Cleanup
This commit is contained in:
AndresTraks
Родитель
0ff0281b64
Коммит
6a1aa8ad76
|
|
@ -1,7 +1,7 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using BulletSharp.Math;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
|
|
@ -29,95 +29,95 @@ namespace BulletSharp
|
|||
: base(btConeTwistConstraint_new2(rigidBodyA.Native, ref rigidBodyAFrame))
|
||||
{
|
||||
_rigidBodyA = rigidBodyA;
|
||||
_rigidBodyB = GetFixedBody();
|
||||
_rigidBodyB = GetFixedBody();
|
||||
}
|
||||
|
||||
public void CalcAngleInfo()
|
||||
{
|
||||
btConeTwistConstraint_calcAngleInfo(_native);
|
||||
btConeTwistConstraint_calcAngleInfo(Native);
|
||||
}
|
||||
|
||||
public void CalcAngleInfo2Ref(ref Matrix transA, ref Matrix transB, ref Matrix invInertiaWorldA,
|
||||
Matrix invInertiaWorldB)
|
||||
{
|
||||
btConeTwistConstraint_calcAngleInfo2(_native, ref transA, ref transB,
|
||||
ref invInertiaWorldA, ref invInertiaWorldB);
|
||||
}
|
||||
public void CalcAngleInfo2Ref(ref Matrix transA, ref Matrix transB, ref Matrix invInertiaWorldA,
|
||||
Matrix invInertiaWorldB)
|
||||
{
|
||||
btConeTwistConstraint_calcAngleInfo2(Native, ref transA, ref transB,
|
||||
ref invInertiaWorldA, ref invInertiaWorldB);
|
||||
}
|
||||
|
||||
public void CalcAngleInfo2(Matrix transA, Matrix transB, Matrix invInertiaWorldA,
|
||||
Matrix invInertiaWorldB)
|
||||
{
|
||||
btConeTwistConstraint_calcAngleInfo2(_native, ref transA, ref transB,
|
||||
btConeTwistConstraint_calcAngleInfo2(Native, ref transA, ref transB,
|
||||
ref invInertiaWorldA, ref invInertiaWorldB);
|
||||
}
|
||||
|
||||
public void EnableMotor(bool b)
|
||||
{
|
||||
btConeTwistConstraint_enableMotor(_native, b);
|
||||
btConeTwistConstraint_enableMotor(Native, b);
|
||||
}
|
||||
|
||||
public void GetInfo2NonVirtualRef(ConstraintInfo2 info, ref Matrix transA, ref Matrix transB,
|
||||
Matrix invInertiaWorldA, Matrix invInertiaWorldB)
|
||||
{
|
||||
btConeTwistConstraint_getInfo2NonVirtual(_native, info._native, ref transA,
|
||||
ref transB, ref invInertiaWorldA, ref invInertiaWorldB);
|
||||
}
|
||||
public void GetInfo2NonVirtualRef(ConstraintInfo2 info, ref Matrix transA, ref Matrix transB,
|
||||
Matrix invInertiaWorldA, Matrix invInertiaWorldB)
|
||||
{
|
||||
btConeTwistConstraint_getInfo2NonVirtual(Native, info._native, ref transA,
|
||||
ref transB, ref invInertiaWorldA, ref invInertiaWorldB);
|
||||
}
|
||||
|
||||
public void GetInfo2NonVirtual(ConstraintInfo2 info, Matrix transA, Matrix transB,
|
||||
Matrix invInertiaWorldA, Matrix invInertiaWorldB)
|
||||
{
|
||||
btConeTwistConstraint_getInfo2NonVirtual(_native, info._native, ref transA,
|
||||
btConeTwistConstraint_getInfo2NonVirtual(Native, info._native, ref transA,
|
||||
ref transB, ref invInertiaWorldA, ref invInertiaWorldB);
|
||||
}
|
||||
|
||||
public float GetLimit(int limitIndex)
|
||||
{
|
||||
return btConeTwistConstraint_getLimit(_native, limitIndex);
|
||||
return btConeTwistConstraint_getLimit(Native, limitIndex);
|
||||
}
|
||||
|
||||
public Vector3 GetPointForAngle(float fAngleInRadians, float fLength)
|
||||
{
|
||||
Vector3 value;
|
||||
btConeTwistConstraint_GetPointForAngle(_native, fAngleInRadians, fLength,
|
||||
btConeTwistConstraint_GetPointForAngle(Native, fAngleInRadians, fLength,
|
||||
out value);
|
||||
return value;
|
||||
}
|
||||
|
||||
public void SetFramesRef(ref Matrix frameA, ref Matrix frameB)
|
||||
{
|
||||
btConeTwistConstraint_setFrames(_native, ref frameA, ref frameB);
|
||||
}
|
||||
public void SetFramesRef(ref Matrix frameA, ref Matrix frameB)
|
||||
{
|
||||
btConeTwistConstraint_setFrames(Native, ref frameA, ref frameB);
|
||||
}
|
||||
|
||||
public void SetFrames(Matrix frameA, Matrix frameB)
|
||||
{
|
||||
btConeTwistConstraint_setFrames(_native, ref frameA, ref frameB);
|
||||
btConeTwistConstraint_setFrames(Native, ref frameA, ref frameB);
|
||||
}
|
||||
|
||||
public void SetLimit(int limitIndex, float limitValue)
|
||||
{
|
||||
btConeTwistConstraint_setLimit(_native, limitIndex, limitValue);
|
||||
btConeTwistConstraint_setLimit(Native, limitIndex, limitValue);
|
||||
}
|
||||
|
||||
public void SetLimit(float swingSpan1, float swingSpan2, float twistSpan,
|
||||
float softness = 1.0f, float biasFactor = 0.3f, float relaxationFactor = 1.0f)
|
||||
{
|
||||
btConeTwistConstraint_setLimit2(_native, swingSpan1, swingSpan2, twistSpan,
|
||||
btConeTwistConstraint_setLimit2(Native, swingSpan1, swingSpan2, twistSpan,
|
||||
softness, biasFactor, relaxationFactor);
|
||||
}
|
||||
|
||||
public void SetMaxMotorImpulseNormalized(float maxMotorImpulse)
|
||||
{
|
||||
btConeTwistConstraint_setMaxMotorImpulseNormalized(_native, maxMotorImpulse);
|
||||
btConeTwistConstraint_setMaxMotorImpulseNormalized(Native, maxMotorImpulse);
