }
-            set
-            {
-                _overlapFilterCallback = value;
-                SetOverlapFilterCallback(value);
-            }
-        }
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btSortedOverlappingPairCache_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btSortedOverlappingPairCache_getOverlapFilterCallback(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btSortedOverlappingPairCache_needsBroadphaseCollision(IntPtr obj, IntPtr proxy0, IntPtr proxy1);
+		public OverlapFilterCallback OverlapFilterCallback
+		{
+			get => _overlapFilterCallback;
+			set
+			{
+				_overlapFilterCallback = value;
+				SetOverlapFilterCallback(value);
+			}
+		}
 	}
 
 	public class NullPairCache : OverlappingPairCache
@@ -316,27 +253,24 @@ namespace BulletSharp
 		{
 		}
 
-        public override BroadphasePair AddOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1)
-        {
-            return new BroadphasePair(btOverlappingPairCallback_addOverlappingPair(_native, proxy0.Native,
-                proxy1.Native));
-        }
+		public override BroadphasePair AddOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1)
+		{
+			return new BroadphasePair(btOverlappingPairCallback_addOverlappingPair(Native, proxy0.Native,
+				proxy1.Native));
+		}
 
-        public override IntPtr RemoveOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1,
-            Dispatcher dispatcher)
-        {
-            return btOverlappingPairCallback_removeOverlappingPair(_native, proxy0.Native,
-                proxy1.Native, dispatcher.Native);
-        }
+		public override IntPtr RemoveOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1,
+			Dispatcher dispatcher)
+		{
+			return btOverlappingPairCallback_removeOverlappingPair(Native, proxy0.Native,
+				proxy1.Native, dispatcher.Native);
+		}
 
-        public override void RemoveOverlappingPairsContainingProxy(BroadphaseProxy proxy0,
-            Dispatcher dispatcher)
-        {
-            btOverlappingPairCallback_removeOverlappingPairsContainingProxy(_native, proxy0.Native,
-                dispatcher.Native);
-        }
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btNullPairCache_new();
+		public override void RemoveOverlappingPairsContainingProxy(BroadphaseProxy proxy0,
+			Dispatcher dispatcher)
+		{
+			btOverlappingPairCallback_removeOverlappingPairsContainingProxy(Native, proxy0.Native,
+				dispatcher.Native);
+		}
 	}
 }

BulletSharpPInvoke/Collision/OverlappingPairCallback.cs

@@ -1,28 +1,27 @@
 using System;
-using System.Runtime.InteropServices;
-using System.Security;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
 	public abstract class OverlappingPairCallback : IDisposable
 	{
-		internal IntPtr _native;
-        private readonly bool _preventDelete;
+		internal IntPtr Native;
+		private readonly bool _preventDelete;
 
 		internal OverlappingPairCallback(IntPtr native, bool preventDelete = false)
 		{
-			_native = native;
-            _preventDelete = preventDelete;
+			Native = native;
+			_preventDelete = preventDelete;
 		}
-        /*
-        protected OverlappingPairCallback()
-        {
-            _native = btOverlappingPairCallbackWrapper_new();
-        }
-        */
-        public abstract BroadphasePair AddOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1);
-        public abstract IntPtr RemoveOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1, Dispatcher dispatcher);
-        public abstract void RemoveOverlappingPairsContainingProxy(BroadphaseProxy proxy0, Dispatcher dispatcher);
+		/*
+		protected OverlappingPairCallback()
+		{
+			Native = btOverlappingPairCallbackWrapper_new();
+		}
+		*/
+		public abstract BroadphasePair AddOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1);
+		public abstract IntPtr RemoveOverlappingPair(BroadphaseProxy proxy0, BroadphaseProxy proxy1, Dispatcher dispatcher);
+		public abstract void RemoveOverlappingPairsContainingProxy(BroadphaseProxy proxy0, Dispatcher dispatcher);
 
 		public void Dispose()
 		{
@@ -32,13 +31,13 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-                if (!_preventDelete)
-                {
-                    btOverlappingPairCallback_delete(_native);
-                }
-				_native = IntPtr.Zero;
+				if (!_preventDelete)
+				{
+					btOverlappingPairCallback_delete(Native);
+				}
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -46,14 +45,5 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		internal static extern IntPtr btOverlappingPairCallback_addOverlappingPair(IntPtr obj, IntPtr proxy0, IntPtr proxy1);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		internal static extern IntPtr btOverlappingPairCallback_removeOverlappingPair(IntPtr obj, IntPtr proxy0, IntPtr proxy1, IntPtr dispatcher);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		internal static extern void btOverlappingPairCallback_removeOverlappingPairsContainingProxy(IntPtr obj, IntPtr proxy0, IntPtr dispatcher);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOverlappingPairCallback_delete(IntPtr obj);
 	}
 }

BulletSharpPInvoke/Collision/PersistentManifold.cs

@@ -2,203 +2,198 @@ using System;
 using System.Runtime.InteropServices;
 using System.Security;
 using BulletSharp.Math;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
-    public delegate void ContactDestroyedEventHandler(Object userPersistantData);
-    public delegate void ContactProcessedEventHandler(ManifoldPoint cp, CollisionObject body0, CollisionObject body1);
+	public delegate void ContactDestroyedEventHandler(Object userPersistantData);
+	public delegate void ContactProcessedEventHandler(ManifoldPoint cp, CollisionObject body0, CollisionObject body1);
 
 	public class PersistentManifold : IDisposable //: TypedObject
 	{
-        internal IntPtr _native;
-        private bool _preventDelete;
+		internal IntPtr Native;
+		private bool _preventDelete;
 
-        static ContactDestroyedEventHandler _contactDestroyed;
-        static ContactProcessedEventHandler _contactProcessed;
-        static ContactDestroyedUnmanagedDelegate _contactDestroyedUnmanaged;
-        static ContactProcessedUnmanagedDelegate _contactProcessedUnmanaged;
-        static IntPtr _contactDestroyedUnmanagedPtr;
-        static IntPtr _contactProcessedUnmanagedPtr;
+		private static ContactDestroyedEventHandler _contactDestroyed;
+		private static ContactProcessedEventHandler _contactProcessed;
+		private static ContactDestroyedUnmanagedDelegate _contactDestroyedUnmanaged;
+		private static ContactProcessedUnmanagedDelegate _contactProcessedUnmanaged;
+		private static IntPtr _contactDestroyedUnmanagedPtr;
+		private static IntPtr _contactProcessedUnmanagedPtr;
 
-        [UnmanagedFunctionPointer(Native.Conv), SuppressUnmanagedCodeSecurity]
-        private delegate bool ContactDestroyedUnmanagedDelegate(IntPtr userPersistantData);
-        [UnmanagedFunctionPointer(Native.Conv), SuppressUnmanagedCodeSecurity]
-        private delegate bool ContactProcessedUnmanagedDelegate(IntPtr cp, IntPtr body0, IntPtr body1);
+		[UnmanagedFunctionPointer(BulletSharp.Native.Conv), SuppressUnmanagedCodeSecurity]
+		private delegate bool ContactDestroyedUnmanagedDelegate(IntPtr userPersistantData);
+		[UnmanagedFunctionPointer(BulletSharp.Native.Conv), SuppressUnmanagedCodeSecurity]
+		private delegate bool ContactProcessedUnmanagedDelegate(IntPtr cp, IntPtr body0, IntPtr body1);
 
-        static bool ContactDestroyedUnmanaged(IntPtr userPersistentData)
-        {
-            _contactDestroyed.Invoke(GCHandle.FromIntPtr(userPersistentData).Target);
-	        return false;
-        }
+		private static bool ContactDestroyedUnmanaged(IntPtr userPersistentData)
+		{
+			_contactDestroyed.Invoke(GCHandle.FromIntPtr(userPersistentData).Target);
+			return false;
+		}
 
-        static bool ContactProcessedUnmanaged(IntPtr cp, IntPtr body0, IntPtr body1)
-        {
-            _contactProcessed.Invoke(new ManifoldPoint(cp, true), CollisionObject.GetManaged(body0), CollisionObject.GetManaged(body1));
-            return false;
-        }
+		private static bool ContactProcessedUnmanaged(IntPtr cp, IntPtr body0, IntPtr body1)
+		{
+			_contactProcessed.Invoke(new ManifoldPoint(cp, true), CollisionObject.GetManaged(body0), CollisionObject.GetManaged(body1));
+			return false;
+		}
 
-        public static event ContactDestroyedEventHandler ContactDestroyed
-        {
-            add
-            {
-                if (_contactDestroyedUnmanaged == null)
-                {
-                    _contactDestroyedUnmanaged = new ContactDestroyedUnmanagedDelegate(ContactDestroyedUnmanaged);
-                    _contactDestroyedUnmanagedPtr = Marshal.GetFunctionPointerForDelegate(_contactDestroyedUnmanaged);
-                }
-                setGContactDestroyedCallback(_contactDestroyedUnmanagedPtr);
-                _contactDestroyed += value;
-            }
-            remove
-            {
-                _contactDestroyed -= value;
-                if (_contactDestroyed == null)
-                {
-                    setGContactDestroyedCallback(IntPtr.Zero);
-                }
-            }
-        }
+		public static event ContactDestroyedEventHandler ContactDestroyed
+		{
+			add
+			{
+				if (_contactDestroyedUnmanaged == null)
+				{
+					_contactDestroyedUnmanaged = new ContactDestroyedUnmanagedDelegate(ContactDestroyedUnmanaged);
+					_contactDestroyedUnmanagedPtr = Marshal.GetFunctionPointerForDelegate(_contactDestroyedUnmanaged);
+				}
+				setGContactDestroyedCallback(_contactDestroyedUnmanagedPtr);
+				_contactDestroyed += value;
+			}
+			remove
+			{
+				_contactDestroyed -= value;
+				if (_contactDestroyed == null)
+				{
+					setGContactDestroyedCallback(IntPtr.Zero);
+				}
+			}
+		}
 
-        public static event ContactProcessedEventHandler ContactProcessed
-        {
-            add
-            {
-                if (_contactProcessedUnmanaged == null)
-                {
-                    _contactProcessedUnmanaged = new ContactProcessedUnmanagedDelegate(ContactProcessedUnmanaged);
-                    _contactProcessedUnmanagedPtr = Marshal.GetFunctionPointerForDelegate(_contactProcessedUnmanaged);
-                }
-                setGContactProcessedCallback(_contactProcessedUnmanagedPtr);
-                _contactProcessed += value;
-            }
-            remove
-            {
-                _contactProcessed -= value;
-                if (_contactProcessed == null)
-                {
-                    setGContactProcessedCallback(IntPtr.Zero);
-                }
-            }
-        }
+		public static event ContactProcessedEventHandler ContactProcessed
+		{
+			add
+			{
+				if (_contactProcessedUnmanaged == null)
+				{
+					_contactProcessedUnmanaged = new ContactProcessedUnmanagedDelegate(ContactProcessedUnmanaged);
+					_contactProcessedUnmanagedPtr = Marshal.GetFunctionPointerForDelegate(_contactProcessedUnmanaged);
+				}
+				setGContactProcessedCallback(_contactProcessedUnmanagedPtr);
+				_contactProcessed += value;
+			}
+			remove
+			{
+				_contactProcessed -= value;
+				if (_contactProcessed == null)
+				{
+					setGContactProcessedCallback(IntPtr.Zero);
+				}
+			}
+		}
 
 		internal PersistentManifold(IntPtr native, bool preventDelete)
 		{
-            _native = native;
-            _preventDelete = preventDelete;
+			Native = native;
+			_preventDelete = preventDelete;
 		}
 
 		public PersistentManifold()
 		{
-            _native = btPersistentManifold_new();
+			Native = btPersistentManifold_new();
 		}
 
 		public PersistentManifold(CollisionObject body0, CollisionObject body1, int __unnamed2,
 			float contactBreakingThreshold, float contactProcessingThreshold)
 		{
-            _native = btPersistentManifold_new2(body0.Native, body1.Native, __unnamed2,
-                contactBreakingThreshold, contactProcessingThreshold);
+			Native = btPersistentManifold_new2(body0.Native, body1.Native, __unnamed2,
+				contactBreakingThreshold, contactProcessingThreshold);
 		}
 
 		public int AddManifoldPoint(ManifoldPoint newPoint, bool isPredictive = false)
 		{
-			return btPersistentManifold_addManifoldPoint(_native, newPoint.Native,
+			return btPersistentManifold_addManifoldPoint(Native, newPoint.Native,
 				isPredictive);
 		}
 
 		public void ClearManifold()
 		{
-			btPersistentManifold_clearManifold(_native);
+			btPersistentManifold_clearManifold(Native);
 		}
 
 		public void ClearUserCache(ManifoldPoint pt)
 		{
-			btPersistentManifold_clearUserCache(_native, pt.Native);
+			btPersistentManifold_clearUserCache(Native, pt.Native);
 		}
 
 		public int GetCacheEntry(ManifoldPoint newPoint)
 		{
-			return btPersistentManifold_getCacheEntry(_native, newPoint.Native);
+			return btPersistentManifold_getCacheEntry(Native, newPoint.Native);
 		}
 
 		public ManifoldPoint GetContactPoint(int index)
 		{
-			return new ManifoldPoint(btPersistentManifold_getContactPoint(_native, index), true);
+			return new ManifoldPoint(btPersistentManifold_getContactPoint(Native, index), true);
 		}
 
-        public void RefreshContactPointsRef(ref Matrix trA, ref Matrix trB)
-        {
-            btPersistentManifold_refreshContactPoints(_native, ref trA, ref trB);
-        }
+		public void RefreshContactPointsRef(ref Matrix trA, ref Matrix trB)
+		{
+			btPersistentManifold_refreshContactPoints(Native, ref trA, ref trB);
+		}
 
 		public void RefreshContactPoints(Matrix trA, Matrix trB)
 		{
-			btPersistentManifold_refreshContactPoints(_native, ref trA, ref trB);
+			btPersistentManifold_refreshContactPoints(Native, ref trA, ref trB);
 		}
 
 		public void RemoveContactPoint(int index)
 		{
-			btPersistentManifold_removeContactPoint(_native, index);
+			btPersistentManifold_removeContactPoint(Native, index);
 		}
 
 		public void ReplaceContactPoint(ManifoldPoint newPoint, int insertIndex)
 		{
-			btPersistentManifold_replaceContactPoint(_native, newPoint.Native, insertIndex);
+			btPersistentManifold_replaceContactPoint(Native, newPoint.Native, insertIndex);
 		}
 
 		public void SetBodies(CollisionObject body0, CollisionObject body1)
 		{
-			btPersistentManifold_setBodies(_native, body0.Native, body1.Native);
+			btPersistentManifold_setBodies(Native, body0.Native, body1.Native);
 		}
 
 		public bool ValidContactDistance(ManifoldPoint pt)
 		{
-			return btPersistentManifold_validContactDistance(_native, pt.Native);
+			return btPersistentManifold_validContactDistance(Native, pt.Native);
 		}
 
-		public CollisionObject Body0
-		{
-			get { return CollisionObject.GetManaged(btPersistentManifold_getBody0(_native)); }
-		}
+		public CollisionObject Body0 => CollisionObject.GetManaged(btPersistentManifold_getBody0(Native));
 
-		public CollisionObject Body1
-		{
-			get { return CollisionObject.GetManaged(btPersistentManifold_getBody1(_native)); }
-		}
+		public CollisionObject Body1 => CollisionObject.GetManaged(btPersistentManifold_getBody1(Native));
 
 		public int CompanionIdA
 		{
-			get { return btPersistentManifold_getCompanionIdA(_native); }
-			set { btPersistentManifold_setCompanionIdA(_native, value); }
+			get => btPersistentManifold_getCompanionIdA(Native);
+			set => btPersistentManifold_setCompanionIdA(Native, value);
 		}
 
 		public int CompanionIdB
 		{
-			get { return btPersistentManifold_getCompanionIdB(_native); }
-			set { btPersistentManifold_setCompanionIdB(_native, value); }
+			get => btPersistentManifold_getCompanionIdB(Native);
+			set => btPersistentManifold_setCompanionIdB(Native, value);
 		}
 
 		public float ContactBreakingThreshold
 		{
-			get { return btPersistentManifold_getContactBreakingThreshold(_native); }
-			set { btPersistentManifold_setContactBreakingThreshold(_native, value); }
+			get => btPersistentManifold_getContactBreakingThreshold(Native);
+			set => btPersistentManifold_setContactBreakingThreshold(Native, value);
 		}
 
 		public float ContactProcessingThreshold
 		{
-			get { return btPersistentManifold_getContactProcessingThreshold(_native); }
-			set { btPersistentManifold_setContactProcessingThreshold(_native, value); }
+			get => btPersistentManifold_getContactProcessingThreshold(Native);
+			set => btPersistentManifold_setContactProcessingThreshold(Native, value);
 		}
 
 		public int Index1A
 		{
-			get { return btPersistentManifold_getIndex1a(_native); }
-			set { btPersistentManifold_setIndex1a(_native, value); }
+			get => btPersistentManifold_getIndex1a(Native);
+			set => btPersistentManifold_setIndex1a(Native, value);
 		}
 
 		public int NumContacts
 		{
-			get { return btPersistentManifold_getNumContacts(_native); }
-			set { btPersistentManifold_setNumContacts(_native, value); }
+			get => btPersistentManifold_getNumContacts(Native);
+			set => btPersistentManifold_setNumContacts(Native, value);
 		}
 
 		public void Dispose()
@@ -209,13 +204,13 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-                if (!_preventDelete)
-                {
-                    btPersistentManifold_delete(_native);
-                }
-				_native = IntPtr.Zero;
+				if (!_preventDelete)
+				{
+					btPersistentManifold_delete(Native);
+				}
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -223,69 +218,5 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btPersistentManifold_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btPersistentManifold_new2(IntPtr body0, IntPtr body1, int __unnamed2, float contactBreakingThreshold, float contactProcessingThreshold);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btPersistentManifold_addManifoldPoint(IntPtr obj, IntPtr newPoint, bool isPredictive);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btPersistentManifold_clearManifold(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btPersistentManifold_clearUserCache(IntPtr obj, IntPtr pt);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btPersistentManifold_getBody0(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btPersistentManifold_getBody1(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btPersistentManifold_getCacheEntry(IntPtr obj, IntPtr newPoint);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btPersistentManifold_getCompanionIdA(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btPersistentManifold_getCompanionIdB(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btPersistentManifold_getContactBreakingThreshold(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btPersistentManifold_getContactPoint(IntPtr obj, int index);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btPersistentManifold_getContactProcessingThreshold(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btPersistentManifold_getIndex1a(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btPersistentManifold_getNumContacts(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btPersistentManifold_refreshContactPoints(IntPtr obj, [In] ref Matrix trA, [In] ref Matrix trB);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btPersistentManifold_removeContactPoint(IntPtr obj, int index);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btPersistentManifold_replaceContactPoint(IntPtr obj, IntPtr newPoint, int insertIndex);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btPersistentManifold_setBodies(IntPtr obj, IntPtr body0, IntPtr body1);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btPersistentManifold_setCompanionIdA(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btPersistentManifold_setCompanionIdB(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btPersistentManifold_setContactBreakingThreshold(IntPtr obj, float contactBreakingThreshold);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btPersistentManifold_setContactProcessingThreshold(IntPtr obj, float contactProcessingThreshold);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btPersistentManifold_setIndex1a(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btPersistentManifold_setNumContacts(IntPtr obj, int cachedPoints);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btPersistentManifold_validContactDistance(IntPtr obj, IntPtr pt);
-        [DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void btPersistentManifold_delete(IntPtr obj);
-        //[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        //static extern IntPtr getGContactDestroyedCallback();
-        //[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        //static extern IntPtr getGContactProcessedCallback();
-        [DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void setGContactDestroyedCallback(IntPtr value);
-        [DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void setGContactProcessedCallback(IntPtr value);
 	}
 }