|
||||
}
|
||||
|
||||
public void SetMotorTargetInConstraintSpace(Quaternion q)
|
||||
{
|
||||
btConeTwistConstraint_setMotorTargetInConstraintSpace(_native, ref q);
|
||||
btConeTwistConstraint_setMotorTargetInConstraintSpace(Native, ref q);
|
||||
}
|
||||
|
||||
public void UpdateRhs(float timeStep)
|
||||
{
|
||||
btConeTwistConstraint_updateRHS(_native, timeStep);
|
||||
btConeTwistConstraint_updateRHS(Native, timeStep);
|
||||
}
|
||||
|
||||
public Matrix AFrame
|
||||
|
|
@ -125,15 +125,15 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Matrix value;
|
||||
btConeTwistConstraint_getAFrame(_native, out value);
|
||||
btConeTwistConstraint_getAFrame(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
public bool AngularOnly
|
||||
{
|
||||
get { return btConeTwistConstraint_getAngularOnly(_native); }
|
||||
set { btConeTwistConstraint_setAngularOnly(_native, value); }
|
||||
get => btConeTwistConstraint_getAngularOnly(Native);
|
||||
set => btConeTwistConstraint_setAngularOnly(Native, value);
|
||||
}
|
||||
|
||||
public Matrix BFrame
|
||||
|
|
@ -141,39 +141,33 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Matrix value;
|
||||
btConeTwistConstraint_getBFrame(_native, out value);
|
||||
btConeTwistConstraint_getBFrame(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
public float BiasFactor
|
||||
{
|
||||
get { return btConeTwistConstraint_getBiasFactor(_native); }
|
||||
}
|
||||
public float BiasFactor => btConeTwistConstraint_getBiasFactor(Native);
|
||||
|
||||
public float Damping
|
||||
{
|
||||
get { return btConeTwistConstraint_getDamping(_native); }
|
||||
set { btConeTwistConstraint_setDamping(_native, value); }
|
||||
get => btConeTwistConstraint_getDamping(Native);
|
||||
set => btConeTwistConstraint_setDamping(Native, value);
|
||||
}
|
||||
|
||||
public float FixThresh
|
||||
{
|
||||
get { return btConeTwistConstraint_getFixThresh(_native); }
|
||||
set { btConeTwistConstraint_setFixThresh(_native, value); }
|
||||
get => btConeTwistConstraint_getFixThresh(Native);
|
||||
set => btConeTwistConstraint_setFixThresh(Native, value);
|
||||
}
|
||||
|
||||
public ConeTwistFlags Flags
|
||||
{
|
||||
get { return btConeTwistConstraint_getFlags(_native); }
|
||||
}
|
||||
public ConeTwistFlags Flags => btConeTwistConstraint_getFlags(Native);
|
||||
|
||||
public Matrix FrameOffsetA
|
||||
{
|
||||
get
|
||||
{
|
||||
Matrix value;
|
||||
btConeTwistConstraint_getFrameOffsetA(_native, out value);
|
||||
btConeTwistConstraint_getFrameOffsetA(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
|
@ -183,35 +177,22 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Matrix value;
|
||||
btConeTwistConstraint_getFrameOffsetB(_native, out value);
|
||||
btConeTwistConstraint_getFrameOffsetB(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
public bool IsMaxMotorImpulseNormalized
|
||||
{
|
||||
get { return btConeTwistConstraint_isMaxMotorImpulseNormalized(_native); }
|
||||
}
|
||||
public bool IsMaxMotorImpulseNormalized => btConeTwistConstraint_isMaxMotorImpulseNormalized(Native);
|
||||
|
||||
public bool IsMotorEnabled
|
||||
{
|
||||
get { return btConeTwistConstraint_isMotorEnabled(_native); }
|
||||
}
|
||||
public bool IsMotorEnabled => btConeTwistConstraint_isMotorEnabled(Native);
|
||||
|
||||
public bool IsPastSwingLimit
|
||||
{
|
||||
get { return btConeTwistConstraint_isPastSwingLimit(_native); }
|
||||
}
|
||||
public bool IsPastSwingLimit => btConeTwistConstraint_isPastSwingLimit(Native);
|
||||
|
||||
public float LimitSoftness
|
||||
{
|
||||
get { return btConeTwistConstraint_getLimitSoftness(_native); }
|
||||
}
|
||||
public float LimitSoftness => btConeTwistConstraint_getLimitSoftness(Native);
|
||||
|
||||
public float MaxMotorImpulse
|
||||
{
|
||||
get { return btConeTwistConstraint_getMaxMotorImpulse(_native); }
|
||||
set { btConeTwistConstraint_setMaxMotorImpulse(_native, value); }
|
||||
get => btConeTwistConstraint_getMaxMotorImpulse(Native); set => btConeTwistConstraint_setMaxMotorImpulse(Native, value);
|
||||
}
|
||||
|
||||
public Quaternion MotorTarget
|
||||
|
|
@ -219,159 +200,37 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Quaternion value;
|
||||
btConeTwistConstraint_getMotorTarget(_native, out value);
|
||||
btConeTwistConstraint_getMotorTarget(Native, out value);
|
||||
return value;
|
||||
}
|
||||
set { btConeTwistConstraint_setMotorTarget(_native, ref value); }
|
||||
set => btConeTwistConstraint_setMotorTarget(Native, ref value);
|
||||
}
|
||||
|
||||
public float RelaxationFactor
|
||||
{
|
||||
get { return btConeTwistConstraint_getRelaxationFactor(_native); }
|
||||
}
|
||||
|
||||
public int SolveSwingLimit
|
||||
{
|
||||
get { return btConeTwistConstraint_getSolveSwingLimit(_native); }
|
||||
}
|
||||
|
||||
public int SolveTwistLimit
|
||||
{
|
||||
get { return btConeTwistConstraint_getSolveTwistLimit(_native); }
|
||||
}
|
||||
|
||||
public float SwingSpan1
|
||||
{
|
||||
get { return btConeTwistConstraint_getSwingSpan1(_native); }
|
||||
}
|
||||
|
||||
public float SwingSpan2
|
||||
{
|
||||
get { return btConeTwistConstraint_getSwingSpan2(_native); }
|
||||
}
|
||||
|
||||
public float TwistAngle
|
||||
{
|
||||
get { return btConeTwistConstraint_getTwistAngle(_native); }
|
||||
}
|
||||
|
||||
public float TwistLimitSign
|
||||
{
|
||||
get { return btConeTwistConstraint_getTwistLimitSign(_native); }
|
||||
}
|
||||
|
||||
public float TwistSpan
|
||||
{
|
||||
get { return btConeTwistConstraint_getTwistSpan(_native); }
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btConeTwistConstraint_new(IntPtr rbA, IntPtr rbB, [In] ref Matrix rbAFrame, [In] ref Matrix rbBFrame);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btConeTwistConstraint_new2(IntPtr rbA, [In] ref Matrix rbAFrame);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_calcAngleInfo(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_calcAngleInfo2(IntPtr obj, [In] ref Matrix transA, [In] ref Matrix transB, [In] ref Matrix invInertiaWorldA, [In] ref Matrix invInertiaWorldB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_enableMotor(IntPtr obj, bool b);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_getAFrame(IntPtr obj, out Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btConeTwistConstraint_getAngularOnly(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_getBFrame(IntPtr obj, out Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConeTwistConstraint_getBiasFactor(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConeTwistConstraint_getDamping(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConeTwistConstraint_getFixThresh(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern ConeTwistFlags btConeTwistConstraint_getFlags(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_getFrameOffsetA(IntPtr obj, out Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_getFrameOffsetB(IntPtr obj, out Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_getInfo1NonVirtual(IntPtr obj, IntPtr info);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_getInfo2NonVirtual(IntPtr obj, IntPtr info, [In] ref Matrix transA, [In] ref Matrix transB, [In] ref Matrix invInertiaWorldA, [In] ref Matrix invInertiaWorldB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConeTwistConstraint_getLimit(IntPtr obj, int limitIndex);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConeTwistConstraint_getLimitSoftness(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConeTwistConstraint_getMaxMotorImpulse(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_getMotorTarget(IntPtr obj, out Quaternion q);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_GetPointForAngle(IntPtr obj, float fAngleInRadians, float fLength, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConeTwistConstraint_getRelaxationFactor(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btConeTwistConstraint_getSolveSwingLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btConeTwistConstraint_getSolveTwistLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConeTwistConstraint_getSwingSpan1(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConeTwistConstraint_getSwingSpan2(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConeTwistConstraint_getTwistAngle(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConeTwistConstraint_getTwistLimitSign(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConeTwistConstraint_getTwistSpan(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btConeTwistConstraint_isMaxMotorImpulseNormalized(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btConeTwistConstraint_isMotorEnabled(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btConeTwistConstraint_isPastSwingLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_setAngularOnly(IntPtr obj, bool angularOnly);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_setDamping(IntPtr obj, float damping);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_setFixThresh(IntPtr obj, float fixThresh);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_setFrames(IntPtr obj, [In] ref Matrix frameA, [In] ref Matrix frameB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_setLimit(IntPtr obj, int limitIndex, float limitValue);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_setLimit2(IntPtr obj, float _swingSpan1, float _swingSpan2, float _twistSpan, float _softness, float _biasFactor, float _relaxationFactor);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_setMaxMotorImpulse(IntPtr obj, float maxMotorImpulse);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_setMaxMotorImpulseNormalized(IntPtr obj, float maxMotorImpulse);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_setMotorTarget(IntPtr obj, [In] ref Quaternion q);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_setMotorTargetInConstraintSpace(IntPtr obj, [In] ref Quaternion q);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConeTwistConstraint_updateRHS(IntPtr obj, float timeStep);