BulletSharpPInvoke/Collision/QuantizedBvh.cs

@@ -2,6 +2,7 @@ using System;
 using System.Runtime.InteropServices;
 using System.Security;
 using BulletSharp.Math;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
@@ -19,27 +20,18 @@ namespace BulletSharp
 			_native = btQuantizedBvhNode_new();
 		}
 
-		public int EscapeIndex
-		{
-			get { return btQuantizedBvhNode_getEscapeIndex(_native); }
-		}
+		public int EscapeIndex => btQuantizedBvhNode_getEscapeIndex(_native);
 
 		public int EscapeIndexOrTriangleIndex
 		{
-			get { return btQuantizedBvhNode_getEscapeIndexOrTriangleIndex(_native); }
-			set { btQuantizedBvhNode_setEscapeIndexOrTriangleIndex(_native, value); }
+			get => btQuantizedBvhNode_getEscapeIndexOrTriangleIndex(_native);
+			set => btQuantizedBvhNode_setEscapeIndexOrTriangleIndex(_native, value);
 		}
 
-		public bool IsLeafNode
-		{
-			get { return btQuantizedBvhNode_isLeafNode(_native); }
-		}
+		public bool IsLeafNode => btQuantizedBvhNode_isLeafNode(_native);
 
-		public int PartId
-		{
-			get { return btQuantizedBvhNode_getPartId(_native); }
-		}
-        /*
+		public int PartId => btQuantizedBvhNode_getPartId(_native);
+		/*
 		public UShortArray QuantizedAabbMax
 		{
 			get { return btQuantizedBvhNode_getQuantizedAabbMax(_native); }
@@ -49,11 +41,8 @@ namespace BulletSharp
 		{
 			get { return btQuantizedBvhNode_getQuantizedAabbMin(_native); }
 		}
-        */
-		public int TriangleIndex
-		{
-			get { return btQuantizedBvhNode_getTriangleIndex(_native); }
-		}
+		*/
+		public int TriangleIndex => btQuantizedBvhNode_getTriangleIndex(_native);
 
 		public void Dispose()
 		{
@@ -74,28 +63,6 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btQuantizedBvhNode_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btQuantizedBvhNode_getEscapeIndex(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btQuantizedBvhNode_getEscapeIndexOrTriangleIndex(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btQuantizedBvhNode_getPartId(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btQuantizedBvhNode_getQuantizedAabbMax(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btQuantizedBvhNode_getQuantizedAabbMin(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btQuantizedBvhNode_getTriangleIndex(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btQuantizedBvhNode_isLeafNode(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btQuantizedBvhNode_setEscapeIndexOrTriangleIndex(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btQuantizedBvhNode_delete(IntPtr obj);
 	}
 
 	public class OptimizedBvhNode : IDisposable
@@ -120,7 +87,7 @@ namespace BulletSharp
 				btOptimizedBvhNode_getAabbMaxOrg(_native, out value);
 				return value;
 			}
-			set { btOptimizedBvhNode_setAabbMaxOrg(_native, ref value); }
+			set => btOptimizedBvhNode_setAabbMaxOrg(_native, ref value);
 		}
 
 		public Vector3 AabbMinOrg
@@ -131,25 +98,25 @@ namespace BulletSharp
 				btOptimizedBvhNode_getAabbMinOrg(_native, out value);
 				return value;
 			}
-			set { btOptimizedBvhNode_setAabbMinOrg(_native, ref value); }
+			set => btOptimizedBvhNode_setAabbMinOrg(_native, ref value);
 		}
 
 		public int EscapeIndex
 		{
-			get { return btOptimizedBvhNode_getEscapeIndex(_native); }
-			set { btOptimizedBvhNode_setEscapeIndex(_native, value); }
+			get => btOptimizedBvhNode_getEscapeIndex(_native);
+			set => btOptimizedBvhNode_setEscapeIndex(_native, value);
 		}
 
 		public int SubPart
 		{
-			get { return btOptimizedBvhNode_getSubPart(_native); }
-			set { btOptimizedBvhNode_setSubPart(_native, value); }
+			get => btOptimizedBvhNode_getSubPart(_native);
+			set => btOptimizedBvhNode_setSubPart(_native, value);
 		}
 
 		public int TriangleIndex
 		{
-			get { return btOptimizedBvhNode_getTriangleIndex(_native); }
-			set { btOptimizedBvhNode_setTriangleIndex(_native, value); }
+			get => btOptimizedBvhNode_getTriangleIndex(_native);
+			set => btOptimizedBvhNode_setTriangleIndex(_native, value);
 		}
 
 		public void Dispose()
@@ -171,31 +138,6 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btOptimizedBvhNode_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOptimizedBvhNode_getAabbMaxOrg(IntPtr obj, out Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOptimizedBvhNode_getAabbMinOrg(IntPtr obj, out Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btOptimizedBvhNode_getEscapeIndex(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btOptimizedBvhNode_getSubPart(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btOptimizedBvhNode_getTriangleIndex(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOptimizedBvhNode_setAabbMaxOrg(IntPtr obj, [In] ref Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOptimizedBvhNode_setAabbMinOrg(IntPtr obj, [In] ref Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOptimizedBvhNode_setEscapeIndex(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOptimizedBvhNode_setSubPart(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOptimizedBvhNode_setTriangleIndex(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btOptimizedBvhNode_delete(IntPtr obj);
 	}
 
 	public abstract class NodeOverlapCallback : IDisposable
@@ -231,16 +173,11 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btNodeOverlapCallback_processNode(IntPtr obj, int subPart, int triangleIndex);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btNodeOverlapCallback_delete(IntPtr obj);
 	}
 
 	public class QuantizedBvh : IDisposable
 	{
-        public enum TraversalMode
+		public enum TraversalMode
 		{
 			Stackless,
 			StacklessCacheFriendly,
@@ -276,16 +213,16 @@ namespace BulletSharp
 			return btQuantizedBvh_calculateSerializeBufferSizeNew(_native);
 		}
 
-        public void DeSerializeDouble(IntPtr quantizedBvhDoubleData)
+		public void DeSerializeDouble(IntPtr quantizedBvhDoubleData)
 		{
 			btQuantizedBvh_deSerializeDouble(_native, quantizedBvhDoubleData);
 		}
 
-        public void DeSerializeFloat(IntPtr quantizedBvhFloatData)
+		public void DeSerializeFloat(IntPtr quantizedBvhFloatData)
 		{
 			btQuantizedBvh_deSerializeFloat(_native, quantizedBvhFloatData);
 		}
-        /*
+		/*
 		public static QuantizedBvh DeSerializeInPlace(IntPtr alignedDataBuffer, uint dataBufferSize,
 			bool swapEndian)
 		{
@@ -302,7 +239,7 @@ namespace BulletSharp
 		{
 			btQuantizedBvh_quantizeWithClamp(_native, out._native, ref point2, isMax);
 		}
-        */
+		*/
 		public void ReportAabbOverlappingNodex(NodeOverlapCallback nodeCallback,
 			Vector3 aabbMin, Vector3 aabbMax)
 		{
@@ -346,24 +283,18 @@ namespace BulletSharp
 		{
 			btQuantizedBvh_setTraversalMode(_native, traversalMode);
 		}
-        /*
+		/*
 		public Vector3 UnQuantize(unsigned short vecIn)
 		{
 			Vector3 value;
 			btQuantizedBvh_unQuantize(_native, vecIn._native, out value);
 			return value;
 		}
-        */
-		public static uint AlignmentSerializationPadding
-		{
-			get { return btQuantizedBvh_getAlignmentSerializationPadding(); }
-		}
+		*/
+		public static uint AlignmentSerializationPadding => btQuantizedBvh_getAlignmentSerializationPadding();
 
-		public bool IsQuantized
-		{
-			get { return btQuantizedBvh_isQuantized(_native); }
-		}
-        /*
+		public bool IsQuantized => btQuantizedBvh_isQuantized(_native);
+		/*
 		public QuantizedNodeArray LeafNodeArray
 		{
 			get { return btQuantizedBvh_getLeafNodeArray(_native); }
@@ -378,7 +309,7 @@ namespace BulletSharp
 		{
 			get { return btQuantizedBvh_getSubtreeInfoArray(_native); }
 		}
-        */
+		*/
 		public void Dispose()
 		{
 			Dispose(true);
@@ -401,73 +332,24 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btQuantizedBvh_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btQuantizedBvh_buildInternal(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern uint btQuantizedBvh_calculateSerializeBufferSize(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btQuantizedBvh_calculateSerializeBufferSizeNew(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btQuantizedBvh_deSerializeDouble(IntPtr obj, IntPtr quantizedBvhDoubleData);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btQuantizedBvh_deSerializeFloat(IntPtr obj, IntPtr quantizedBvhFloatData);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btQuantizedBvh_deSerializeInPlace(IntPtr i_alignedDataBuffer, uint i_dataBufferSize, bool i_swapEndian);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern uint btQuantizedBvh_getAlignmentSerializationPadding();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btQuantizedBvh_getLeafNodeArray(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btQuantizedBvh_getQuantizedNodeArray(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btQuantizedBvh_getSubtreeInfoArray(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btQuantizedBvh_isQuantized(IntPtr obj);
-		//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		//static extern void btQuantizedBvh_quantize(IntPtr obj, IntPtr out, [In] ref Vector3 point, int isMax);
-		//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		//static extern void btQuantizedBvh_quantizeWithClamp(IntPtr obj, IntPtr out, [In] ref Vector3 point2, int isMax);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btQuantizedBvh_reportAabbOverlappingNodex(IntPtr obj, IntPtr nodeCallback, [In] ref Vector3 aabbMin, [In] ref Vector3 aabbMax);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btQuantizedBvh_reportBoxCastOverlappingNodex(IntPtr obj, IntPtr nodeCallback, [In] ref Vector3 raySource, [In] ref Vector3 rayTarget, [In] ref Vector3 aabbMin, [In] ref Vector3 aabbMax);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btQuantizedBvh_reportRayOverlappingNodex(IntPtr obj, IntPtr nodeCallback, [In] ref Vector3 raySource, [In] ref Vector3 rayTarget);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btQuantizedBvh_serialize(IntPtr obj, IntPtr o_alignedDataBuffer, uint i_dataBufferSize, bool i_swapEndian);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btQuantizedBvh_serialize2(IntPtr obj, IntPtr dataBuffer, IntPtr serializer);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btQuantizedBvh_setQuantizationValues(IntPtr obj, [In] ref Vector3 bvhAabbMin, [In] ref Vector3 bvhAabbMax, float quantizationMargin);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btQuantizedBvh_setTraversalMode(IntPtr obj, TraversalMode traversalMode);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btQuantizedBvh_unQuantize(IntPtr obj, IntPtr vecIn, out Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btQuantizedBvh_delete(IntPtr obj);
 	}
 
-    [StructLayout(LayoutKind.Sequential)]
-    internal struct QuantizedBvhFloatData
-    {
-        public Vector3FloatData BvhAabbMin;
-        public Vector3FloatData BvhAabbMax;
-        public Vector3FloatData BvhQuantization;
-        public int CurNodeIndex;
-        public int UseQuantization;
-        public int NumContiguousLeafNodes;
-        public int NumQuantizedContiguousNodes;
-        public IntPtr ContiguousNodesPtr;
-        public IntPtr QuantizedContiguousNodesPtr;
-        public IntPtr SubTreeInfoPtr;
-        public int TraversalMode;
-        public int NumSubtreeHeaders;
+	[StructLayout(LayoutKind.Sequential)]
+	internal struct QuantizedBvhFloatData
+	{
+		public Vector3FloatData BvhAabbMin;
+		public Vector3FloatData BvhAabbMax;
+		public Vector3FloatData BvhQuantization;
+		public int CurNodeIndex;
+		public int UseQuantization;
+		public int NumContiguousLeafNodes;
+		public int NumQuantizedContiguousNodes;
+		public IntPtr ContiguousNodesPtr;
+		public IntPtr QuantizedContiguousNodesPtr;
+		public IntPtr SubTreeInfoPtr;
+		public int TraversalMode;
+		public int NumSubtreeHeaders;
 
-        public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(QuantizedBvhFloatData), fieldName).ToInt32(); }
-    }
+		public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(QuantizedBvhFloatData), fieldName).ToInt32(); }
+	}
 }

BulletSharpPInvoke/Collision/ShapeHull.cs

@@ -5,7 +5,7 @@ namespace BulletSharp
 {
 	public class ShapeHull : IDisposable
 	{
-		internal IntPtr _native;
+		internal IntPtr Native;
 
 		private ConvexShape _shape;
 		private UIntArray _indices;
@@ -13,16 +13,16 @@ namespace BulletSharp
 
 		public ShapeHull(ConvexShape shape)
 		{
-			_native = btShapeHull_new(shape.Native);
+			Native = btShapeHull_new(shape.Native);
 			_shape = shape;
 		}
 
 		public bool BuildHull(float margin)
 		{
-			return btShapeHull_buildHull(_native, margin);
+			return btShapeHull_buildHull(Native, margin);
 		}
 
-		public IntPtr IndexPointer => btShapeHull_getIndexPointer(_native);
+		public IntPtr IndexPointer => btShapeHull_getIndexPointer(Native);
 
 		public UIntArray Indices
 		{
@@ -36,13 +36,13 @@ namespace BulletSharp
 			}
 		}
 
-		public int NumIndices => btShapeHull_numIndices(_native);
+		public int NumIndices => btShapeHull_numIndices(Native);
 
-		public int NumTriangles => btShapeHull_numTriangles(_native);
+		public int NumTriangles => btShapeHull_numTriangles(Native);
 
-		public int NumVertices => btShapeHull_numVertices(_native);
+		public int NumVertices => btShapeHull_numVertices(Native);
 
-		public IntPtr VertexPointer => btShapeHull_getVertexPointer(_native);
+		public IntPtr VertexPointer => btShapeHull_getVertexPointer(Native);
 
 		public Vector3Array Vertices
 		{
@@ -64,10 +64,10 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-				btShapeHull_delete(_native);
-				_native = IntPtr.Zero;
+				btShapeHull_delete(Native);
+				Native = IntPtr.Zero;
 			}
 		}
 

BulletSharpPInvoke/Collision/SimulationIslandManager.cs

@@ -1,6 +1,5 @@
 using System;
-using System.Runtime.InteropServices;
-using System.Security;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
@@ -8,20 +7,20 @@ namespace BulletSharp
 	{
 		public abstract class IslandCallback : IDisposable
 		{
-			internal IntPtr _native;
+			internal IntPtr Native;
 
 			internal IslandCallback(IntPtr native)
 			{
-				_native = native;
+				Native = native;
 			}
-            /*
+			/*
 			public void ProcessIsland(CollisionObject bodies, int numBodies, PersistentManifold manifolds,
 				int numManifolds, int islandId)
 			{
-				btSimulationIslandManager_IslandCallback_processIsland(_native, bodies._native,
-					numBodies, manifolds._native, numManifolds, islandId);
+				btSimulationIslandManager_IslandCallback_processIsland(Native, bodies.Native,
+					numBodies, manifolds.Native, numManifolds, islandId);
 			}
-            */
+			*/
 			public void Dispose()
 			{
 				Dispose(true);
@@ -30,10 +29,10 @@ namespace BulletSharp
 
 			protected virtual void Dispose(bool disposing)
 			{
-				if (_native != IntPtr.Zero)
+				if (Native != IntPtr.Zero)
 				{
-					btSimulationIslandManager_IslandCallback_delete(_native);
-					_native = IntPtr.Zero;
+					btSimulationIslandManager_IslandCallback_delete(Native);
+					Native = IntPtr.Zero;
 				}
 			}
 
@@ -41,70 +40,62 @@ namespace BulletSharp
 			{
 				Dispose(false);
 			}
-
-			//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-			//static extern void btSimulationIslandManager_IslandCallback_processIsland(IntPtr obj, IntPtr bodies, int numBodies, IntPtr manifolds, int numManifolds, int islandId);
-			[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-			static extern void btSimulationIslandManager_IslandCallback_delete(IntPtr obj);
 		}
 
-		internal IntPtr _native;
+		internal IntPtr Native;
 		bool _preventDelete;
 
 		internal SimulationIslandManager(IntPtr native, bool preventDelete)
 		{
-			_native = native;
+			Native = native;
 			_preventDelete = preventDelete;
 		}
 
 		public SimulationIslandManager()
 		{
-			_native = btSimulationIslandManager_new();
+			Native = btSimulationIslandManager_new();
 		}
 
 		public void BuildAndProcessIslands(Dispatcher dispatcher, CollisionWorld collisionWorld,
 			IslandCallback callback)
 		{
-			btSimulationIslandManager_buildAndProcessIslands(_native, dispatcher.Native,
-				collisionWorld.Native, callback._native);
+			btSimulationIslandManager_buildAndProcessIslands(Native, dispatcher.Native,
+				collisionWorld.Native, callback.Native);
 		}
 
 		public void BuildIslands(Dispatcher dispatcher, CollisionWorld colWorld)
 		{
-			btSimulationIslandManager_buildIslands(_native, dispatcher.Native, colWorld.Native);
+			btSimulationIslandManager_buildIslands(Native, dispatcher.Native, colWorld.Native);
 		}
 
 		public void FindUnions(Dispatcher dispatcher, CollisionWorld colWorld)
 		{
-			btSimulationIslandManager_findUnions(_native, dispatcher.Native, colWorld.Native);
+			btSimulationIslandManager_findUnions(Native, dispatcher.Native, colWorld.Native);
 		}
 
 		public void InitUnionFind(int n)
 		{
-			btSimulationIslandManager_initUnionFind(_native, n);
+			btSimulationIslandManager_initUnionFind(Native, n);
 		}
 
 		public void StoreIslandActivationState(CollisionWorld world)
 		{
-			btSimulationIslandManager_storeIslandActivationState(_native, world.Native);
+			btSimulationIslandManager_storeIslandActivationState(Native, world.Native);
 		}
 
 		public void UpdateActivationState(CollisionWorld colWorld, Dispatcher dispatcher)
 		{
-			btSimulationIslandManager_updateActivationState(_native, colWorld.Native,
+			btSimulationIslandManager_updateActivationState(Native, colWorld.Native,
 				dispatcher.Native);
 		}
 
 		public bool SplitIslands
 		{
-			get { return btSimulationIslandManager_getSplitIslands(_native); }
-			set { btSimulationIslandManager_setSplitIslands(_native, value); }
+			get => btSimulationIslandManager_getSplitIslands(Native);
+			set => btSimulationIslandManager_setSplitIslands(Native, value);
 		}
 