|
||||
public float RelaxationFactor => btConeTwistConstraint_getRelaxationFactor(Native);
|
||||
public int SolveSwingLimit => btConeTwistConstraint_getSolveSwingLimit(Native);
|
||||
public int SolveTwistLimit => btConeTwistConstraint_getSolveTwistLimit(Native);
|
||||
public float SwingSpan1 => btConeTwistConstraint_getSwingSpan1(Native);
|
||||
public float SwingSpan2 => btConeTwistConstraint_getSwingSpan2(Native);
|
||||
public float TwistAngle => btConeTwistConstraint_getTwistAngle(Native);
|
||||
public float TwistLimitSign => btConeTwistConstraint_getTwistLimitSign(Native);
|
||||
public float TwistSpan => btConeTwistConstraint_getTwistSpan(Native);
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal struct ConeTwistConstraintFloatData
|
||||
{
|
||||
public TypedConstraintFloatData TypedConstraintData;
|
||||
public TransformFloatData RigidBodyAFrame;
|
||||
public TransformFloatData RigidBodyBFrame;
|
||||
public float SwingSpan1;
|
||||
public float SwingSpan2;
|
||||
public float TwistSpan;
|
||||
public float LimitSoftness;
|
||||
public float BiasFactor;
|
||||
public float RelaxationFactor;
|
||||
public float Damping;
|
||||
public int Pad;
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal struct ConeTwistConstraintFloatData
|
||||
{
|
||||
public TypedConstraintFloatData TypedConstraintData;
|
||||
public TransformFloatData RigidBodyAFrame;
|
||||
public TransformFloatData RigidBodyBFrame;
|
||||
public float SwingSpan1;
|
||||
public float SwingSpan2;
|
||||
public float TwistSpan;
|
||||
public float LimitSoftness;
|
||||
public float BiasFactor;
|
||||
public float RelaxationFactor;
|
||||
public float Damping;
|
||||
public int Pad;
|
||||
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(ConeTwistConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(ConeTwistConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,55 +1,51 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
public enum ConstraintSolverType
|
||||
{
|
||||
SequentialImpulse = 1,
|
||||
Mlcp = 2,
|
||||
Nncg = 4
|
||||
SequentialImpulse = 1,
|
||||
Mlcp = 2,
|
||||
Nncg = 4
|
||||
}
|
||||
|
||||
public abstract class ConstraintSolver : IDisposable
|
||||
{
|
||||
internal IntPtr _native;
|
||||
bool _preventDelete;
|
||||
internal IntPtr Native;
|
||||
private bool _preventDelete;
|
||||
|
||||
internal ConstraintSolver(IntPtr native, bool preventDelete)
|
||||
{
|
||||
_native = native;
|
||||
Native = native;
|
||||
_preventDelete = preventDelete;
|
||||
}
|
||||
|
||||
public void AllSolved(ContactSolverInfo __unnamed0, IDebugDraw __unnamed1)
|
||||
{
|
||||
btConstraintSolver_allSolved(_native, __unnamed0._native, DebugDraw.GetUnmanaged(__unnamed1));
|
||||
btConstraintSolver_allSolved(Native, __unnamed0.Native, DebugDraw.GetUnmanaged(__unnamed1));
|
||||
}
|
||||
|
||||
public void PrepareSolve(int __unnamed0, int __unnamed1)
|
||||
{
|
||||
btConstraintSolver_prepareSolve(_native, __unnamed0, __unnamed1);
|
||||
btConstraintSolver_prepareSolve(Native, __unnamed0, __unnamed1);
|
||||
}
|
||||
|
||||
public void Reset()
|
||||
{
|
||||
btConstraintSolver_reset(_native);
|
||||
btConstraintSolver_reset(Native);
|
||||
}
|
||||
/*
|
||||
/*
|
||||
public float SolveGroup(CollisionObject bodies, int numBodies, PersistentManifold manifold,
|
||||
int numManifolds, TypedConstraint constraints, int numConstraints, ContactSolverInfo info,
|
||||
IDebugDraw debugDrawer, Dispatcher dispatcher)
|
||||
{
|
||||
return btConstraintSolver_solveGroup(_native, bodies._native, numBodies,
|
||||
return btConstraintSolver_solveGroup(Native, bodies._native, numBodies,
|
||||
manifold._native, numManifolds, constraints._native, numConstraints,
|
||||
info._native, DebugDraw.GetUnmanaged(debugDrawer), dispatcher._native);
|
||||
}
|
||||
*/
|
||||
public ConstraintSolverType SolverType
|
||||
{
|
||||
get { return btConstraintSolver_getSolverType(_native); }
|
||||
}
|
||||
*/
|
||||
public ConstraintSolverType SolverType => btConstraintSolver_getSolverType(Native);
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
|
|
@ -59,13 +55,13 @@ namespace BulletSharp
|
|||
|
||||
protected virtual void Dispose(bool disposing)
|
||||
{
|
||||
if (_native != IntPtr.Zero)