-		public UnionFind UnionFind
-		{
-			get { return new UnionFind(btSimulationIslandManager_getUnionFind(_native)); }
-		}
+		public UnionFind UnionFind => new UnionFind(btSimulationIslandManager_getUnionFind(Native));
 
 		public void Dispose()
 		{
@@ -114,13 +105,13 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
 				if (!_preventDelete)
 				{
-					btSimulationIslandManager_delete(_native);
+					btSimulationIslandManager_delete(Native);
 				}
-				_native = IntPtr.Zero;
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -128,29 +119,5 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btSimulationIslandManager_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSimulationIslandManager_buildAndProcessIslands(IntPtr obj, IntPtr dispatcher, IntPtr collisionWorld, IntPtr callback);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSimulationIslandManager_buildIslands(IntPtr obj, IntPtr dispatcher, IntPtr colWorld);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSimulationIslandManager_findUnions(IntPtr obj, IntPtr dispatcher, IntPtr colWorld);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btSimulationIslandManager_getSplitIslands(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btSimulationIslandManager_getUnionFind(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSimulationIslandManager_initUnionFind(IntPtr obj, int n);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSimulationIslandManager_setSplitIslands(IntPtr obj, bool doSplitIslands);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSimulationIslandManager_storeIslandActivationState(IntPtr obj, IntPtr world);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSimulationIslandManager_updateActivationState(IntPtr obj, IntPtr colWorld, IntPtr dispatcher);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSimulationIslandManager_delete(IntPtr obj);
 	}
 }

BulletSharpPInvoke/Collision/SphereBoxCollisionAlgorithm.cs

@@ -32,7 +32,7 @@ namespace BulletSharp
 
 		public SphereBoxCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
 			CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, bool isSwapped)
-			: base(btSphereBoxCollisionAlgorithm_new(mf._native, ci.Native, body0Wrap.Native,
+			: base(btSphereBoxCollisionAlgorithm_new(mf.Native, ci.Native, body0Wrap.Native,
 				body1Wrap.Native, isSwapped))
 		{
 		}

BulletSharpPInvoke/Collision/SphereSphereCollisionAlgorithm.cs

@@ -31,7 +31,7 @@ namespace BulletSharp
 
 		public SphereSphereCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
 			CollisionObjectWrapper col0Wrap, CollisionObjectWrapper col1Wrap)
-			: base(btSphereSphereCollisionAlgorithm_new(mf._native, ci.Native, col0Wrap.Native,
+			: base(btSphereSphereCollisionAlgorithm_new(mf.Native, ci.Native, col0Wrap.Native,
 				col1Wrap.Native))
 		{
 		}

BulletSharpPInvoke/Collision/SphereTriangleCollisionAlgorithm.cs

@@ -31,7 +31,7 @@ namespace BulletSharp
 
 		public SphereTriangleCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
 			CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, bool swapped)
-			: base(btSphereTriangleCollisionAlgorithm_new(mf._native, ci.Native,
+			: base(btSphereTriangleCollisionAlgorithm_new(mf.Native, ci.Native,
 				body0Wrap.Native, body1Wrap.Native, swapped))
 		{
 		}

BulletSharpPInvoke/Collision/StridingMeshInterface.cs

@@ -1,60 +1,60 @@
 using System;
 using System.Runtime.InteropServices;
-using System.Security;
 using System.IO;
 using BulletSharp.Math;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
-    public class StridingMeshInterface : IDisposable // abstract
+	public class StridingMeshInterface : IDisposable // abstract
 	{
-		internal IntPtr _native;
+		internal IntPtr Native;
 
 		internal StridingMeshInterface(IntPtr native)
 		{
-			_native = native;
+			Native = native;
 		}
 
-        public unsafe UnmanagedMemoryStream GetIndexStream(int subpart = 0)
-        {
-            IntPtr vertexBase, indexBase;
-            int numVerts, numFaces;
-            PhyScalarType vertsType, indicesType;
-            int vertexStride, indexStride;
-            btStridingMeshInterface_getLockedReadOnlyVertexIndexBase(_native, out vertexBase, out numVerts, out vertsType, out vertexStride, out indexBase, out indexStride, out numFaces, out indicesType, subpart);
+		public unsafe UnmanagedMemoryStream GetIndexStream(int subpart = 0)
+		{
+			IntPtr vertexBase, indexBase;
+			int numVerts, numFaces;
+			PhyScalarType vertsType, indicesType;
+			int vertexStride, indexStride;
+			btStridingMeshInterface_getLockedReadOnlyVertexIndexBase(Native, out vertexBase, out numVerts, out vertsType, out vertexStride, out indexBase, out indexStride, out numFaces, out indicesType, subpart);
 
-            int length = numFaces * indexStride;
-            return new UnmanagedMemoryStream((byte*)indexBase.ToPointer(), length, length, FileAccess.ReadWrite);
-        }
+			int length = numFaces * indexStride;
+			return new UnmanagedMemoryStream((byte*)indexBase.ToPointer(), length, length, FileAccess.ReadWrite);
+		}
 
-        public unsafe UnmanagedMemoryStream GetVertexStream(int subpart = 0)
-        {
-            IntPtr vertexBase, indexBase;
-            int numVerts, numFaces;
-            PhyScalarType vertsType, indicesType;
-            int vertexStride, indexStride;
-            btStridingMeshInterface_getLockedReadOnlyVertexIndexBase(_native, out vertexBase, out numVerts, out vertsType, out vertexStride, out indexBase, out indexStride, out numFaces, out indicesType, subpart);
+		public unsafe UnmanagedMemoryStream GetVertexStream(int subpart = 0)
+		{
+			IntPtr vertexBase, indexBase;
+			int numVerts, numFaces;
+			PhyScalarType vertsType, indicesType;
+			int vertexStride, indexStride;
+			btStridingMeshInterface_getLockedReadOnlyVertexIndexBase(Native, out vertexBase, out numVerts, out vertsType, out vertexStride, out indexBase, out indexStride, out numFaces, out indicesType, subpart);
 
-            int length = numVerts * vertexStride;
-            return new UnmanagedMemoryStream((byte*)vertexBase.ToPointer(), length, length, FileAccess.ReadWrite);
-        }
+			int length = numVerts * vertexStride;
+			return new UnmanagedMemoryStream((byte*)vertexBase.ToPointer(), length, length, FileAccess.ReadWrite);
+		}
 
 		public void CalculateAabbBruteForce(out Vector3 aabbMin, out Vector3 aabbMax)
 		{
-			btStridingMeshInterface_calculateAabbBruteForce(_native, out aabbMin,
+			btStridingMeshInterface_calculateAabbBruteForce(Native, out aabbMin,
 				out aabbMax);
 		}
 
 		public int CalculateSerializeBufferSize()
 		{
-			return btStridingMeshInterface_calculateSerializeBufferSize(_native);
+			return btStridingMeshInterface_calculateSerializeBufferSize(Native);
 		}
 
 		public void GetLockedReadOnlyVertexIndexBase(out IntPtr vertexBase, out int numVerts,
 			out PhyScalarType type, out int vertexStride, out IntPtr indexbase, out int indexStride,
 			out int numFaces, out PhyScalarType indicesType, int subpart = 0)
 		{
-			btStridingMeshInterface_getLockedReadOnlyVertexIndexBase(_native, out vertexBase,
+			btStridingMeshInterface_getLockedReadOnlyVertexIndexBase(Native, out vertexBase,
 				out numVerts, out type, out vertexStride, out indexbase, out indexStride,
 				out numFaces, out indicesType, subpart);
 		}
@@ -63,78 +63,72 @@ namespace BulletSharp
 			out PhyScalarType type, out int vertexStride, out IntPtr indexbase, out int indexStride,
 			out int numFaces, out PhyScalarType indicesType, int subpart = 0)
 		{
-			btStridingMeshInterface_getLockedVertexIndexBase(_native, out vertexBase,
+			btStridingMeshInterface_getLockedVertexIndexBase(Native, out vertexBase,
 				out numVerts, out type, out vertexStride, out indexbase, out indexStride,
 				out numFaces, out indicesType, subpart);
 		}
 
 		public void GetPremadeAabb(out Vector3 aabbMin, out Vector3 aabbMax)
 		{
-			btStridingMeshInterface_getPremadeAabb(_native, out aabbMin, out aabbMax);
+			btStridingMeshInterface_getPremadeAabb(Native, out aabbMin, out aabbMax);
 		}
 
 		public void InternalProcessAllTriangles(InternalTriangleIndexCallback callback,
 			Vector3 aabbMin, Vector3 aabbMax)
 		{
-			btStridingMeshInterface_InternalProcessAllTriangles(_native, callback._native,
+			btStridingMeshInterface_InternalProcessAllTriangles(Native, callback._native,
 				ref aabbMin, ref aabbMax);
 		}
 
 		public void PreallocateIndices(int numIndices)
 		{
-			btStridingMeshInterface_preallocateIndices(_native, numIndices);
+			btStridingMeshInterface_preallocateIndices(Native, numIndices);
 		}
 
 		public void PreallocateVertices(int numVerts)
 		{
-			btStridingMeshInterface_preallocateVertices(_native, numVerts);
+			btStridingMeshInterface_preallocateVertices(Native, numVerts);
 		}
 
 		public string Serialize(IntPtr dataBuffer, Serializer serializer)
 		{
-			return Marshal.PtrToStringAnsi(btStridingMeshInterface_serialize(_native, dataBuffer, serializer._native));
+			return Marshal.PtrToStringAnsi(btStridingMeshInterface_serialize(Native, dataBuffer, serializer._native));
 		}
 
-        public void SetPremadeAabb(ref Vector3 aabbMin, ref Vector3 aabbMax)
-        {
-            btStridingMeshInterface_setPremadeAabb(_native, ref aabbMin, ref aabbMax);
-        }
+		public void SetPremadeAabb(ref Vector3 aabbMin, ref Vector3 aabbMax)
+		{
+			btStridingMeshInterface_setPremadeAabb(Native, ref aabbMin, ref aabbMax);
+		}
 
 		public void SetPremadeAabb(Vector3 aabbMin, Vector3 aabbMax)
 		{
-			btStridingMeshInterface_setPremadeAabb(_native, ref aabbMin, ref aabbMax);
+			btStridingMeshInterface_setPremadeAabb(Native, ref aabbMin, ref aabbMax);
 		}
 
 		public void UnLockReadOnlyVertexBase(int subpart)
 		{
-			btStridingMeshInterface_unLockReadOnlyVertexBase(_native, subpart);
+			btStridingMeshInterface_unLockReadOnlyVertexBase(Native, subpart);
 		}
 
 		public void UnLockVertexBase(int subpart)
 		{
-			btStridingMeshInterface_unLockVertexBase(_native, subpart);
+			btStridingMeshInterface_unLockVertexBase(Native, subpart);
 		}
 
-		public bool HasPremadeAabb
-		{
-			get { return btStridingMeshInterface_hasPremadeAabb(_native); }
-		}
+		public bool HasPremadeAabb => btStridingMeshInterface_hasPremadeAabb(Native);
 
-		public int NumSubParts
-		{
-			get { return btStridingMeshInterface_getNumSubParts(_native); }
-		}
+		public int NumSubParts => btStridingMeshInterface_getNumSubParts(Native);
 
 		public Vector3 Scaling
 		{
 			get
 			{
 				Vector3 value;
-				btStridingMeshInterface_getScaling(_native, out value);
+				btStridingMeshInterface_getScaling(Native, out value);
 				return value;
 			}
-			set { btStridingMeshInterface_setScaling(_native, ref value); }
-		}
+            set => btStridingMeshInterface_setScaling(Native, ref value);
+        }
 
 		public void Dispose()
 		{
@@ -144,10 +138,10 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-				btStridingMeshInterface_delete(_native);
-				_native = IntPtr.Zero;
+				btStridingMeshInterface_delete(Native);
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -155,67 +149,31 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btStridingMeshInterface_calculateAabbBruteForce(IntPtr obj, out Vector3 aabbMin, out Vector3 aabbMax);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btStridingMeshInterface_calculateSerializeBufferSize(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void btStridingMeshInterface_getLockedReadOnlyVertexIndexBase(IntPtr obj, out IntPtr vertexbase, out int numverts, out PhyScalarType type, out int vertexStride, out IntPtr indexbase, out int indexstride, out int numfaces, out PhyScalarType indicestype, int subpart);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void btStridingMeshInterface_getLockedVertexIndexBase(IntPtr obj, out IntPtr vertexbase, out int numverts, out PhyScalarType type, out int vertexStride, out IntPtr indexbase, out int indexstride, out int numfaces, out PhyScalarType indicestype, int subpart);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btStridingMeshInterface_getNumSubParts(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btStridingMeshInterface_getPremadeAabb(IntPtr obj, out Vector3 aabbMin, out Vector3 aabbMax);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btStridingMeshInterface_getScaling(IntPtr obj, out Vector3 scaling);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btStridingMeshInterface_hasPremadeAabb(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btStridingMeshInterface_InternalProcessAllTriangles(IntPtr obj, IntPtr callback, [In] ref Vector3 aabbMin, [In] ref Vector3 aabbMax);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btStridingMeshInterface_preallocateIndices(IntPtr obj, int numindices);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btStridingMeshInterface_preallocateVertices(IntPtr obj, int numverts);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btStridingMeshInterface_serialize(IntPtr obj, IntPtr dataBuffer, IntPtr serializer);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btStridingMeshInterface_setPremadeAabb(IntPtr obj, [In] ref Vector3 aabbMin, [In] ref Vector3 aabbMax);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btStridingMeshInterface_setScaling(IntPtr obj, [In] ref Vector3 scaling);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btStridingMeshInterface_unLockReadOnlyVertexBase(IntPtr obj, int subpart);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btStridingMeshInterface_unLockVertexBase(IntPtr obj, int subpart);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btStridingMeshInterface_delete(IntPtr obj);
 	}
 
-    [StructLayout(LayoutKind.Sequential)]
-    internal struct MeshPartData
-    {
-        public IntPtr Vertices3F;
-        public IntPtr Vertices3D;
-        public IntPtr Indices32;
-        public IntPtr Indices16;
-        public IntPtr Indices8;
-        public IntPtr Indices16_2;
-        public int NumTriangles;
-        public int NumVertices;
+	[StructLayout(LayoutKind.Sequential)]
+	internal struct MeshPartData
+	{
+		public IntPtr Vertices3F;
+		public IntPtr Vertices3D;
+		public IntPtr Indices32;
+		public IntPtr Indices16;
+		public IntPtr Indices8;
+		public IntPtr Indices16_2;
+		public int NumTriangles;
+		public int NumVertices;
 
-        public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(MeshPartData), fieldName).ToInt32(); }
-    }
+		public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(MeshPartData), fieldName).ToInt32(); }
+	}
 
-    [StructLayout(LayoutKind.Sequential)]
-    internal struct StridingMeshInterfaceData
-    {
-        public IntPtr MeshPartsPtr;
-        public Vector3FloatData Scaling;
-        public int NumMeshParts;
-        public int Padding;
+	[StructLayout(LayoutKind.Sequential)]
+	internal struct StridingMeshInterfaceData
+	{
+		public IntPtr MeshPartsPtr;
+		public Vector3FloatData Scaling;
+		public int NumMeshParts;
+		public int Padding;
 
-        public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(StridingMeshInterfaceData), fieldName).ToInt32(); }
-    }
+		public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(StridingMeshInterfaceData), fieldName).ToInt32(); }
+	}
 }

BulletSharpPInvoke/Collision/TriangleBuffer.cs

@@ -2,35 +2,36 @@ using System;
 using System.Runtime.InteropServices;
 using System.Security;
 using BulletSharp.Math;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
 	public class Triangle : IDisposable
 	{
-		internal IntPtr _native;
-        private bool _preventDelete;
+		internal IntPtr Native;
+		private bool _preventDelete;
 
 		internal Triangle(IntPtr native, bool preventDelete)
 		{
-			_native = native;
-            _preventDelete = preventDelete;
+			Native = native;
+			_preventDelete = preventDelete;
 		}
 
 		public Triangle()
 		{
-			_native = btTriangle_new();
+			Native = btTriangle_new();
 		}
 
 		public int PartId
 		{
-			get { return btTriangle_getPartId(_native); }
-			set { btTriangle_setPartId(_native, value); }
+			get => btTriangle_getPartId(Native);
+			set => btTriangle_setPartId(Native, value);
 		}
 
 		public int TriangleIndex
 		{
-			get { return btTriangle_getTriangleIndex(_native); }
-			set { btTriangle_setTriangleIndex(_native, value); }
+			get => btTriangle_getTriangleIndex(Native);
+			set => btTriangle_setTriangleIndex(Native, value);
 		}
 
 		public Vector3 Vertex0
@@ -38,10 +39,10 @@ namespace BulletSharp
 			get
 			{
 				Vector3 value;
-				btTriangle_getVertex0(_native, out value);
+				btTriangle_getVertex0(Native, out value);
 				return value;
 			}
-			set { btTriangle_setVertex0(_native, ref value); }
+			set => btTriangle_setVertex0(Native, ref value);
 		}
 
 		public Vector3 Vertex1
@@ -49,10 +50,10 @@ namespace BulletSharp
 			get
 			{
 				Vector3 value;
-				btTriangle_getVertex1(_native, out value);
+				btTriangle_getVertex1(Native, out value);
 				return value;
 			}
-			set { btTriangle_setVertex1(_native, ref value); }
+			set => btTriangle_setVertex1(Native, ref value);
 		}
 
 		public Vector3 Vertex2
@@ -60,10 +61,10 @@ namespace BulletSharp
 			get
 			{
 				Vector3 value;
-				btTriangle_getVertex2(_native, out value);
+				btTriangle_getVertex2(Native, out value);
 				return value;
 			}
-			set { btTriangle_setVertex2(_native, ref value); }
+			set => btTriangle_setVertex2(Native, ref value);
 		}
 
 		public void Dispose()
@@ -74,13 +75,13 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-                if (!_preventDelete)
-                {
-                    btTriangle_delete(_native);
-                }
-				_native = IntPtr.Zero;
+				if (!_preventDelete)
+				{
+					btTriangle_delete(Native);
+				}
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -88,72 +89,35 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btTriangle_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btTriangle_getPartId(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btTriangle_getTriangleIndex(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangle_getVertex0(IntPtr obj, out Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangle_getVertex1(IntPtr obj, out Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangle_getVertex2(IntPtr obj, out Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangle_setPartId(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangle_setTriangleIndex(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangle_setVertex0(IntPtr obj, [In] ref Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangle_setVertex1(IntPtr obj, [In] ref Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangle_setVertex2(IntPtr obj, [In] ref Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangle_delete(IntPtr obj);
 	}
 
 	public class TriangleBuffer : TriangleCallback
 	{
-        /*
+		/*
 		public TriangleBuffer()
 			: base(btTriangleBuffer_new())
 		{
 		}
-        */
-        public TriangleBuffer()
-        {
-        }
+		*/
+		public TriangleBuffer()
+		{
+		}
 
 		public void ClearBuffer()
 		{
-			btTriangleBuffer_clearBuffer(_native);
+			btTriangleBuffer_clearBuffer(Native);
 		}
 
 		public Triangle GetTriangle(int index)
 		{
-            return new Triangle(btTriangleBuffer_getTriangle(_native, index), true);
+			return new Triangle(btTriangleBuffer_getTriangle(Native, index), true);
 		}
 
-        public override void ProcessTriangle(ref Vector3 vector0, ref Vector3 vector1, ref Vector3 vector2, int partId, int triangleIndex)
-        {
-            throw new NotImplementedException();
-        }
-
-		public int NumTriangles
+		public override void ProcessTriangle(ref Vector3 vector0, ref Vector3 vector1, ref Vector3 vector2, int partId, int triangleIndex)
 		{
-			get { return btTriangleBuffer_getNumTriangles(_native); }
+			throw new NotImplementedException();
 		}
 
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btTriangleBuffer_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleBuffer_clearBuffer(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btTriangleBuffer_getNumTriangles(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btTriangleBuffer_getTriangle(IntPtr obj, int index);
+		public int NumTriangles => btTriangleBuffer_getNumTriangles(Native);
 	}
 }

BulletSharpPInvoke/Collision/TriangleCallback.cs

@@ -2,37 +2,38 @@ using System;
 using System.Runtime.InteropServices;
 using System.Security;
 using BulletSharp.Math;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
 	public abstract class TriangleCallback : IDisposable
 	{
-		internal IntPtr _native;
+		internal IntPtr Native;
 
-        [UnmanagedFunctionPointer(Native.Conv), SuppressUnmanagedCodeSecurity]
-        delegate void ProcessTriangleDelegate(IntPtr triangle, int partId, int triangleIndex);
+		[UnmanagedFunctionPointer(BulletSharp.Native.Conv), SuppressUnmanagedCodeSecurity]
+		private delegate void ProcessTriangleDelegate(IntPtr triangle, int partId, int triangleIndex);
 
-        ProcessTriangleDelegate _processTriangle;
+		private ProcessTriangleDelegate _processTriangle;
 
-        public TriangleCallback()
-        {
-            _processTriangle = new ProcessTriangleDelegate(ProcessTriangleUnmanaged);
+		public TriangleCallback()
+		{
+			_processTriangle = new ProcessTriangleDelegate(ProcessTriangleUnmanaged);
 
-            _native = btTriangleCallbackWrapper_new(
-                Marshal.GetFunctionPointerForDelegate(_processTriangle));
-        }
+			Native = btTriangleCallbackWrapper_new(
+				Marshal.GetFunctionPointerForDelegate(_processTriangle));
+		}
 
-        private void ProcessTriangleUnmanaged(IntPtr triangle, int partId, int triangleIndex)
-        {
-            float[] triangleData = new float[11];
-            Marshal.Copy(triangle, triangleData, 0, 11);
-            Vector3 p0 = new Vector3(triangleData[0], triangleData[1], triangleData[2]);
-            Vector3 p1 = new Vector3(triangleData[4], triangleData[5], triangleData[6]);
-            Vector3 p2 = new Vector3(triangleData[8], triangleData[9], triangleData[10]);
-            ProcessTriangle(ref p0, ref p1, ref p2, partId, triangleIndex);
-        }
+		private void ProcessTriangleUnmanaged(IntPtr triangle, int partId, int triangleIndex)
+		{
+			float[] triangleData = new float[11];
+			Marshal.Copy(triangle, triangleData, 0, 11);
+			Vector3 p0 = new Vector3(triangleData[0], triangleData[1], triangleData[2]);
+			Vector3 p1 = new Vector3(triangleData[4], triangleData[5], triangleData[6]);
+			Vector3 p2 = new Vector3(triangleData[8], triangleData[9], triangleData[10]);
+			ProcessTriangle(ref p0, ref p1, ref p2, partId, triangleIndex);
+		}
 
-        public abstract void ProcessTriangle(ref Vector3 point0, ref Vector3 point1, ref Vector3 point2, int partId, int triangleIndex);
+		public abstract void ProcessTriangle(ref Vector3 point0, ref Vector3 point1, ref Vector3 point2, int partId, int triangleIndex);
 
 		public void Dispose()
 		{
@@ -42,10 +43,10 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-				btTriangleCallback_delete(_native);
-				_native = IntPtr.Zero;
+				btTriangleCallback_delete(Native);
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -53,41 +54,36 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-        [DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern IntPtr btTriangleCallbackWrapper_new(IntPtr internalProcessTriangleIndexCallback);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleCallback_delete(IntPtr obj);
 	}
 
 	public abstract class InternalTriangleIndexCallback : IDisposable
 	{
 		internal IntPtr _native;
 
-        [UnmanagedFunctionPointer(Native.Conv), SuppressUnmanagedCodeSecurity]
-        delegate void InternalProcessTriangleIndexDelegate(IntPtr triangle, int partId, int triangleIndex);
+		[UnmanagedFunctionPointer(Native.Conv), SuppressUnmanagedCodeSecurity]
+		delegate void InternalProcessTriangleIndexDelegate(IntPtr triangle, int partId, int triangleIndex);
 
-        InternalProcessTriangleIndexDelegate _internalProcessTriangleIndex;
+		InternalProcessTriangleIndexDelegate _internalProcessTriangleIndex;
 
 		internal InternalTriangleIndexCallback()
 		{
-            _internalProcessTriangleIndex = new InternalProcessTriangleIndexDelegate(InternalProcessTriangleIndexUnmanaged);
+			_internalProcessTriangleIndex = new InternalProcessTriangleIndexDelegate(InternalProcessTriangleIndexUnmanaged);
 
-            _native = btInternalTriangleIndexCallbackWrapper_new(
-                Marshal.GetFunctionPointerForDelegate(_internalProcessTriangleIndex));
+			_native = btInternalTriangleIndexCallbackWrapper_new(
+				Marshal.GetFunctionPointerForDelegate(_internalProcessTriangleIndex));
 		}
 
-        private void InternalProcessTriangleIndexUnmanaged(IntPtr triangle, int partId, int triangleIndex)
-        {
-            float[] triangleData = new float[11];
-            Marshal.Copy(triangle, triangleData, 0, 11);
-            Vector3 p0 = new Vector3(triangleData[0], triangleData[1], triangleData[2]);
-            Vector3 p1 = new Vector3(triangleData[4], triangleData[5], triangleData[6]);
-            Vector3 p2 = new Vector3(triangleData[8], triangleData[9], triangleData[10]);
-            InternalProcessTriangleIndex(ref p0, ref p1, ref p2, partId, triangleIndex);
-        }
+		private void InternalProcessTriangleIndexUnmanaged(IntPtr triangle, int partId, int triangleIndex)
+		{
+			float[] triangleData = new float[11];
+			Marshal.Copy(triangle, triangleData, 0, 11);
+			Vector3 p0 = new Vector3(triangleData[0], triangleData[1], triangleData[2]);
+			Vector3 p1 = new Vector3(triangleData[4], triangleData[5], triangleData[6]);
+			Vector3 p2 = new Vector3(triangleData[8], triangleData[9], triangleData[10]);
+			InternalProcessTriangleIndex(ref p0, ref p1, ref p2, partId, triangleIndex);
+		}
 
-        public abstract void InternalProcessTriangleIndex(ref Vector3 point0, ref Vector3 point1, ref Vector3 point2, int partId, int triangleIndex);
+		public abstract void InternalProcessTriangleIndex(ref Vector3 point0, ref Vector3 point1, ref Vector3 point2, int partId, int triangleIndex);
 
 		public void Dispose()
 		{
@@ -108,10 +104,5 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-        [DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern IntPtr btInternalTriangleIndexCallbackWrapper_new(IntPtr internalProcessTriangleIndexCallback);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btInternalTriangleIndexCallback_delete(IntPtr obj);
 	}
 }

BulletSharpPInvoke/Collision/TriangleIndexVertexArray.cs

@@ -2,8 +2,8 @@ using System;
 using System.Collections.Generic;
 using System.IO;
 using System.Runtime.InteropServices;
-using System.Security;
 using BulletSharp.Math;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
@@ -21,7 +21,7 @@ namespace BulletSharp
 
 		public IndexedMesh()
 		{
-			Native = UnsafeNativeMethods.btIndexedMesh_new();
+			Native = btIndexedMesh_new();
 		}
 
 		public void Allocate(int numTriangles, int numVertices, int triangleIndexStride = sizeof(int) * 3, int vertexStride = sizeof(float) * 3)
@@ -77,7 +77,7 @@ namespace BulletSharp
 		public unsafe UnmanagedMemoryStream GetVertexStream()
 		{
 			int length = NumVertices * VertexStride;
-			return new UnmanagedMemoryStream((byte*)UnsafeNativeMethods.btIndexedMesh_getVertexBase(Native).ToPointer(), length, length, FileAccess.ReadWrite);
+			return new UnmanagedMemoryStream((byte*)btIndexedMesh_getVertexBase(Native).ToPointer(), length, length, FileAccess.ReadWrite);
 		}
 
 		public void SetData(ICollection<int> triangles, ICollection<float> vertices)
@@ -122,50 +122,50 @@ namespace BulletSharp
 
 		public PhyScalarType IndexType
 		{
-			get { return UnsafeNativeMethods.btIndexedMesh_getIndexType(Native); }
-			set { UnsafeNativeMethods.btIndexedMesh_setIndexType(Native, value); }
+			get => btIndexedMesh_getIndexType(Native);
+			set => btIndexedMesh_setIndexType(Native, value);
 		}
 
 		public int NumTriangles
 		{
-			get { return UnsafeNativeMethods.btIndexedMesh_getNumTriangles(Native); }
-			set { UnsafeNativeMethods.btIndexedMesh_setNumTriangles(Native, value); }
+			get => btIndexedMesh_getNumTriangles(Native);
+			set => btIndexedMesh_setNumTriangles(Native, value);
 		}
 
 		public int NumVertices
 		{
-			get { return UnsafeNativeMethods.btIndexedMesh_getNumVertices(Native); }
-			set { UnsafeNativeMethods.btIndexedMesh_setNumVertices(Native, value); }
+			get => btIndexedMesh_getNumVertices(Native);
+			set => btIndexedMesh_setNumVertices(Native, value);
 		}
 
 		public IntPtr TriangleIndexBase
 		{
-			get { return UnsafeNativeMethods.btIndexedMesh_getTriangleIndexBase(Native); }
-			set { UnsafeNativeMethods.btIndexedMesh_setTriangleIndexBase(Native, value); }
+			get => btIndexedMesh_getTriangleIndexBase(Native);
+			set => btIndexedMesh_setTriangleIndexBase(Native, value);
 		}
 
 		public int TriangleIndexStride
 		{
-			get { return UnsafeNativeMethods.btIndexedMesh_getTriangleIndexStride(Native); }
-			set { UnsafeNativeMethods.btIndexedMesh_setTriangleIndexStride(Native, value); }
+			get => btIndexedMesh_getTriangleIndexStride(Native);
+			set => btIndexedMesh_setTriangleIndexStride(Native, value);
 		}
 
 		public IntPtr VertexBase
 		{
-			get { return UnsafeNativeMethods.btIndexedMesh_getVertexBase(Native); }
-			set { UnsafeNativeMethods.btIndexedMesh_setVertexBase(Native, value); }
+			get => btIndexedMesh_getVertexBase(Native);
+			set => btIndexedMesh_setVertexBase(Native, value);
 		}
 
 		public int VertexStride
 		{
-			get { return UnsafeNativeMethods.btIndexedMesh_getVertexStride(Native); }
-			set { UnsafeNativeMethods.btIndexedMesh_setVertexStride(Native, value); }
+			get => btIndexedMesh_getVertexStride(Native);
+			set => btIndexedMesh_setVertexStride(Native, value);
 		}
 
 		public PhyScalarType VertexType
 		{
-			get { return UnsafeNativeMethods.btIndexedMesh_getVertexType(Native); }
-			set { UnsafeNativeMethods.btIndexedMesh_setVertexType(Native, value); }
+			get => btIndexedMesh_getVertexType(Native);
+			set => btIndexedMesh_setVertexType(Native, value);
 		}
 
 		public void Dispose()
@@ -181,7 +181,7 @@ namespace BulletSharp
 				Free();
 				if (!_preventDelete)
 				{
-					UnsafeNativeMethods.btIndexedMesh_delete(Native);
+					btIndexedMesh_delete(Native);
 				}
 				Native = IntPtr.Zero;
 			}
@@ -235,7 +235,7 @@ namespace BulletSharp
 		public void AddIndexedMesh(IndexedMesh mesh, PhyScalarType indexType = PhyScalarType.Int32)
 		{
 			_meshes.Add(mesh);
-			btTriangleIndexVertexArray_addIndexedMesh(_native, mesh.Native, indexType);
+			btTriangleIndexVertexArray_addIndexedMesh(Native, mesh.Native, indexType);
 		}
 
 		public AlignedIndexedMeshArray IndexedMeshArray
@@ -245,7 +245,7 @@ namespace BulletSharp
 				// TODO: link _indexedMeshArray to _meshes
 				if (_indexedMeshArray == null)
 				{
-					_indexedMeshArray = new AlignedIndexedMeshArray(btTriangleIndexVertexArray_getIndexedMeshArray(_native));
+					_indexedMeshArray = new AlignedIndexedMeshArray(btTriangleIndexVertexArray_getIndexedMeshArray(Native));
 				}
 				return _indexedMeshArray;
 			}
@@ -263,14 +263,5 @@ namespace BulletSharp
 			}
 			base.Dispose(disposing);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btTriangleIndexVertexArray_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btTriangleIndexVertexArray_new2(int numTriangles, IntPtr triangleIndexBase, int triangleIndexStride, int numVertices, IntPtr vertexBase, int vertexStride);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleIndexVertexArray_addIndexedMesh(IntPtr obj, IntPtr mesh, PhyScalarType indexType);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btTriangleIndexVertexArray_getIndexedMeshArray(IntPtr obj);
 	}
 }

BulletSharpPInvoke/Collision/TriangleIndexVertexMaterialArray.cs

@@ -1,64 +1,63 @@
 using System;
-using System.Runtime.InteropServices;
-using System.Security;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
 	public class MaterialProperties : IDisposable
 	{
-		internal IntPtr _native;
+		internal IntPtr Native;
 
 		public MaterialProperties()
 		{
-			_native = btMaterialProperties_new();
+			Native = btMaterialProperties_new();
 		}
 
 		public IntPtr MaterialBase
 		{
-			get { return btMaterialProperties_getMaterialBase(_native); }
-			set { btMaterialProperties_setMaterialBase(_native, value); }
+			get => btMaterialProperties_getMaterialBase(Native);
+			set => btMaterialProperties_setMaterialBase(Native, value);
 		}
 
 		public int MaterialStride
 		{
-			get { return btMaterialProperties_getMaterialStride(_native); }
-			set { btMaterialProperties_setMaterialStride(_native, value); }
+			get => btMaterialProperties_getMaterialStride(Native);
+			set => btMaterialProperties_setMaterialStride(Native, value);
 		}
 
 		public PhyScalarType MaterialType
 		{
-			get { return btMaterialProperties_getMaterialType(_native); }
-			set { btMaterialProperties_setMaterialType(_native, value); }
+			get => btMaterialProperties_getMaterialType(Native);
+			set => btMaterialProperties_setMaterialType(Native, value);
 		}
 
 		public int NumMaterials
 		{
-			get { return btMaterialProperties_getNumMaterials(_native); }
-			set { btMaterialProperties_setNumMaterials(_native, value); }
+			get => btMaterialProperties_getNumMaterials(Native);
+			set => btMaterialProperties_setNumMaterials(Native, value);
 		}
 
 		public int NumTriangles
 		{
-			get { return btMaterialProperties_getNumTriangles(_native); }
-			set { btMaterialProperties_setNumTriangles(_native, value); }
+			get => btMaterialProperties_getNumTriangles(Native);
+			set => btMaterialProperties_setNumTriangles(Native, value);
 		}
 
 		public IntPtr TriangleMaterialsBase
 		{
-			get { return btMaterialProperties_getTriangleMaterialsBase(_native); }
-			set { btMaterialProperties_setTriangleMaterialsBase(_native, value); }
+			get => btMaterialProperties_getTriangleMaterialsBase(Native);
+			set => btMaterialProperties_setTriangleMaterialsBase(Native, value);
 		}
 
 		public int TriangleMaterialStride
 		{
-			get { return btMaterialProperties_getTriangleMaterialStride(_native); }
-			set { btMaterialProperties_setTriangleMaterialStride(_native, value); }
+			get => btMaterialProperties_getTriangleMaterialStride(Native);
+			set => btMaterialProperties_setTriangleMaterialStride(Native, value);
 		}
 
 		public PhyScalarType TriangleType
 		{
-			get { return btMaterialProperties_getTriangleType(_native); }
-			set { btMaterialProperties_setTriangleType(_native, value); }
+			get => btMaterialProperties_getTriangleType(Native);
+			set => btMaterialProperties_setTriangleType(Native, value);
 		}
 
 		public void Dispose()
@@ -69,10 +68,10 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-				btMaterialProperties_delete(_native);
-				_native = IntPtr.Zero;
+				btMaterialProperties_delete(Native);
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -80,43 +79,6 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btMaterialProperties_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btMaterialProperties_getMaterialBase(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btMaterialProperties_getMaterialStride(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern PhyScalarType btMaterialProperties_getMaterialType(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btMaterialProperties_getNumMaterials(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btMaterialProperties_getNumTriangles(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btMaterialProperties_getTriangleMaterialsBase(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btMaterialProperties_getTriangleMaterialStride(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern PhyScalarType btMaterialProperties_getTriangleType(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btMaterialProperties_setMaterialBase(IntPtr obj, IntPtr value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btMaterialProperties_setMaterialStride(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btMaterialProperties_setMaterialType(IntPtr obj, PhyScalarType value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btMaterialProperties_setNumMaterials(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btMaterialProperties_setNumTriangles(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btMaterialProperties_setTriangleMaterialsBase(IntPtr obj, IntPtr value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btMaterialProperties_setTriangleMaterialStride(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btMaterialProperties_setTriangleType(IntPtr obj, PhyScalarType value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btMaterialProperties_delete(IntPtr obj);
 	}
 
 	public class TriangleIndexVertexMaterialArray : TriangleIndexVertexArray
@@ -132,8 +94,8 @@ namespace BulletSharp
 		}
 
 		public TriangleIndexVertexMaterialArray(int numTriangles, IntPtr triangleIndexBase,
-            int triangleIndexStride, int numVertices, IntPtr vertexBase, int vertexStride,
-            int numMaterials, IntPtr materialBase, int materialStride, IntPtr triangleMaterialsBase,
+			int triangleIndexStride, int numVertices, IntPtr vertexBase, int vertexStride,
+			int numMaterials, IntPtr materialBase, int materialStride, IntPtr triangleMaterialsBase,
 			int materialIndexStride)
 			: base(btTriangleIndexVertexMaterialArray_new2(numTriangles, triangleIndexBase,
 				triangleIndexStride, numVertices, vertexBase, vertexStride,
@@ -144,7 +106,7 @@ namespace BulletSharp
 
 		public void AddMaterialProperties(MaterialProperties mat, PhyScalarType triangleType = PhyScalarType.Int32)
 		{
-			btTriangleIndexVertexMaterialArray_addMaterialProperties(_native, mat._native,
+			btTriangleIndexVertexMaterialArray_addMaterialProperties(Native, mat.Native,
 				triangleType);
 		}
 