|
||||
if (Native != IntPtr.Zero)
|
||||
{
|
||||
if (!_preventDelete)
|
||||
{
|
||||
btConstraintSolver_delete(_native);
|
||||
btConstraintSolver_delete(Native);
|
||||
}
|
||||
_native = IntPtr.Zero;
|
||||
Native = IntPtr.Zero;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -73,18 +69,5 @@ namespace BulletSharp
|
|||
{
|
||||
Dispose(false);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConstraintSolver_allSolved(IntPtr obj, IntPtr __unnamed0, IntPtr __unnamed1);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern ConstraintSolverType btConstraintSolver_getSolverType(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConstraintSolver_prepareSolve(IntPtr obj, int __unnamed0, int __unnamed1);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConstraintSolver_reset(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConstraintSolver_solveGroup(IntPtr obj, IntPtr bodies, int numBodies, IntPtr manifold, int numManifolds, IntPtr constraints, int numConstraints, IntPtr info, IntPtr debugDrawer, IntPtr dispatcher);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConstraintSolver_delete(IntPtr obj);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,16 +1,15 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
[Flags]
|
||||
public enum SolverModes
|
||||
public enum SolverModes
|
||||
{
|
||||
None = 0,
|
||||
RandomizeOrder = 1,
|
||||
RandomizeOrder = 1,
|
||||
FrictionSeparate = 2,
|
||||
UseWarmStarting = 4,
|
||||
UseWarmStarting = 4,
|
||||
Use2FrictionDirections = 16,
|
||||
EnableFrictionDirectionCaching = 32,
|
||||
DisableVelocityDependentFrictionDirection = 64,
|
||||
|
|
@ -22,156 +21,156 @@ namespace BulletSharp
|
|||
|
||||
public class ContactSolverInfoData : IDisposable
|
||||
{
|
||||
internal IntPtr _native;
|
||||
bool _preventDelete;
|
||||
internal IntPtr Native;
|
||||
private bool _preventDelete;
|
||||
|
||||
internal ContactSolverInfoData(IntPtr native, bool preventDelete)
|
||||
{
|
||||
_native = native;
|
||||
Native = native;
|
||||
_preventDelete = preventDelete;
|
||||
}
|
||||
|
||||
public ContactSolverInfoData()
|
||||
{
|
||||
_native = btContactSolverInfoData_new();
|
||||
Native = btContactSolverInfoData_new();
|
||||
}
|
||||
|
||||
public float Damping
|
||||
{
|
||||
get { return btContactSolverInfoData_getDamping(_native); }
|
||||
set { btContactSolverInfoData_setDamping(_native, value); }
|
||||
get => btContactSolverInfoData_getDamping(Native);
|
||||
set => btContactSolverInfoData_setDamping(Native, value);
|
||||
}
|
||||
|
||||
public float Erp
|
||||
{
|
||||
get { return btContactSolverInfoData_getErp(_native); }
|
||||
set { btContactSolverInfoData_setErp(_native, value); }
|
||||
get => btContactSolverInfoData_getErp(Native);
|
||||
set => btContactSolverInfoData_setErp(Native, value);
|
||||
}
|
||||
|
||||
public float Erp2
|
||||
{
|
||||
get { return btContactSolverInfoData_getErp2(_native); }
|
||||
set { btContactSolverInfoData_setErp2(_native, value); }
|
||||
get => btContactSolverInfoData_getErp2(Native);
|
||||
set => btContactSolverInfoData_setErp2(Native, value);
|
||||
}
|
||||
|
||||
public float Friction
|
||||
{
|
||||
get { return btContactSolverInfoData_getFriction(_native); }
|
||||
set { btContactSolverInfoData_setFriction(_native, value); }
|
||||
get => btContactSolverInfoData_getFriction(Native);
|
||||
set => btContactSolverInfoData_setFriction(Native, value);
|
||||
}
|
||||
|
||||
public float FrictionCfm
|
||||
{
|
||||
get { return btContactSolverInfoData_getFrictionCfm(_native); }
|
||||
set { btContactSolverInfoData_setFrictionCfm(_native, value); }
|
||||
get => btContactSolverInfoData_getFrictionCfm(Native);
|
||||
set => btContactSolverInfoData_setFrictionCfm(Native, value);
|
||||
}
|
||||
|
||||
public float FrictionErp
|
||||
{
|
||||
get { return btContactSolverInfoData_getFrictionErp(_native); }
|
||||
set { btContactSolverInfoData_setFrictionErp(_native, value); }
|
||||
get => btContactSolverInfoData_getFrictionErp(Native);
|
||||
set => btContactSolverInfoData_setFrictionErp(Native, value);
|
||||
}
|
||||
|
||||
public float GlobalCfm
|
||||
{
|
||||
get { return btContactSolverInfoData_getGlobalCfm(_native); }
|
||||
set { btContactSolverInfoData_setGlobalCfm(_native, value); }
|
||||
get => btContactSolverInfoData_getGlobalCfm(Native);
|
||||
set => btContactSolverInfoData_setGlobalCfm(Native, value);
|
||||
}
|
||||
|
||||
public float LinearSlop
|
||||
{
|
||||
get { return btContactSolverInfoData_getLinearSlop(_native); }
|
||||
set { btContactSolverInfoData_setLinearSlop(_native, value); }
|
||||
get => btContactSolverInfoData_getLinearSlop(Native);
|
||||
set => btContactSolverInfoData_setLinearSlop(Native, value);
|
||||
}
|
||||
|
||||