@@ -153,7 +115,7 @@ namespace BulletSharp
 			out int numTriangles, out int triangleMaterialStride, out PhyScalarType triangleType,
 			int subpart = 0)
 		{
-			btTriangleIndexVertexMaterialArray_getLockedMaterialBase(_native, out materialBase,
+			btTriangleIndexVertexMaterialArray_getLockedMaterialBase(Native, out materialBase,
 				out numMaterials, out materialType, out materialStride, out triangleMaterialBase,
 				out numTriangles, out triangleMaterialStride, out triangleType, subpart);
 		}
@@ -163,21 +125,10 @@ namespace BulletSharp
 			out int numTriangles, out int triangleMaterialStride, out PhyScalarType triangleType,
 			int subpart = 0)
 		{
-			btTriangleIndexVertexMaterialArray_getLockedReadOnlyMaterialBase(_native,
+			btTriangleIndexVertexMaterialArray_getLockedReadOnlyMaterialBase(Native,
 				out materialBase, out numMaterials, out materialType, out materialStride,
 				out triangleMaterialBase, out numTriangles, out triangleMaterialStride,
 				out triangleType, subpart);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btTriangleIndexVertexMaterialArray_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btTriangleIndexVertexMaterialArray_new2(int numTriangles, IntPtr triangleIndexBase, int triangleIndexStride, int numVertices, IntPtr vertexBase, int vertexStride, int numMaterials, IntPtr materialBase, int materialStride, IntPtr triangleMaterialsBase, int materialIndexStride);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleIndexVertexMaterialArray_addMaterialProperties(IntPtr obj, IntPtr mat, PhyScalarType triangleType);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void btTriangleIndexVertexMaterialArray_getLockedMaterialBase(IntPtr obj, out IntPtr materialBase, out int numMaterials, out PhyScalarType materialType, out int materialStride, out IntPtr triangleMaterialBase, out int numTriangles, out int triangleMaterialStride, out PhyScalarType triangleType, int subpart);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void btTriangleIndexVertexMaterialArray_getLockedReadOnlyMaterialBase(IntPtr obj, out IntPtr materialBase, out int numMaterials, out PhyScalarType materialType, out int materialStride, out IntPtr triangleMaterialBase, out int numTriangles, out int triangleMaterialStride, out PhyScalarType triangleType, int subpart);
 	}
 }

BulletSharpPInvoke/Collision/TriangleInfoMap.cs

@@ -1,6 +1,6 @@
 using System;
 using System.Runtime.InteropServices;
-using System.Security;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
@@ -20,26 +20,26 @@ namespace BulletSharp
 
 		public float EdgeV0V1Angle
 		{
-			get { return btTriangleInfo_getEdgeV0V1Angle(_native); }
-			set { btTriangleInfo_setEdgeV0V1Angle(_native, value); }
+			get => btTriangleInfo_getEdgeV0V1Angle(_native);
+			set => btTriangleInfo_setEdgeV0V1Angle(_native, value);
 		}
 
 		public float EdgeV1V2Angle
 		{
-			get { return btTriangleInfo_getEdgeV1V2Angle(_native); }
-			set { btTriangleInfo_setEdgeV1V2Angle(_native, value); }
+			get => btTriangleInfo_getEdgeV1V2Angle(_native);
+			set => btTriangleInfo_setEdgeV1V2Angle(_native, value);
 		}
 
 		public float EdgeV2V0Angle
 		{
-			get { return btTriangleInfo_getEdgeV2V0Angle(_native); }
-			set { btTriangleInfo_setEdgeV2V0Angle(_native, value); }
+			get => btTriangleInfo_getEdgeV2V0Angle(_native);
+			set => btTriangleInfo_setEdgeV2V0Angle(_native, value);
 		}
 
 		public int Flags
 		{
-			get { return btTriangleInfo_getFlags(_native); }
-			set { btTriangleInfo_setFlags(_native, value); }
+			get => btTriangleInfo_getFlags(_native);
+			set => btTriangleInfo_setFlags(_native, value);
 		}
 
 		public void Dispose()
@@ -61,94 +61,73 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btTriangleInfo_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btTriangleInfo_getEdgeV0V1Angle(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btTriangleInfo_getEdgeV1V2Angle(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btTriangleInfo_getEdgeV2V0Angle(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btTriangleInfo_getFlags(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleInfo_setEdgeV0V1Angle(IntPtr obj, float value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleInfo_setEdgeV1V2Angle(IntPtr obj, float value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleInfo_setEdgeV2V0Angle(IntPtr obj, float value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleInfo_setFlags(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleInfo_delete(IntPtr obj);
 	}
 
 	public class TriangleInfoMap : IDisposable
 	{
-		internal IntPtr _native;
+		internal IntPtr Native;
 		bool _preventDelete;
 
 		internal TriangleInfoMap(IntPtr native, bool preventDelete)
 		{
-			_native = native;
+			Native = native;
 			_preventDelete = preventDelete;
 		}
 
 		public TriangleInfoMap()
 		{
-			_native = btTriangleInfoMap_new();
+			Native = btTriangleInfoMap_new();
 		}
 
 		public int CalculateSerializeBufferSize()
 		{
-			return btTriangleInfoMap_calculateSerializeBufferSize(_native);
+			return btTriangleInfoMap_calculateSerializeBufferSize(Native);
 		}
-        /*
+		/*
 		public void DeSerialize(TriangleInfoMapData data)
 		{
-			btTriangleInfoMap_deSerialize(_native, data._native);
+			btTriangleInfoMap_deSerialize(Native, data._native);
 		}
-        */
+		*/
 		public string Serialize(IntPtr dataBuffer, Serializer serializer)
 		{
-			return Marshal.PtrToStringAnsi(btTriangleInfoMap_serialize(_native, dataBuffer, serializer._native));
+			return Marshal.PtrToStringAnsi(btTriangleInfoMap_serialize(Native, dataBuffer, serializer._native));
 		}
 
 		public float ConvexEpsilon
 		{
-			get { return btTriangleInfoMap_getConvexEpsilon(_native); }
-			set { btTriangleInfoMap_setConvexEpsilon(_native, value); }
+			get => btTriangleInfoMap_getConvexEpsilon(Native);
+			set => btTriangleInfoMap_setConvexEpsilon(Native, value);
 		}
 
 		public float EdgeDistanceThreshold
 		{
-			get { return btTriangleInfoMap_getEdgeDistanceThreshold(_native); }
-			set { btTriangleInfoMap_setEdgeDistanceThreshold(_native, value); }
+			get => btTriangleInfoMap_getEdgeDistanceThreshold(Native);
+			set => btTriangleInfoMap_setEdgeDistanceThreshold(Native, value);
 		}
 
 		public float EqualVertexThreshold
 		{
-			get { return btTriangleInfoMap_getEqualVertexThreshold(_native); }
-			set { btTriangleInfoMap_setEqualVertexThreshold(_native, value); }
+			get => btTriangleInfoMap_getEqualVertexThreshold(Native);
+			set => btTriangleInfoMap_setEqualVertexThreshold(Native, value);
 		}
 
 		public float MaxEdgeAngleThreshold
 		{
-			get { return btTriangleInfoMap_getMaxEdgeAngleThreshold(_native); }
-			set { btTriangleInfoMap_setMaxEdgeAngleThreshold(_native, value); }
+			get => btTriangleInfoMap_getMaxEdgeAngleThreshold(Native);
+			set => btTriangleInfoMap_setMaxEdgeAngleThreshold(Native, value);
 		}
 
 		public float PlanarEpsilon
 		{
-			get { return btTriangleInfoMap_getPlanarEpsilon(_native); }
-			set { btTriangleInfoMap_setPlanarEpsilon(_native, value); }
+			get => btTriangleInfoMap_getPlanarEpsilon(Native);
+			set => btTriangleInfoMap_setPlanarEpsilon(Native, value);
 		}
 
 		public float ZeroAreaThreshold
 		{
-			get { return btTriangleInfoMap_getZeroAreaThreshold(_native); }
-			set { btTriangleInfoMap_setZeroAreaThreshold(_native, value); }
+			get => btTriangleInfoMap_getZeroAreaThreshold(Native);
+			set => btTriangleInfoMap_setZeroAreaThreshold(Native, value);
 		}
 
 		public void Dispose()
@@ -159,13 +138,13 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
 				if (!_preventDelete)
 				{
-					btTriangleInfoMap_delete(_native);
+					btTriangleInfoMap_delete(Native);
 				}
-				_native = IntPtr.Zero;
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -173,40 +152,5 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btTriangleInfoMap_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btTriangleInfoMap_calculateSerializeBufferSize(IntPtr obj);
-		//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		//static extern void btTriangleInfoMap_deSerialize(IntPtr obj, IntPtr data);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btTriangleInfoMap_getConvexEpsilon(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btTriangleInfoMap_getEdgeDistanceThreshold(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btTriangleInfoMap_getEqualVertexThreshold(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btTriangleInfoMap_getMaxEdgeAngleThreshold(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btTriangleInfoMap_getPlanarEpsilon(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btTriangleInfoMap_getZeroAreaThreshold(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btTriangleInfoMap_serialize(IntPtr obj, IntPtr dataBuffer, IntPtr serializer);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleInfoMap_setConvexEpsilon(IntPtr obj, float value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleInfoMap_setEdgeDistanceThreshold(IntPtr obj, float value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleInfoMap_setEqualVertexThreshold(IntPtr obj, float value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleInfoMap_setMaxEdgeAngleThreshold(IntPtr obj, float value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleInfoMap_setPlanarEpsilon(IntPtr obj, float value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleInfoMap_setZeroAreaThreshold(IntPtr obj, float value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleInfoMap_delete(IntPtr obj);
 	}
 }

BulletSharpPInvoke/Collision/TriangleMesh.cs

@@ -1,7 +1,6 @@
 using System;
-using System.Runtime.InteropServices;
-using System.Security;
 using BulletSharp.Math;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
@@ -19,80 +18,48 @@ namespace BulletSharp
 
 		public void AddIndex(int index)
 		{
-			btTriangleMesh_addIndex(_native, index);
+			btTriangleMesh_addIndex(Native, index);
 		}
 
-       public void AddTriangleRef(ref Vector3 vertex0, ref Vector3 vertex1, ref Vector3 vertex2,
-           bool removeDuplicateVertices = false)
-       {
-           btTriangleMesh_addTriangle(_native, ref vertex0, ref vertex1, ref vertex2,
-               removeDuplicateVertices);
-       }
+	   public void AddTriangleRef(ref Vector3 vertex0, ref Vector3 vertex1, ref Vector3 vertex2,
+		   bool removeDuplicateVertices = false)
+	   {
+		   btTriangleMesh_addTriangle(Native, ref vertex0, ref vertex1, ref vertex2,
+			   removeDuplicateVertices);
+	   }
 
 		public void AddTriangle(Vector3 vertex0, Vector3 vertex1, Vector3 vertex2,
 			bool removeDuplicateVertices = false)
 		{
-			btTriangleMesh_addTriangle(_native, ref vertex0, ref vertex1, ref vertex2,
+			btTriangleMesh_addTriangle(Native, ref vertex0, ref vertex1, ref vertex2,
 				removeDuplicateVertices);
 		}
 
 		public void AddTriangleIndices(int index1, int index2, int index3)
 		{
-			btTriangleMesh_addTriangleIndices(_native, index1, index2, index3);
+			btTriangleMesh_addTriangleIndices(Native, index1, index2, index3);
 		}
 
-        public int FindOrAddVertexRef(Vector3 vertex, bool removeDuplicateVertices)
-        {
-            return btTriangleMesh_findOrAddVertex(_native, ref vertex, removeDuplicateVertices);
-        }
+		public int FindOrAddVertexRef(Vector3 vertex, bool removeDuplicateVertices)
+		{
+			return btTriangleMesh_findOrAddVertex(Native, ref vertex, removeDuplicateVertices);
+		}
 
 		public int FindOrAddVertex(Vector3 vertex, bool removeDuplicateVertices)
 		{
-			return btTriangleMesh_findOrAddVertex(_native, ref vertex, removeDuplicateVertices);
+			return btTriangleMesh_findOrAddVertex(Native, ref vertex, removeDuplicateVertices);
 		}
 
-		public int NumTriangles
-		{
-			get { return btTriangleMesh_getNumTriangles(_native); }
-		}
+		public int NumTriangles => btTriangleMesh_getNumTriangles(Native);
 
-		public bool Use32BitIndices
-		{
-			get { return btTriangleMesh_getUse32bitIndices(_native); }
-		}
+		public bool Use32BitIndices => btTriangleMesh_getUse32bitIndices(Native);
 
-		public bool Use4ComponentVertices
-		{
-			get { return btTriangleMesh_getUse4componentVertices(_native); }
-		}
+		public bool Use4ComponentVertices => btTriangleMesh_getUse4componentVertices(Native);
 
 		public float WeldingThreshold
 		{
-			get { return btTriangleMesh_getWeldingThreshold(_native); }
-			set { btTriangleMesh_setWeldingThreshold(_native, value); }
+			get => btTriangleMesh_getWeldingThreshold(Native);
+			set => btTriangleMesh_setWeldingThreshold(Native, value);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btTriangleMesh_new(bool use32bitIndices, bool use4componentVertices);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleMesh_addIndex(IntPtr obj, int index);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleMesh_addTriangle(IntPtr obj, [In] ref Vector3 vertex0, [In] ref Vector3 vertex1, [In] ref Vector3 vertex2, bool removeDuplicateVertices);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleMesh_addTriangleIndices(IntPtr obj, int index1, int index2, int index3);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btTriangleMesh_findOrAddVertex(IntPtr obj, [In] ref Vector3 vertex, bool removeDuplicateVertices);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btTriangleMesh_getNumTriangles(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btTriangleMesh_getUse32bitIndices(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btTriangleMesh_getUse4componentVertices(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btTriangleMesh_getWeldingThreshold(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btTriangleMesh_setWeldingThreshold(IntPtr obj, float value);
 	}
 }

BulletSharpPInvoke/Collision/UnionFind.cs

@@ -1,33 +1,32 @@
 using System;
-using System.Runtime.InteropServices;
-using System.Security;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
 	public class Element : IDisposable
 	{
-		internal IntPtr _native;
+		internal IntPtr Native;
 
 		internal Element(IntPtr native)
 		{
-			_native = native;
+			Native = native;
 		}
 
 		public Element()
 		{
-			_native = btElement_new();
+			Native = btElement_new();
 		}
 
 		public int Id
 		{
-			get { return btElement_getId(_native); }
-			set { btElement_setId(_native, value); }
+			get => btElement_getId(Native);
+			set => btElement_setId(Native, value);
 		}
 
 		public int Sz
 		{
-			get { return btElement_getSz(_native); }
-			set { btElement_setSz(_native, value); }
+			get => btElement_getSz(Native);
+			set => btElement_setSz(Native, value);
 		}
 
 		public void Dispose()
@@ -38,10 +37,10 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-				btElement_delete(_native);
-				_native = IntPtr.Zero;
+				btElement_delete(Native);
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -49,84 +48,68 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btElement_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btElement_getId(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btElement_getSz(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btElement_setId(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btElement_setSz(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btElement_delete(IntPtr obj);
 	}
 
 	public class UnionFind : IDisposable
 	{
-		internal IntPtr _native;
+		internal IntPtr Native;
 
 		internal UnionFind(IntPtr native)
 		{
-			_native = native;
+			Native = native;
 		}
 
 		public UnionFind()
 		{
-			_native = btUnionFind_new();
+			Native = btUnionFind_new();
 		}
 
 		public void Allocate(int n)
 		{
-			btUnionFind_allocate(_native, n);
+			btUnionFind_allocate(Native, n);
 		}
 
 		public int Find(int p, int q)
 		{
-			return btUnionFind_find(_native, p, q);
+			return btUnionFind_find(Native, p, q);
 		}
 
 		public int Find(int x)
 		{
-			return btUnionFind_find2(_native, x);
+			return btUnionFind_find2(Native, x);
 		}
 
 		public void Free()
 		{
-			btUnionFind_Free(_native);
+			btUnionFind_Free(Native);
 		}
 
 		public Element GetElement(int index)
 		{
-            return new Element(btUnionFind_getElement(_native, index));
+			return new Element(btUnionFind_getElement(Native, index));
 		}
 
 		public bool IsRoot(int x)
 		{
-			return btUnionFind_isRoot(_native, x);
+			return btUnionFind_isRoot(Native, x);
 		}
 
 		public void Reset(int n)
 		{
-			btUnionFind_reset(_native, n);
+			btUnionFind_reset(Native, n);
 		}
 
 		public void SortIslands()
 		{
-			btUnionFind_sortIslands(_native);
+			btUnionFind_sortIslands(Native);
 		}
 
 		public void Unite(int p, int q)
 		{
-			btUnionFind_unite(_native, p, q);
+			btUnionFind_unite(Native, p, q);
 		}
 
-		public int NumElements
-		{
-			get { return btUnionFind_getNumElements(_native); }
-		}
+		public int NumElements => btUnionFind_getNumElements(Native);
 
 		public void Dispose()
 		{
@@ -136,10 +119,10 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-				btUnionFind_delete(_native);
-				_native = IntPtr.Zero;
+				btUnionFind_delete(Native);
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -147,31 +130,5 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btUnionFind_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btUnionFind_allocate(IntPtr obj, int N);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btUnionFind_find(IntPtr obj, int p, int q);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btUnionFind_find2(IntPtr obj, int x);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btUnionFind_Free(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btUnionFind_getElement(IntPtr obj, int index);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btUnionFind_getNumElements(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btUnionFind_isRoot(IntPtr obj, int x);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btUnionFind_reset(IntPtr obj, int N);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btUnionFind_sortIslands(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btUnionFind_unite(IntPtr obj, int p, int q);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btUnionFind_delete(IntPtr obj);
 	}
 }

BulletSharpPInvoke/Collision/VoronoiSimplexSolver.cs

@@ -1,192 +1,145 @@
 using System;
-using System.Runtime.InteropServices;
-using System.Security;
 using BulletSharp.Math;
+using static BulletSharp.UnsafeNativeMethods;
 
 namespace BulletSharp
 {
 	public class UsageBitfield
 	{
-		internal IntPtr _native;
+		internal IntPtr Native;
 
 		internal UsageBitfield(IntPtr native)
 		{
-			_native = native;
+			Native = native;
 		}
 
 		public void Reset()
 		{
-			btUsageBitfield_reset(_native);
+			btUsageBitfield_reset(Native);
 		}
 
 		public bool Unused1
 		{
-			get { return btUsageBitfield_getUnused1(_native); }
-			set { btUsageBitfield_setUnused1(_native, value); }
+			get => btUsageBitfield_getUnused1(Native);
+			set => btUsageBitfield_setUnused1(Native, value);
 		}
 
-        public bool Unused2
+		public bool Unused2
 		{
-			get { return btUsageBitfield_getUnused2(_native); }
-			set { btUsageBitfield_setUnused2(_native, value); }
+			get => btUsageBitfield_getUnused2(Native);
+			set => btUsageBitfield_setUnused2(Native, value);
 		}
 
-        public bool Unused3
+		public bool Unused3
 		{
-			get { return btUsageBitfield_getUnused3(_native); }
-			set { btUsageBitfield_setUnused3(_native, value); }
+			get => btUsageBitfield_getUnused3(Native);
+			set => btUsageBitfield_setUnused3(Native, value);
 		}
 
-        public bool Unused4
+		public bool Unused4
 		{
-			get { return btUsageBitfield_getUnused4(_native); }
-			set { btUsageBitfield_setUnused4(_native, value); }
+			get => btUsageBitfield_getUnused4(Native);
+			set => btUsageBitfield_setUnused4(Native, value);
 		}
 
-        public bool UsedVertexA
+		public bool UsedVertexA
 		{
-			get { return btUsageBitfield_getUsedVertexA(_native); }
-			set { btUsageBitfield_setUsedVertexA(_native, value); }
+			get => btUsageBitfield_getUsedVertexA(Native);
+			set => btUsageBitfield_setUsedVertexA(Native, value);
 		}
 
-        public bool UsedVertexB
+		public bool UsedVertexB
 		{
-			get { return btUsageBitfield_getUsedVertexB(_native); }
-			set { btUsageBitfield_setUsedVertexB(_native, value); }
+			get => btUsageBitfield_getUsedVertexB(Native);
+			set => btUsageBitfield_setUsedVertexB(Native, value);
 		}
 
-        public bool UsedVertexC
+		public bool UsedVertexC
 		{
-			get { return btUsageBitfield_getUsedVertexC(_native); }
-			set { btUsageBitfield_setUsedVertexC(_native, value); }
+			get => btUsageBitfield_getUsedVertexC(Native);
+			set => btUsageBitfield_setUsedVertexC(Native, value);
 		}
 
-        public bool UsedVertexD
+		public bool UsedVertexD
 		{
-			get { return btUsageBitfield_getUsedVertexD(_native); }
-			set { btUsageBitfield_setUsedVertexD(_native, value); }
+			get => btUsageBitfield_getUsedVertexD(Native);
+			set => btUsageBitfield_setUsedVertexD(Native, value);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        [return: MarshalAs(UnmanagedType.I1)]
-        static extern bool btUsageBitfield_getUnused1(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        [return: MarshalAs(UnmanagedType.I1)]
-        static extern bool btUsageBitfield_getUnused2(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        [return: MarshalAs(UnmanagedType.I1)]
-        static extern bool btUsageBitfield_getUnused3(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        [return: MarshalAs(UnmanagedType.I1)]
-        static extern bool btUsageBitfield_getUnused4(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        [return: MarshalAs(UnmanagedType.I1)]
-        static extern bool btUsageBitfield_getUsedVertexA(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        [return: MarshalAs(UnmanagedType.I1)]
-        static extern bool btUsageBitfield_getUsedVertexB(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        [return: MarshalAs(UnmanagedType.I1)]
-        static extern bool btUsageBitfield_getUsedVertexC(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        [return: MarshalAs(UnmanagedType.I1)]
-        static extern bool btUsageBitfield_getUsedVertexD(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btUsageBitfield_reset(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void btUsageBitfield_setUnused1(IntPtr obj, bool value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void btUsageBitfield_setUnused2(IntPtr obj, bool value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void btUsageBitfield_setUnused3(IntPtr obj, bool value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void btUsageBitfield_setUnused4(IntPtr obj, bool value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void btUsageBitfield_setUsedVertexA(IntPtr obj, bool value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void btUsageBitfield_setUsedVertexB(IntPtr obj, bool value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void btUsageBitfield_setUsedVertexC(IntPtr obj, bool value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-        static extern void btUsageBitfield_setUsedVertexD(IntPtr obj, bool value);
 	}
 
 	public class SubSimplexClosestResult : IDisposable
 	{
-		internal IntPtr _native;
+		internal IntPtr Native;
 
 		internal SubSimplexClosestResult(IntPtr native)
 		{
-			_native = native;
+			Native = native;
 		}
 
 		public SubSimplexClosestResult()
 		{
-			_native = btSubSimplexClosestResult_new();
+			Native = btSubSimplexClosestResult_new();
 		}
 
 		public void Reset()
 		{
-			btSubSimplexClosestResult_reset(_native);
+			btSubSimplexClosestResult_reset(Native);
 		}
 
 		public void SetBarycentricCoordinates()
 		{
-			btSubSimplexClosestResult_setBarycentricCoordinates(_native);
+			btSubSimplexClosestResult_setBarycentricCoordinates(Native);
 		}
 
 		public void SetBarycentricCoordinates(float a)
 		{
-			btSubSimplexClosestResult_setBarycentricCoordinates2(_native, a);
+			btSubSimplexClosestResult_setBarycentricCoordinates2(Native, a);
 		}
 
 		public void SetBarycentricCoordinates(float a, float b)
 		{
-			btSubSimplexClosestResult_setBarycentricCoordinates3(_native, a, b);
+			btSubSimplexClosestResult_setBarycentricCoordinates3(Native, a, b);
 		}
 
 		public void SetBarycentricCoordinates(float a, float b, float c)
 		{
-			btSubSimplexClosestResult_setBarycentricCoordinates4(_native, a, b, c);
+			btSubSimplexClosestResult_setBarycentricCoordinates4(Native, a, b, c);
 		}
 
 		public void SetBarycentricCoordinates(float a, float b, float c, float d)
 		{
-			btSubSimplexClosestResult_setBarycentricCoordinates5(_native, a, b, c,
+			btSubSimplexClosestResult_setBarycentricCoordinates5(Native, a, b, c,
 				d);
 		}
-        /*
+		/*
 		public FloatArray BarycentricCoords
 		{
-			get { return btSubSimplexClosestResult_getBarycentricCoords(_native); }
+			get { return btSubSimplexClosestResult_getBarycentricCoords(Native); }
 		}
-        */
+		*/
 		public Vector3 ClosestPointOnSimplex
 		{
 			get
 			{
 				Vector3 value;
-				btSubSimplexClosestResult_getClosestPointOnSimplex(_native, out value);
+				btSubSimplexClosestResult_getClosestPointOnSimplex(Native, out value);
 				return value;
 			}
-			set { btSubSimplexClosestResult_setClosestPointOnSimplex(_native, ref value); }
+			set => btSubSimplexClosestResult_setClosestPointOnSimplex(Native, ref value);
 		}
 
 		public bool Degenerate
 		{
-			get { return btSubSimplexClosestResult_getDegenerate(_native); }
-			set { btSubSimplexClosestResult_setDegenerate(_native, value); }
+			get => btSubSimplexClosestResult_getDegenerate(Native);
+			set => btSubSimplexClosestResult_setDegenerate(Native, value);
 		}
 
-		public bool IsValid
-		{
-			get { return btSubSimplexClosestResult_isValid(_native); }
-		}
+		public bool IsValid => btSubSimplexClosestResult_isValid(Native);
 
 		public UsageBitfield UsedVertices
 		{
-            get { return new UsageBitfield(btSubSimplexClosestResult_getUsedVertices(_native)); }
-			set { btSubSimplexClosestResult_setUsedVertices(_native, value._native); }
+			get => new UsageBitfield(btSubSimplexClosestResult_getUsedVertices(Native));
+			set => btSubSimplexClosestResult_setUsedVertices(Native, value.Native);
 		}
 
 		public void Dispose()
@@ -197,10 +150,10 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-				btSubSimplexClosestResult_delete(_native);
-				_native = IntPtr.Zero;
+				btSubSimplexClosestResult_delete(Native);
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -208,169 +161,133 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btSubSimplexClosestResult_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btSubSimplexClosestResult_getBarycentricCoords(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSubSimplexClosestResult_getClosestPointOnSimplex(IntPtr obj, out Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btSubSimplexClosestResult_getDegenerate(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btSubSimplexClosestResult_getUsedVertices(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btSubSimplexClosestResult_isValid(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSubSimplexClosestResult_reset(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSubSimplexClosestResult_setBarycentricCoordinates(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSubSimplexClosestResult_setBarycentricCoordinates2(IntPtr obj, float a);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSubSimplexClosestResult_setBarycentricCoordinates3(IntPtr obj, float a, float b);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSubSimplexClosestResult_setBarycentricCoordinates4(IntPtr obj, float a, float b, float c);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSubSimplexClosestResult_setBarycentricCoordinates5(IntPtr obj, float a, float b, float c, float d);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSubSimplexClosestResult_setClosestPointOnSimplex(IntPtr obj, [In] ref Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSubSimplexClosestResult_setDegenerate(IntPtr obj, bool value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSubSimplexClosestResult_setUsedVertices(IntPtr obj, IntPtr value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btSubSimplexClosestResult_delete(IntPtr obj);
 	}
 
 	public class VoronoiSimplexSolver : IDisposable
 	{
-		internal IntPtr _native;
-        private bool _preventDelete;
+		internal IntPtr Native;
+		private bool _preventDelete;
 
-        internal VoronoiSimplexSolver(IntPtr native, bool preventDelete)
+		internal VoronoiSimplexSolver(IntPtr native, bool preventDelete)
 		{
-			_native = native;
-            _preventDelete = preventDelete;
+			Native = native;
+			_preventDelete = preventDelete;
 		}
 
 		public VoronoiSimplexSolver()
 		{
-			_native = btVoronoiSimplexSolver_new();
+			Native = btVoronoiSimplexSolver_new();
 		}
 
-        public void AddVertexRef(ref Vector3 w, ref Vector3 p, ref Vector3 q)
-        {
-            btVoronoiSimplexSolver_addVertex(_native, ref w, ref p, ref q);
-        }
+		public void AddVertexRef(ref Vector3 w, ref Vector3 p, ref Vector3 q)
+		{
+			btVoronoiSimplexSolver_addVertex(Native, ref w, ref p, ref q);
+		}
 
 		public void AddVertex(Vector3 w, Vector3 p, Vector3 q)
 		{
-			btVoronoiSimplexSolver_addVertex(_native, ref w, ref p, ref q);
+			btVoronoiSimplexSolver_addVertex(Native, ref w, ref p, ref q);
 		}
 
 		public void BackupClosest(out Vector3 v)
 		{
-			btVoronoiSimplexSolver_backup_closest(_native, out v);
+			btVoronoiSimplexSolver_backup_closest(Native, out v);
 		}
 
 		public bool Closest(out Vector3 v)
 		{
-			return btVoronoiSimplexSolver_closest(_native, out v);
+			return btVoronoiSimplexSolver_closest(Native, out v);
 		}
 
-        public bool ClosestPtPointTetrahedronRef(ref Vector3 p, ref Vector3 a, ref Vector3 b, ref Vector3 c,
-            ref Vector3 d, SubSimplexClosestResult finalResult)
-        {
-            return btVoronoiSimplexSolver_closestPtPointTetrahedron(_native, ref p,
-                ref a, ref b, ref c, ref d, finalResult._native);
-        }
+		public bool ClosestPtPointTetrahedronRef(ref Vector3 p, ref Vector3 a, ref Vector3 b, ref Vector3 c,
+			ref Vector3 d, SubSimplexClosestResult finalResult)
+		{
+			return btVoronoiSimplexSolver_closestPtPointTetrahedron(Native, ref p,
+				ref a, ref b, ref c, ref d, finalResult.Native);
+		}
 
 		public bool ClosestPtPointTetrahedron(Vector3 p, Vector3 a, Vector3 b, Vector3 c,
 			Vector3 d, SubSimplexClosestResult finalResult)
 		{
-			return btVoronoiSimplexSolver_closestPtPointTetrahedron(_native, ref p,
-				ref a, ref b, ref c, ref d, finalResult._native);
+			return btVoronoiSimplexSolver_closestPtPointTetrahedron(Native, ref p,
+				ref a, ref b, ref c, ref d, finalResult.Native);
 		}
 
-        public bool ClosestPtPointTriangleRef(ref Vector3 p, ref Vector3 a, ref Vector3 b, ref Vector3 c,
-            SubSimplexClosestResult result)
-        {
-            return btVoronoiSimplexSolver_closestPtPointTriangle(_native, ref p,
-                ref a, ref b, ref c, result._native);
-        }
+		public bool ClosestPtPointTriangleRef(ref Vector3 p, ref Vector3 a, ref Vector3 b, ref Vector3 c,
+			SubSimplexClosestResult result)
+		{
+			return btVoronoiSimplexSolver_closestPtPointTriangle(Native, ref p,
+				ref a, ref b, ref c, result.Native);
+		}
 
 		public bool ClosestPtPointTriangle(Vector3 p, Vector3 a, Vector3 b, Vector3 c,
 			SubSimplexClosestResult result)
 		{
-			return btVoronoiSimplexSolver_closestPtPointTriangle(_native, ref p,
-				ref a, ref b, ref c, result._native);
+			return btVoronoiSimplexSolver_closestPtPointTriangle(Native, ref p,
+				ref a, ref b, ref c, result.Native);
 		}
 
 		public void ComputePoints(out Vector3 p1, out Vector3 p2)
 		{
-			btVoronoiSimplexSolver_compute_points(_native, out p1, out p2);
+			btVoronoiSimplexSolver_compute_points(Native, out p1, out p2);
 		}
 
 		public bool EmptySimplex()
 		{
-			return btVoronoiSimplexSolver_emptySimplex(_native);
+			return btVoronoiSimplexSolver_emptySimplex(Native);
 		}
 
 		public bool FullSimplex()
 		{
-			return btVoronoiSimplexSolver_fullSimplex(_native);
+			return btVoronoiSimplexSolver_fullSimplex(Native);
 		}
-        /*
-        public int GetSimplex(Vector3[] pBuf, Vector3[] qBuf, Vector3[] yBuf)
+		/*
+		public int GetSimplex(Vector3[] pBuf, Vector3[] qBuf, Vector3[] yBuf)
 		{
-			return btVoronoiSimplexSolver_getSimplex(_native, pBuf, qBuf,
+			return btVoronoiSimplexSolver_getSimplex(Native, pBuf, qBuf,
 				yBuf);
 		}
-        */
+		*/
 		public bool InSimplex(Vector3 w)
 		{
-			return btVoronoiSimplexSolver_inSimplex(_native, ref w);
+			return btVoronoiSimplexSolver_inSimplex(Native, ref w);
 		}
 
 		public float MaxVertex()
 		{
-			return btVoronoiSimplexSolver_maxVertex(_native);
+			return btVoronoiSimplexSolver_maxVertex(Native);
 		}
 
 		public int PointOutsideOfPlane(Vector3 p, Vector3 a, Vector3 b, Vector3 c,
 			Vector3 d)
 		{
-			return btVoronoiSimplexSolver_pointOutsideOfPlane(_native, ref p, ref a,
+			return btVoronoiSimplexSolver_pointOutsideOfPlane(Native, ref p, ref a,
 				ref b, ref c, ref d);
 		}
 
 		public void ReduceVertices(UsageBitfield usedVerts)
 		{
-			btVoronoiSimplexSolver_reduceVertices(_native, usedVerts._native);
+			btVoronoiSimplexSolver_reduceVertices(Native, usedVerts.Native);
 		}
 
 		public void RemoveVertex(int index)
 		{
-			btVoronoiSimplexSolver_removeVertex(_native, index);
+			btVoronoiSimplexSolver_removeVertex(Native, index);
 		}
 
 		public void Reset()
 		{
-			btVoronoiSimplexSolver_reset(_native);
+			btVoronoiSimplexSolver_reset(Native);
 		}
 
 		public bool UpdateClosestVectorAndPoints()
 		{
-			return btVoronoiSimplexSolver_updateClosestVectorAndPoints(_native);
+			return btVoronoiSimplexSolver_updateClosestVectorAndPoints(Native);
 		}
 
 		public SubSimplexClosestResult CachedBC
 		{
-            get { return new SubSimplexClosestResult(btVoronoiSimplexSolver_getCachedBC(_native)); }
-			set { btVoronoiSimplexSolver_setCachedBC(_native, value._native); }
+			get => new SubSimplexClosestResult(btVoronoiSimplexSolver_getCachedBC(Native)); set => btVoronoiSimplexSolver_setCachedBC(Native, value.Native);
 		}
 