public float MaxErrorReduction
|
||||
{
|
||||
get { return btContactSolverInfoData_getMaxErrorReduction(_native); }
|
||||
set { btContactSolverInfoData_setMaxErrorReduction(_native, value); }
|
||||
get => btContactSolverInfoData_getMaxErrorReduction(Native);
|
||||
set => btContactSolverInfoData_setMaxErrorReduction(Native, value);
|
||||
}
|
||||
|
||||
public float MaxGyroscopicForce
|
||||
{
|
||||
get { return btContactSolverInfoData_getMaxGyroscopicForce(_native); }
|
||||
set { btContactSolverInfoData_setMaxGyroscopicForce(_native, value); }
|
||||
get => btContactSolverInfoData_getMaxGyroscopicForce(Native);
|
||||
set => btContactSolverInfoData_setMaxGyroscopicForce(Native, value);
|
||||
}
|
||||
|
||||
public int MinimumSolverBatchSize
|
||||
{
|
||||
get { return btContactSolverInfoData_getMinimumSolverBatchSize(_native); }
|
||||
set { btContactSolverInfoData_setMinimumSolverBatchSize(_native, value); }
|
||||
get => btContactSolverInfoData_getMinimumSolverBatchSize(Native);
|
||||
set => btContactSolverInfoData_setMinimumSolverBatchSize(Native, value);
|
||||
}
|
||||
|
||||
public int NumIterations
|
||||
{
|
||||
get { return btContactSolverInfoData_getNumIterations(_native); }
|
||||
set { btContactSolverInfoData_setNumIterations(_native, value); }
|
||||
get => btContactSolverInfoData_getNumIterations(Native);
|
||||
set => btContactSolverInfoData_setNumIterations(Native, value);
|
||||
}
|
||||
|
||||
public int RestingContactRestitutionThreshold
|
||||
{
|
||||
get { return btContactSolverInfoData_getRestingContactRestitutionThreshold(_native); }
|
||||
set { btContactSolverInfoData_setRestingContactRestitutionThreshold(_native, value); }
|
||||
get => btContactSolverInfoData_getRestingContactRestitutionThreshold(Native);
|
||||
set => btContactSolverInfoData_setRestingContactRestitutionThreshold(Native, value);
|
||||
}
|
||||
|
||||
public float Restitution
|
||||
{
|
||||
get { return btContactSolverInfoData_getRestitution(_native); }
|
||||
set { btContactSolverInfoData_setRestitution(_native, value); }
|
||||
get => btContactSolverInfoData_getRestitution(Native);
|
||||
set => btContactSolverInfoData_setRestitution(Native, value);
|
||||
}
|
||||
|
||||
public float SingleAxisRollingFrictionThreshold
|
||||
{
|
||||
get { return btContactSolverInfoData_getSingleAxisRollingFrictionThreshold(_native); }
|
||||
set { btContactSolverInfoData_setSingleAxisRollingFrictionThreshold(_native, value); }
|
||||
get => btContactSolverInfoData_getSingleAxisRollingFrictionThreshold(Native);
|
||||
set => btContactSolverInfoData_setSingleAxisRollingFrictionThreshold(Native, value);
|
||||
}
|
||||
|
||||
public SolverModes SolverMode
|
||||
public SolverModes SolverMode
|
||||
{
|
||||
get { return btContactSolverInfoData_getSolverMode(_native); }
|
||||
set { btContactSolverInfoData_setSolverMode(_native, value); }
|
||||
get => btContactSolverInfoData_getSolverMode(Native);
|
||||
set => btContactSolverInfoData_setSolverMode(Native, value);
|
||||
}
|
||||
|
||||
public float Sor
|
||||
{
|
||||
get { return btContactSolverInfoData_getSor(_native); }
|
||||
set { btContactSolverInfoData_setSor(_native, value); }
|
||||
get => btContactSolverInfoData_getSor(Native);
|
||||
set => btContactSolverInfoData_setSor(Native, value);
|
||||
}
|
||||
|
||||
public int SplitImpulse
|
||||
{
|
||||
get { return btContactSolverInfoData_getSplitImpulse(_native); }
|
||||
set { btContactSolverInfoData_setSplitImpulse(_native, value); }
|
||||
get => btContactSolverInfoData_getSplitImpulse(Native);
|
||||
set => btContactSolverInfoData_setSplitImpulse(Native, value);
|
||||
}
|
||||
|
||||
public float SplitImpulsePenetrationThreshold
|
||||
{
|
||||
get { return btContactSolverInfoData_getSplitImpulsePenetrationThreshold(_native); }
|
||||
set { btContactSolverInfoData_setSplitImpulsePenetrationThreshold(_native, value); }
|
||||
get => btContactSolverInfoData_getSplitImpulsePenetrationThreshold(Native);
|
||||
set => btContactSolverInfoData_setSplitImpulsePenetrationThreshold(Native, value);
|
||||
}
|
||||
|
||||
public float SplitImpulseTurnErp
|
||||
{
|
||||
get { return btContactSolverInfoData_getSplitImpulseTurnErp(_native); }
|
||||
set { btContactSolverInfoData_setSplitImpulseTurnErp(_native, value); }
|
||||
get => btContactSolverInfoData_getSplitImpulseTurnErp(Native);
|
||||
set => btContactSolverInfoData_setSplitImpulseTurnErp(Native, value);
|
||||
}
|
||||
|
||||
public float Tau
|
||||
{
|
||||
get { return btContactSolverInfoData_getTau(_native); }
|
||||
set { btContactSolverInfoData_setTau(_native, value); }
|
||||
get => btContactSolverInfoData_getTau(Native);
|
||||
set => btContactSolverInfoData_setTau(Native, value);
|
||||
}
|
||||
|
||||