 		public Vector3 CachedP1
@@ -378,10 +295,10 @@ namespace BulletSharp
 			get
 			{
 				Vector3 value;
-				btVoronoiSimplexSolver_getCachedP1(_native, out value);
+				btVoronoiSimplexSolver_getCachedP1(Native, out value);
 				return value;
 			}
-			set { btVoronoiSimplexSolver_setCachedP1(_native, ref value); }
+			set => btVoronoiSimplexSolver_setCachedP1(Native, ref value);
 		}
 
 		public Vector3 CachedP2
@@ -389,10 +306,10 @@ namespace BulletSharp
 			get
 			{
 				Vector3 value;
-				btVoronoiSimplexSolver_getCachedP2(_native, out value);
+				btVoronoiSimplexSolver_getCachedP2(Native, out value);
 				return value;
 			}
-			set { btVoronoiSimplexSolver_setCachedP2(_native, ref value); }
+			set => btVoronoiSimplexSolver_setCachedP2(Native, ref value);
 		}
 
 		public Vector3 CachedV
@@ -400,22 +317,20 @@ namespace BulletSharp
 			get
 			{
 				Vector3 value;
-				btVoronoiSimplexSolver_getCachedV(_native, out value);
+				btVoronoiSimplexSolver_getCachedV(Native, out value);
 				return value;
 			}
-			set { btVoronoiSimplexSolver_setCachedV(_native, ref value); }
+			set => btVoronoiSimplexSolver_setCachedV(Native, ref value);
 		}
 
 		public bool CachedValidClosest
 		{
-			get { return btVoronoiSimplexSolver_getCachedValidClosest(_native); }
-			set { btVoronoiSimplexSolver_setCachedValidClosest(_native, value); }
+			get => btVoronoiSimplexSolver_getCachedValidClosest(Native); set => btVoronoiSimplexSolver_setCachedValidClosest(Native, value);
 		}
 
 		public float EqualVertexThreshold
 		{
-			get { return btVoronoiSimplexSolver_getEqualVertexThreshold(_native); }
-			set { btVoronoiSimplexSolver_setEqualVertexThreshold(_native, value); }
+			get => btVoronoiSimplexSolver_getEqualVertexThreshold(Native); set => btVoronoiSimplexSolver_setEqualVertexThreshold(Native, value);
 		}
 
 		public Vector3 LastW
@@ -423,39 +338,37 @@ namespace BulletSharp
 			get
 			{
 				Vector3 value;
-				btVoronoiSimplexSolver_getLastW(_native, out value);
+				btVoronoiSimplexSolver_getLastW(Native, out value);
 				return value;
 			}
-			set { btVoronoiSimplexSolver_setLastW(_native, ref value); }
+			set => btVoronoiSimplexSolver_setLastW(Native, ref value);
 		}
 
 		public bool NeedsUpdate
 		{
-			get { return btVoronoiSimplexSolver_getNeedsUpdate(_native); }
-			set { btVoronoiSimplexSolver_setNeedsUpdate(_native, value); }
+			get => btVoronoiSimplexSolver_getNeedsUpdate(Native); set => btVoronoiSimplexSolver_setNeedsUpdate(Native, value);
 		}
 
 		public int NumVertices
 		{
-			get { return btVoronoiSimplexSolver_getNumVertices(_native); }
-			set { btVoronoiSimplexSolver_setNumVertices(_native, value); }
+			get => btVoronoiSimplexSolver_getNumVertices(Native); set => btVoronoiSimplexSolver_setNumVertices(Native, value);
 		}
-        /*
+		/*
 		public Vector3[] SimplexPointsP
 		{
-			get { return btVoronoiSimplexSolver_getSimplexPointsP(_native); }
+			get { return btVoronoiSimplexSolver_getSimplexPointsP(Native); }
 		}
 
 		public Vector3[] SimplexPointsQ
 		{
-			get { return btVoronoiSimplexSolver_getSimplexPointsQ(_native); }
+			get { return btVoronoiSimplexSolver_getSimplexPointsQ(Native); }
 		}
 
 		public Vector3[] SimplexVectorW
 		{
-			get { return btVoronoiSimplexSolver_getSimplexVectorW(_native); }
+			get { return btVoronoiSimplexSolver_getSimplexVectorW(Native); }
 		}
-        */
+		*/
 		public void Dispose()
 		{
 			Dispose(true);
@@ -464,13 +377,13 @@ namespace BulletSharp
 
 		protected virtual void Dispose(bool disposing)
 		{
-			if (_native != IntPtr.Zero)
+			if (Native != IntPtr.Zero)
 			{
-                if (!_preventDelete)
-                {
-                    btVoronoiSimplexSolver_delete(_native);
-                }
-				_native = IntPtr.Zero;
+				if (!_preventDelete)
+				{
+					btVoronoiSimplexSolver_delete(Native);
+				}
+				Native = IntPtr.Zero;
 			}
 		}
 
@@ -478,95 +391,5 @@ namespace BulletSharp
 		{
 			Dispose(false);
 		}
-
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btVoronoiSimplexSolver_new();
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_addVertex(IntPtr obj, [In] ref Vector3 w, [In] ref Vector3 p, [In] ref Vector3 q);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_backup_closest(IntPtr obj, out Vector3 v);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btVoronoiSimplexSolver_closest(IntPtr obj, out Vector3 v);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btVoronoiSimplexSolver_closestPtPointTetrahedron(IntPtr obj, [In] ref Vector3 p, [In] ref Vector3 a, [In] ref Vector3 b, [In] ref Vector3 c, [In] ref Vector3 d, IntPtr finalResult);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btVoronoiSimplexSolver_closestPtPointTriangle(IntPtr obj, [In] ref Vector3 p, [In] ref Vector3 a, [In] ref Vector3 b, [In] ref Vector3 c, IntPtr result);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_compute_points(IntPtr obj, out Vector3 p1, out Vector3 p2);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btVoronoiSimplexSolver_emptySimplex(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btVoronoiSimplexSolver_fullSimplex(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btVoronoiSimplexSolver_getCachedBC(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_getCachedP1(IntPtr obj, out Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_getCachedP2(IntPtr obj, out Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_getCachedV(IntPtr obj, out Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btVoronoiSimplexSolver_getCachedValidClosest(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btVoronoiSimplexSolver_getEqualVertexThreshold(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_getLastW(IntPtr obj, out Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btVoronoiSimplexSolver_getNeedsUpdate(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btVoronoiSimplexSolver_getNumVertices(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btVoronoiSimplexSolver_getSimplex(IntPtr obj, Vector3[] pBuf, Vector3[] qBuf, Vector3[] yBuf);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btVoronoiSimplexSolver_getSimplexPointsP(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btVoronoiSimplexSolver_getSimplexPointsQ(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern IntPtr btVoronoiSimplexSolver_getSimplexVectorW(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btVoronoiSimplexSolver_inSimplex(IntPtr obj, [In] ref Vector3 w);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern float btVoronoiSimplexSolver_maxVertex(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btVoronoiSimplexSolver_numVertices(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern int btVoronoiSimplexSolver_pointOutsideOfPlane(IntPtr obj, [In] ref Vector3 p, [In] ref Vector3 a, [In] ref Vector3 b, [In] ref Vector3 c, [In] ref Vector3 d);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_reduceVertices(IntPtr obj, IntPtr usedVerts);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_removeVertex(IntPtr obj, int index);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_reset(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_setCachedBC(IntPtr obj, IntPtr value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_setCachedP1(IntPtr obj, [In] ref Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_setCachedP2(IntPtr obj, [In] ref Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_setCachedV(IntPtr obj, [In] ref Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_setCachedValidClosest(IntPtr obj, bool value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_setEqualVertexThreshold(IntPtr obj, float threshold);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_setLastW(IntPtr obj, [In] ref Vector3 value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_setNeedsUpdate(IntPtr obj, bool value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_setNumVertices(IntPtr obj, int value);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		[return: MarshalAs(UnmanagedType.I1)]
-		static extern bool btVoronoiSimplexSolver_updateClosestVectorAndPoints(IntPtr obj);
-		[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
-		static extern void btVoronoiSimplexSolver_delete(IntPtr obj);
 	}
 }

BulletSharpPInvoke/Extras/WorldImporter.cs

@@ -892,7 +892,7 @@ namespace BulletSharp
 
 		public GImpactMeshShape CreateGimpactShape(StridingMeshInterface trimesh)
 		{
-            GImpactMeshShape shape = new GImpactMeshShape(trimesh._native);
+            GImpactMeshShape shape = new GImpactMeshShape(trimesh.Native);
             _allocatedCollisionShapes.Add(shape);
             return shape;
 		}

BulletSharpPInvoke/LinearMath/AlignedManifoldArray.cs

@@ -117,7 +117,7 @@ namespace BulletSharp
 
         public void Add(PersistentManifold item)
         {
-            btAlignedObjectArray_btPersistentManifoldPtr_push_back(_native, item._native);
+            btAlignedObjectArray_btPersistentManifoldPtr_push_back(_native, item.Native);
         }
 
         public void Clear()

BulletSharpPInvoke/SoftBody/SoftRigidCollisionAlgorithm.cs

@@ -32,7 +32,7 @@ namespace BulletSharp
 
 		public SoftRigidCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
 			CollisionObjectWrapper col0, CollisionObjectWrapper col1Wrap, bool isSwapped)
-			: base(btSoftRigidCollisionAlgorithm_new(mf._native, ci.Native, col0.Native,
+			: base(btSoftRigidCollisionAlgorithm_new(mf.Native, ci.Native, col0.Native,
 				col1Wrap.Native, isSwapped))
 		{
 		}

BulletSharpPInvoke/SoftBody/SoftSoftCollisionAlgorithm.cs

@@ -37,7 +37,7 @@ namespace BulletSharp
 
 		public SoftSoftCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci,
 			CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap)
-			: base(btSoftSoftCollisionAlgorithm_new2(mf._native, ci.Native, body0Wrap.Native,
+			: base(btSoftSoftCollisionAlgorithm_new2(mf.Native, ci.Native, body0Wrap.Native,
 				body1Wrap.Native))
 		{
 		}

BulletSharpPInvoke/UnsafeNativeMethods.cs

@@ -1847,6 +1847,19 @@ namespace BulletSharp
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void btDynamicsWorld_synchronizeMotionStates(IntPtr obj);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btElement_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btElement_getId(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btElement_getSz(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btElement_setId(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btElement_setSz(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btElement_delete(IntPtr obj);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btEmptyAlgorithm_CreateFunc_new();
 
@@ -2221,6 +2234,14 @@ namespace BulletSharp
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void btGjkPairDetector_setPenetrationDepthSolver(IntPtr obj, IntPtr penetrationDepthSolver);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btHashedOverlappingPairCache_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btHashedOverlappingPairCache_GetCount(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btHashedOverlappingPairCache_needsBroadphaseCollision(IntPtr obj, IntPtr proxy0, IntPtr proxy1);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btHeightfieldTerrainShape_new(int heightStickWidth, int heightStickLength, IntPtr heightfieldData, float heightScale, float minHeight, float maxHeight, int upAxis, PhyScalarType heightDataType, bool flipQuadEdges);
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
@@ -2271,6 +2292,11 @@ namespace BulletSharp
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void btIndexedMesh_delete(IntPtr obj);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btInternalTriangleIndexCallbackWrapper_new(IntPtr internalProcessTriangleIndexCallback);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btInternalTriangleIndexCallback_delete(IntPtr obj);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern int btITaskScheduler_getMaxNumThreads(IntPtr obj);
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
@@ -2280,7 +2306,6 @@ namespace BulletSharp
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void btITaskScheduler_setNumThreads(IntPtr obj, int numThreads);
 
-
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btManifoldPoint_new();
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
@@ -2441,6 +2466,43 @@ namespace BulletSharp
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void btManifoldResult_setPersistentManifold(IntPtr obj, IntPtr manifoldPtr);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btMaterialProperties_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btMaterialProperties_getMaterialBase(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btMaterialProperties_getMaterialStride(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern PhyScalarType btMaterialProperties_getMaterialType(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btMaterialProperties_getNumMaterials(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btMaterialProperties_getNumTriangles(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btMaterialProperties_getTriangleMaterialsBase(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btMaterialProperties_getTriangleMaterialStride(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern PhyScalarType btMaterialProperties_getTriangleType(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btMaterialProperties_setMaterialBase(IntPtr obj, IntPtr value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btMaterialProperties_setMaterialStride(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btMaterialProperties_setMaterialType(IntPtr obj, PhyScalarType value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btMaterialProperties_setNumMaterials(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btMaterialProperties_setNumTriangles(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btMaterialProperties_setTriangleMaterialsBase(IntPtr obj, IntPtr value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btMaterialProperties_setTriangleMaterialStride(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btMaterialProperties_setTriangleType(IntPtr obj, PhyScalarType value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btMaterialProperties_delete(IntPtr obj);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btMinkowskiPenetrationDepthSolver_new();
 
@@ -2507,6 +2569,104 @@ namespace BulletSharp
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern float btMultiSphereShape_getSphereRadius(IntPtr obj, int index);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btNodeOverlapCallback_processNode(IntPtr obj, int subPart, int triangleIndex);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btNodeOverlapCallback_delete(IntPtr obj);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btNullPairCache_new();
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btOptimizedBvh_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOptimizedBvh_build(IntPtr obj, IntPtr triangles, bool useQuantizedAabbCompression, [In] ref Vector3 bvhAabbMin, [In] ref Vector3 bvhAabbMax);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btOptimizedBvh_deSerializeInPlace(IntPtr i_alignedDataBuffer, uint i_dataBufferSize, bool i_swapEndian);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOptimizedBvh_refit(IntPtr obj, IntPtr triangles, [In] ref Vector3 aabbMin, [In] ref Vector3 aabbMax);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOptimizedBvh_refitPartial(IntPtr obj, IntPtr triangles, [In] ref Vector3 aabbMin, [In] ref Vector3 aabbMax);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btOptimizedBvh_serializeInPlace(IntPtr obj, IntPtr o_alignedDataBuffer, uint i_dataBufferSize, bool i_swapEndian);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOptimizedBvh_updateBvhNodes(IntPtr obj, IntPtr meshInterface, int firstNode, int endNode, int index);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btOptimizedBvhNode_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOptimizedBvhNode_getAabbMaxOrg(IntPtr obj, out Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOptimizedBvhNode_getAabbMinOrg(IntPtr obj, out Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btOptimizedBvhNode_getEscapeIndex(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btOptimizedBvhNode_getSubPart(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btOptimizedBvhNode_getTriangleIndex(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOptimizedBvhNode_setAabbMaxOrg(IntPtr obj, [In] ref Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOptimizedBvhNode_setAabbMinOrg(IntPtr obj, [In] ref Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOptimizedBvhNode_setEscapeIndex(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOptimizedBvhNode_setSubPart(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOptimizedBvhNode_setTriangleIndex(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOptimizedBvhNode_delete(IntPtr obj);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btOverlapCallback_processOverlap(IntPtr obj, IntPtr pair);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOverlapCallback_delete(IntPtr obj);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btOverlapFilterCallback_needBroadphaseCollision(IntPtr obj, IntPtr proxy0, IntPtr proxy1);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOverlapFilterCallback_delete(IntPtr obj);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btOverlapFilterCallbackWrapper_new(IntPtr needBroadphaseCollision);
+
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOverlappingPairCache_cleanOverlappingPair(IntPtr obj, IntPtr pair, IntPtr dispatcher);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOverlappingPairCache_cleanProxyFromPairs(IntPtr obj, IntPtr proxy, IntPtr dispatcher);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btOverlappingPairCache_findPair(IntPtr obj, IntPtr proxy0, IntPtr proxy1);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btOverlappingPairCache_getNumOverlappingPairs(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btOverlappingPairCache_getOverlappingPairArray(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btOverlappingPairCache_getOverlappingPairArrayPtr(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btOverlappingPairCache_hasDeferredRemoval(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOverlappingPairCache_processAllOverlappingPairs(IntPtr obj, IntPtr __unnamed0, IntPtr dispatcher);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOverlappingPairCache_setInternalGhostPairCallback(IntPtr obj, IntPtr ghostPairCallback);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOverlappingPairCache_setOverlapFilterCallback(IntPtr obj, IntPtr callback);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOverlappingPairCache_sortOverlappingPairs(IntPtr obj, IntPtr dispatcher);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btOverlappingPairCallback_addOverlappingPair(IntPtr obj, IntPtr proxy0, IntPtr proxy1);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btOverlappingPairCallback_removeOverlappingPair(IntPtr obj, IntPtr proxy0, IntPtr proxy1, IntPtr dispatcher);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOverlappingPairCallback_removeOverlappingPairsContainingProxy(IntPtr obj, IntPtr proxy0, IntPtr dispatcher);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btOverlappingPairCallback_delete(IntPtr obj);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btPairCachingGhostObject_new();
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
@@ -2521,6 +2681,62 @@ namespace BulletSharp
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void btPairSet_delete(IntPtr obj);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btPersistentManifold_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btPersistentManifold_new2(IntPtr body0, IntPtr body1, int __unnamed2, float contactBreakingThreshold, float contactProcessingThreshold);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btPersistentManifold_addManifoldPoint(IntPtr obj, IntPtr newPoint, bool isPredictive);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btPersistentManifold_clearManifold(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btPersistentManifold_clearUserCache(IntPtr obj, IntPtr pt);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btPersistentManifold_getBody0(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btPersistentManifold_getBody1(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btPersistentManifold_getCacheEntry(IntPtr obj, IntPtr newPoint);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btPersistentManifold_getCompanionIdA(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btPersistentManifold_getCompanionIdB(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btPersistentManifold_getContactBreakingThreshold(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btPersistentManifold_getContactPoint(IntPtr obj, int index);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btPersistentManifold_getContactProcessingThreshold(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btPersistentManifold_getIndex1a(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btPersistentManifold_getNumContacts(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btPersistentManifold_refreshContactPoints(IntPtr obj, [In] ref Matrix trA, [In] ref Matrix trB);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btPersistentManifold_removeContactPoint(IntPtr obj, int index);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btPersistentManifold_replaceContactPoint(IntPtr obj, IntPtr newPoint, int insertIndex);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btPersistentManifold_setBodies(IntPtr obj, IntPtr body0, IntPtr body1);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btPersistentManifold_setCompanionIdA(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btPersistentManifold_setCompanionIdB(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btPersistentManifold_setContactBreakingThreshold(IntPtr obj, float contactBreakingThreshold);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btPersistentManifold_setContactProcessingThreshold(IntPtr obj, float contactProcessingThreshold);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btPersistentManifold_setIndex1a(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btPersistentManifold_setNumContacts(IntPtr obj, int cachedPoints);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btPersistentManifold_validContactDistance(IntPtr obj, IntPtr pt);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btPersistentManifold_delete(IntPtr obj);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btPointCollector_new();
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
@@ -2612,6 +2828,73 @@ namespace BulletSharp
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void btPrimitiveTriangle_delete(IntPtr obj);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btQuantizedBvh_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btQuantizedBvh_buildInternal(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern uint btQuantizedBvh_calculateSerializeBufferSize(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btQuantizedBvh_calculateSerializeBufferSizeNew(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btQuantizedBvh_deSerializeDouble(IntPtr obj, IntPtr quantizedBvhDoubleData);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btQuantizedBvh_deSerializeFloat(IntPtr obj, IntPtr quantizedBvhFloatData);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btQuantizedBvh_deSerializeInPlace(IntPtr i_alignedDataBuffer, uint i_dataBufferSize, bool i_swapEndian);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern uint btQuantizedBvh_getAlignmentSerializationPadding();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btQuantizedBvh_getLeafNodeArray(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btQuantizedBvh_getQuantizedNodeArray(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btQuantizedBvh_getSubtreeInfoArray(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btQuantizedBvh_isQuantized(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btQuantizedBvh_reportAabbOverlappingNodex(IntPtr obj, IntPtr nodeCallback, [In] ref Vector3 aabbMin, [In] ref Vector3 aabbMax);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btQuantizedBvh_reportBoxCastOverlappingNodex(IntPtr obj, IntPtr nodeCallback, [In] ref Vector3 raySource, [In] ref Vector3 rayTarget, [In] ref Vector3 aabbMin, [In] ref Vector3 aabbMax);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btQuantizedBvh_reportRayOverlappingNodex(IntPtr obj, IntPtr nodeCallback, [In] ref Vector3 raySource, [In] ref Vector3 rayTarget);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btQuantizedBvh_serialize(IntPtr obj, IntPtr o_alignedDataBuffer, uint i_dataBufferSize, bool i_swapEndian);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btQuantizedBvh_serialize2(IntPtr obj, IntPtr dataBuffer, IntPtr serializer);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btQuantizedBvh_setQuantizationValues(IntPtr obj, [In] ref Vector3 bvhAabbMin, [In] ref Vector3 bvhAabbMax, float quantizationMargin);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btQuantizedBvh_setTraversalMode(IntPtr obj, QuantizedBvh.TraversalMode traversalMode);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btQuantizedBvh_unQuantize(IntPtr obj, IntPtr vecIn, out Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btQuantizedBvh_delete(IntPtr obj);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btQuantizedBvhNode_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btQuantizedBvhNode_getEscapeIndex(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btQuantizedBvhNode_getEscapeIndexOrTriangleIndex(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btQuantizedBvhNode_getPartId(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btQuantizedBvhNode_getQuantizedAabbMax(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btQuantizedBvhNode_getQuantizedAabbMin(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btQuantizedBvhNode_getTriangleIndex(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btQuantizedBvhNode_isLeafNode(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btQuantizedBvhNode_setEscapeIndexOrTriangleIndex(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btQuantizedBvhNode_delete(IntPtr obj);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btQuantizedBvhTree_new();
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
@@ -2805,6 +3088,33 @@ namespace BulletSharp
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void btShapeHull_delete(IntPtr obj);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btSimulationIslandManager_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSimulationIslandManager_buildAndProcessIslands(IntPtr obj, IntPtr dispatcher, IntPtr collisionWorld, IntPtr callback);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSimulationIslandManager_buildIslands(IntPtr obj, IntPtr dispatcher, IntPtr colWorld);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSimulationIslandManager_findUnions(IntPtr obj, IntPtr dispatcher, IntPtr colWorld);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btSimulationIslandManager_getSplitIslands(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btSimulationIslandManager_getUnionFind(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSimulationIslandManager_initUnionFind(IntPtr obj, int n);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSimulationIslandManager_setSplitIslands(IntPtr obj, bool doSplitIslands);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSimulationIslandManager_storeIslandActivationState(IntPtr obj, IntPtr world);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSimulationIslandManager_updateActivationState(IntPtr obj, IntPtr colWorld, IntPtr dispatcher);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSimulationIslandManager_delete(IntPtr obj);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSimulationIslandManager_IslandCallback_delete(IntPtr obj);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btSoftBody_new(IntPtr worldInfo, int node_count, [In] Vector3[] x, [In] float[] m);
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
@@ -3963,6 +4273,14 @@ namespace BulletSharp
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btSoftSoftCollisionAlgorithm_new2(IntPtr mf, IntPtr ci, IntPtr body0Wrap, IntPtr body1Wrap);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btSortedOverlappingPairCache_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btSortedOverlappingPairCache_getOverlapFilterCallback(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btSortedOverlappingPairCache_needsBroadphaseCollision(IntPtr obj, IntPtr proxy0, IntPtr proxy1);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btSphereBoxCollisionAlgorithm_CreateFunc_new();
 