public float TimeStep
|
||||
{
|
||||
get { return btContactSolverInfoData_getTimeStep(_native); }
|
||||
set { btContactSolverInfoData_setTimeStep(_native, value); }
|
||||
get => btContactSolverInfoData_getTimeStep(Native);
|
||||
set => btContactSolverInfoData_setTimeStep(Native, value);
|
||||
}
|
||||
|
||||
public float WarmStartingFactor
|
||||
{
|
||||
get { return btContactSolverInfoData_getWarmstartingFactor(_native); }
|
||||
set { btContactSolverInfoData_setWarmstartingFactor(_native, value); }
|
||||
get => btContactSolverInfoData_getWarmstartingFactor(Native);
|
||||
set => btContactSolverInfoData_setWarmstartingFactor(Native, value);
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
|
|
@ -182,13 +181,13 @@ namespace BulletSharp
|
|||
|
||||
protected virtual void Dispose(bool disposing)
|
||||
{
|
||||
if (_native != IntPtr.Zero)
|
||||
if (Native != IntPtr.Zero)
|
||||
{
|
||||
if (!_preventDelete)
|
||||
{
|
||||
btContactSolverInfoData_delete(_native);
|
||||
btContactSolverInfoData_delete(Native);
|
||||
}
|
||||
_native = IntPtr.Zero;
|
||||
Native = IntPtr.Zero;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -196,103 +195,6 @@ namespace BulletSharp
|
|||
{
|
||||
Dispose(false);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btContactSolverInfoData_new();
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getDamping(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getErp(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getErp2(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getFriction(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getFrictionCfm(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getFrictionErp(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getGlobalCfm(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getLinearSlop(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getMaxErrorReduction(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getMaxGyroscopicForce(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btContactSolverInfoData_getMinimumSolverBatchSize(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btContactSolverInfoData_getNumIterations(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btContactSolverInfoData_getRestingContactRestitutionThreshold(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getRestitution(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getSingleAxisRollingFrictionThreshold(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern SolverModes btContactSolverInfoData_getSolverMode(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getSor(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btContactSolverInfoData_getSplitImpulse(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getSplitImpulsePenetrationThreshold(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getSplitImpulseTurnErp(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getTau(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getTimeStep(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btContactSolverInfoData_getWarmstartingFactor(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setDamping(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setErp(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setErp2(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setFriction(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setFrictionCfm(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setFrictionErp(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setGlobalCfm(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setLinearSlop(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setMaxErrorReduction(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setMaxGyroscopicForce(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setMinimumSolverBatchSize(IntPtr obj, int value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setNumIterations(IntPtr obj, int value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setRestingContactRestitutionThreshold(IntPtr obj, int value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setRestitution(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setSingleAxisRollingFrictionThreshold(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setSolverMode(IntPtr obj, SolverModes value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setSor(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setSplitImpulse(IntPtr obj, int value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setSplitImpulsePenetrationThreshold(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setSplitImpulseTurnErp(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setTau(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setTimeStep(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_setWarmstartingFactor(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btContactSolverInfoData_delete(IntPtr obj);