@@ -4017,6 +4335,77 @@ namespace BulletSharp
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void btStorageResult_setNormalOnSurfaceB(IntPtr obj, [In] ref Vector3 value);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btStridingMeshInterface_calculateAabbBruteForce(IntPtr obj, out Vector3 aabbMin, out Vector3 aabbMax);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btStridingMeshInterface_calculateSerializeBufferSize(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btStridingMeshInterface_getLockedReadOnlyVertexIndexBase(IntPtr obj, out IntPtr vertexbase, out int numverts, out PhyScalarType type, out int vertexStride, out IntPtr indexbase, out int indexstride, out int numfaces, out PhyScalarType indicestype, int subpart);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btStridingMeshInterface_getLockedVertexIndexBase(IntPtr obj, out IntPtr vertexbase, out int numverts, out PhyScalarType type, out int vertexStride, out IntPtr indexbase, out int indexstride, out int numfaces, out PhyScalarType indicestype, int subpart);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btStridingMeshInterface_getNumSubParts(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btStridingMeshInterface_getPremadeAabb(IntPtr obj, out Vector3 aabbMin, out Vector3 aabbMax);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btStridingMeshInterface_getScaling(IntPtr obj, out Vector3 scaling);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btStridingMeshInterface_hasPremadeAabb(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btStridingMeshInterface_InternalProcessAllTriangles(IntPtr obj, IntPtr callback, [In] ref Vector3 aabbMin, [In] ref Vector3 aabbMax);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btStridingMeshInterface_preallocateIndices(IntPtr obj, int numindices);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btStridingMeshInterface_preallocateVertices(IntPtr obj, int numverts);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btStridingMeshInterface_serialize(IntPtr obj, IntPtr dataBuffer, IntPtr serializer);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btStridingMeshInterface_setPremadeAabb(IntPtr obj, [In] ref Vector3 aabbMin, [In] ref Vector3 aabbMax);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btStridingMeshInterface_setScaling(IntPtr obj, [In] ref Vector3 scaling);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btStridingMeshInterface_unLockReadOnlyVertexBase(IntPtr obj, int subpart);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btStridingMeshInterface_unLockVertexBase(IntPtr obj, int subpart);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btStridingMeshInterface_delete(IntPtr obj);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btSubSimplexClosestResult_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btSubSimplexClosestResult_getBarycentricCoords(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSubSimplexClosestResult_getClosestPointOnSimplex(IntPtr obj, out Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btSubSimplexClosestResult_getDegenerate(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btSubSimplexClosestResult_getUsedVertices(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btSubSimplexClosestResult_isValid(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSubSimplexClosestResult_reset(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSubSimplexClosestResult_setBarycentricCoordinates(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSubSimplexClosestResult_setBarycentricCoordinates2(IntPtr obj, float a);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSubSimplexClosestResult_setBarycentricCoordinates3(IntPtr obj, float a, float b);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSubSimplexClosestResult_setBarycentricCoordinates4(IntPtr obj, float a, float b, float c);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSubSimplexClosestResult_setBarycentricCoordinates5(IntPtr obj, float a, float b, float c, float d);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSubSimplexClosestResult_setClosestPointOnSimplex(IntPtr obj, [In] ref Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSubSimplexClosestResult_setDegenerate(IntPtr obj, bool value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSubSimplexClosestResult_setUsedVertices(IntPtr obj, IntPtr value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btSubSimplexClosestResult_delete(IntPtr obj);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btTetrahedronShapeEx_new();
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
@@ -4033,6 +4422,94 @@ namespace BulletSharp
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void btThreads_btSetTaskScheduler(IntPtr taskScheduler);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btTriangleBuffer_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleBuffer_clearBuffer(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btTriangleBuffer_getNumTriangles(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btTriangleBuffer_getTriangle(IntPtr obj, int index);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btTriangleCallbackWrapper_new(IntPtr internalProcessTriangleIndexCallback);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleCallback_delete(IntPtr obj);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btTriangleIndexVertexArray_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btTriangleIndexVertexArray_new2(int numTriangles, IntPtr triangleIndexBase, int triangleIndexStride, int numVertices, IntPtr vertexBase, int vertexStride);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleIndexVertexArray_addIndexedMesh(IntPtr obj, IntPtr mesh, PhyScalarType indexType);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btTriangleIndexVertexArray_getIndexedMeshArray(IntPtr obj);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btTriangleIndexVertexMaterialArray_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btTriangleIndexVertexMaterialArray_new2(int numTriangles, IntPtr triangleIndexBase, int triangleIndexStride, int numVertices, IntPtr vertexBase, int vertexStride, int numMaterials, IntPtr materialBase, int materialStride, IntPtr triangleMaterialsBase, int materialIndexStride);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleIndexVertexMaterialArray_addMaterialProperties(IntPtr obj, IntPtr mat, PhyScalarType triangleType);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleIndexVertexMaterialArray_getLockedMaterialBase(IntPtr obj, out IntPtr materialBase, out int numMaterials, out PhyScalarType materialType, out int materialStride, out IntPtr triangleMaterialBase, out int numTriangles, out int triangleMaterialStride, out PhyScalarType triangleType, int subpart);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleIndexVertexMaterialArray_getLockedReadOnlyMaterialBase(IntPtr obj, out IntPtr materialBase, out int numMaterials, out PhyScalarType materialType, out int materialStride, out IntPtr triangleMaterialBase, out int numTriangles, out int triangleMaterialStride, out PhyScalarType triangleType, int subpart);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btTriangleInfoMap_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btTriangleInfoMap_calculateSerializeBufferSize(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btTriangleInfoMap_getConvexEpsilon(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btTriangleInfoMap_getEdgeDistanceThreshold(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btTriangleInfoMap_getEqualVertexThreshold(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btTriangleInfoMap_getMaxEdgeAngleThreshold(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btTriangleInfoMap_getPlanarEpsilon(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btTriangleInfoMap_getZeroAreaThreshold(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btTriangleInfoMap_serialize(IntPtr obj, IntPtr dataBuffer, IntPtr serializer);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleInfoMap_setConvexEpsilon(IntPtr obj, float value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleInfoMap_setEdgeDistanceThreshold(IntPtr obj, float value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleInfoMap_setEqualVertexThreshold(IntPtr obj, float value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleInfoMap_setMaxEdgeAngleThreshold(IntPtr obj, float value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleInfoMap_setPlanarEpsilon(IntPtr obj, float value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleInfoMap_setZeroAreaThreshold(IntPtr obj, float value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleInfoMap_delete(IntPtr obj);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btTriangleInfo_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btTriangleInfo_getEdgeV0V1Angle(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btTriangleInfo_getEdgeV1V2Angle(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btTriangleInfo_getEdgeV2V0Angle(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btTriangleInfo_getFlags(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleInfo_setEdgeV0V1Angle(IntPtr obj, float value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleInfo_setEdgeV1V2Angle(IntPtr obj, float value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleInfo_setEdgeV2V0Angle(IntPtr obj, float value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleInfo_setFlags(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleInfo_delete(IntPtr obj);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void btTriangleMeshShape_getLocalAabbMax(IntPtr obj, out Vector3 value);
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
@@ -4046,6 +4523,29 @@ namespace BulletSharp
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void btTriangleMeshShape_recalcLocalAabb(IntPtr obj);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btTriangleMesh_new(bool use32bitIndices, bool use4componentVertices);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleMesh_addIndex(IntPtr obj, int index);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleMesh_addTriangle(IntPtr obj, [In] ref Vector3 vertex0, [In] ref Vector3 vertex1, [In] ref Vector3 vertex2, bool removeDuplicateVertices);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleMesh_addTriangleIndices(IntPtr obj, int index1, int index2, int index3);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btTriangleMesh_findOrAddVertex(IntPtr obj, [In] ref Vector3 vertex, bool removeDuplicateVertices);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btTriangleMesh_getNumTriangles(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btTriangleMesh_getUse32bitIndices(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btTriangleMesh_getUse4componentVertices(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btTriangleMesh_getWeldingThreshold(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangleMesh_setWeldingThreshold(IntPtr obj, float value);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btTriangleShape_new();
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
@@ -4073,11 +4573,195 @@ namespace BulletSharp
 		[return: MarshalAs(UnmanagedType.I1)]
 		public static extern bool btTriangleShapeEx_overlap_test_conservative(IntPtr obj, IntPtr other);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btTriangle_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btTriangle_getPartId(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btTriangle_getTriangleIndex(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangle_getVertex0(IntPtr obj, out Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangle_getVertex1(IntPtr obj, out Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangle_getVertex2(IntPtr obj, out Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangle_setPartId(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangle_setTriangleIndex(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangle_setVertex0(IntPtr obj, [In] ref Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangle_setVertex1(IntPtr obj, [In] ref Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangle_setVertex2(IntPtr obj, [In] ref Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btTriangle_delete(IntPtr obj);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr btUniformScalingShape_new(IntPtr convexChildShape, float uniformScalingFactor);
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern float btUniformScalingShape_getUniformScalingFactor(IntPtr obj);
 
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btUnionFind_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUnionFind_allocate(IntPtr obj, int N);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btUnionFind_find(IntPtr obj, int p, int q);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btUnionFind_find2(IntPtr obj, int x);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUnionFind_Free(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btUnionFind_getElement(IntPtr obj, int index);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btUnionFind_getNumElements(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btUnionFind_isRoot(IntPtr obj, int x);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUnionFind_reset(IntPtr obj, int N);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUnionFind_sortIslands(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUnionFind_unite(IntPtr obj, int p, int q);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUnionFind_delete(IntPtr obj);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btUsageBitfield_getUnused1(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btUsageBitfield_getUnused2(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btUsageBitfield_getUnused3(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btUsageBitfield_getUnused4(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btUsageBitfield_getUsedVertexA(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btUsageBitfield_getUsedVertexB(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btUsageBitfield_getUsedVertexC(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btUsageBitfield_getUsedVertexD(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUsageBitfield_reset(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUsageBitfield_setUnused1(IntPtr obj, bool value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUsageBitfield_setUnused2(IntPtr obj, bool value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUsageBitfield_setUnused3(IntPtr obj, bool value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUsageBitfield_setUnused4(IntPtr obj, bool value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUsageBitfield_setUsedVertexA(IntPtr obj, bool value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUsageBitfield_setUsedVertexB(IntPtr obj, bool value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUsageBitfield_setUsedVertexC(IntPtr obj, bool value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btUsageBitfield_setUsedVertexD(IntPtr obj, bool value);
+
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btVoronoiSimplexSolver_new();
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_addVertex(IntPtr obj, [In] ref Vector3 w, [In] ref Vector3 p, [In] ref Vector3 q);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_backup_closest(IntPtr obj, out Vector3 v);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btVoronoiSimplexSolver_closest(IntPtr obj, out Vector3 v);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btVoronoiSimplexSolver_closestPtPointTetrahedron(IntPtr obj, [In] ref Vector3 p, [In] ref Vector3 a, [In] ref Vector3 b, [In] ref Vector3 c, [In] ref Vector3 d, IntPtr finalResult);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btVoronoiSimplexSolver_closestPtPointTriangle(IntPtr obj, [In] ref Vector3 p, [In] ref Vector3 a, [In] ref Vector3 b, [In] ref Vector3 c, IntPtr result);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_compute_points(IntPtr obj, out Vector3 p1, out Vector3 p2);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btVoronoiSimplexSolver_emptySimplex(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btVoronoiSimplexSolver_fullSimplex(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btVoronoiSimplexSolver_getCachedBC(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_getCachedP1(IntPtr obj, out Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_getCachedP2(IntPtr obj, out Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_getCachedV(IntPtr obj, out Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btVoronoiSimplexSolver_getCachedValidClosest(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btVoronoiSimplexSolver_getEqualVertexThreshold(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_getLastW(IntPtr obj, out Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btVoronoiSimplexSolver_getNeedsUpdate(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btVoronoiSimplexSolver_getNumVertices(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btVoronoiSimplexSolver_getSimplex(IntPtr obj, Vector3[] pBuf, Vector3[] qBuf, Vector3[] yBuf);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btVoronoiSimplexSolver_getSimplexPointsP(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btVoronoiSimplexSolver_getSimplexPointsQ(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern IntPtr btVoronoiSimplexSolver_getSimplexVectorW(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btVoronoiSimplexSolver_inSimplex(IntPtr obj, [In] ref Vector3 w);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern float btVoronoiSimplexSolver_maxVertex(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btVoronoiSimplexSolver_numVertices(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern int btVoronoiSimplexSolver_pointOutsideOfPlane(IntPtr obj, [In] ref Vector3 p, [In] ref Vector3 a, [In] ref Vector3 b, [In] ref Vector3 c, [In] ref Vector3 d);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_reduceVertices(IntPtr obj, IntPtr usedVerts);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_removeVertex(IntPtr obj, int index);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_reset(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_setCachedBC(IntPtr obj, IntPtr value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_setCachedP1(IntPtr obj, [In] ref Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_setCachedP2(IntPtr obj, [In] ref Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_setCachedV(IntPtr obj, [In] ref Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_setCachedValidClosest(IntPtr obj, bool value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_setEqualVertexThreshold(IntPtr obj, float threshold);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_setLastW(IntPtr obj, [In] ref Vector3 value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_setNeedsUpdate(IntPtr obj, bool value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_setNumVertices(IntPtr obj, int value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		[return: MarshalAs(UnmanagedType.I1)]
+		public static extern bool btVoronoiSimplexSolver_updateClosestVectorAndPoints(IntPtr obj);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void btVoronoiSimplexSolver_delete(IntPtr obj);
+
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern IntPtr GIM_BVH_DATA_new();
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
@@ -4260,5 +4944,9 @@ namespace BulletSharp
 
 		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
 		public static extern void setGContactAddedCallback(IntPtr value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void setGContactDestroyedCallback(IntPtr value);
+		[DllImport(Native.Dll, CallingConvention = Native.Conv)]
+		public static extern void setGContactProcessedCallback(IntPtr value);
 	}
 }