|
||||
}
|
||||
|
||||
public class ContactSolverInfo : ContactSolverInfoData
|
||||
|
|
@ -306,8 +208,5 @@ namespace BulletSharp
|
|||
: base(btContactSolverInfo_new(), false)
|
||||
{
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btContactSolverInfo_new();
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,6 +1,5 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
|
|
@ -15,8 +14,5 @@ namespace BulletSharp
|
|||
: base(btDantzigSolver_new())
|
||||
{
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btDantzigSolver_new();
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -16,7 +16,7 @@ namespace BulletSharp
|
|||
public DiscreteDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache,
|
||||
ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
|
||||
: this(btDiscreteDynamicsWorld_new(dispatcher != null ? dispatcher.Native : IntPtr.Zero, pairCache != null ? pairCache.Native : IntPtr.Zero,
|
||||
constraintSolver != null ? constraintSolver._native : IntPtr.Zero, collisionConfiguration != null ? collisionConfiguration.Native : IntPtr.Zero),
|
||||
constraintSolver != null ? constraintSolver.Native : IntPtr.Zero, collisionConfiguration != null ? collisionConfiguration.Native : IntPtr.Zero),
|
||||
dispatcher, pairCache)
|
||||
{
|
||||
_constraintSolver = constraintSolver;
|
||||
|
|
@ -29,7 +29,7 @@ namespace BulletSharp
|
|||
|
||||
public void DebugDrawConstraint(TypedConstraint constraint)
|
||||
{
|
||||
btDiscreteDynamicsWorld_debugDrawConstraint(Native, constraint._native);
|
||||
btDiscreteDynamicsWorld_debugDrawConstraint(Native, constraint.Native);
|
||||
}
|
||||
|
||||
private unsafe void SerializeDynamicsWorldInfo(Serializer serializer)
|
||||
|
|
@ -94,7 +94,7 @@ namespace BulletSharp
|
|||
int len = constraint.CalculateSerializeBufferSize();
|
||||
Chunk chunk = serializer.Allocate((uint)len, 1);
|
||||
string structType = constraint.Serialize(chunk.OldPtr, serializer);
|
||||
serializer.FinalizeChunk(chunk, structType, DnaID.Constraint, constraint._native);
|
||||
serializer.FinalizeChunk(chunk, structType, DnaID.Constraint, constraint.Native);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -16,7 +16,7 @@ namespace BulletSharp
|
|||
public DiscreteDynamicsWorldMultiThreaded(Dispatcher dispatcher, BroadphaseInterface pairCache,
|
||||
ConstraintSolverPoolMultiThreaded constraintSolver, CollisionConfiguration collisionConfiguration)
|
||||
: base(btDiscreteDynamicsWorldMt_new(dispatcher != null ? dispatcher.Native : IntPtr.Zero,
|
||||
pairCache != null ? pairCache.Native : IntPtr.Zero, constraintSolver != null ? constraintSolver._native : IntPtr.Zero,
|
||||
pairCache != null ? pairCache.Native : IntPtr.Zero, constraintSolver != null ? constraintSolver.Native : IntPtr.Zero,
|
||||
collisionConfiguration != null ? collisionConfiguration.Native : IntPtr.Zero), dispatcher, pairCache)
|
||||
{
|
||||
}
|
||||
|
|
|
|||
|
|
@ -57,7 +57,7 @@ namespace BulletSharp
|
|||
public void AddConstraint(TypedConstraint constraint, bool disableCollisionsBetweenLinkedBodies = false)
|
||||
{
|
||||
_constraints.Add(constraint);
|
||||
btDynamicsWorld_addConstraint(Native, constraint._native, disableCollisionsBetweenLinkedBodies);
|
||||
btDynamicsWorld_addConstraint(Native, constraint.Native, disableCollisionsBetweenLinkedBodies);
|
||||
|
||||
if (disableCollisionsBetweenLinkedBodies)
|
||||
{
|
||||
|
|
@ -99,7 +99,7 @@ namespace BulletSharp
|
|||
|
||||
public TypedConstraint GetConstraint(int index)
|
||||
{
|
||||
System.Diagnostics.Debug.Assert(btDynamicsWorld_getConstraint(Native, index) == _constraints[index]._native);
|
||||
System.Diagnostics.Debug.Assert(btDynamicsWorld_getConstraint(Native, index) == _constraints[index].Native);
|
||||
return _constraints[index];
|
||||
}
|
||||
|
||||
|
|
@ -142,7 +142,7 @@ namespace BulletSharp
|
|||
int lastIndex = _constraints.Count - 1;
|
||||
_constraints[itemIndex] = _constraints[lastIndex];
|
||||
_constraints.RemoveAt(lastIndex);
|
||||
btDynamicsWorld_removeConstraint(Native, constraint._native);
|
||||
btDynamicsWorld_removeConstraint(Native, constraint.Native);
|
||||
}
|
||||
|
||||
public void RemoveRigidBody(RigidBody body)
|
||||
|
|
@ -247,7 +247,7 @@ namespace BulletSharp
|
|||
set
|
||||
{
|
||||
_constraintSolver = value;
|
||||
btDynamicsWorld_setConstraintSolver(Native, value._native);
|
||||
btDynamicsWorld_setConstraintSolver(Native, value.Native);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -29,11 +29,11 @@ namespace BulletSharp
|
|||
debugDrawer._native, dispatcher._native);
|
||||
}
|
||||
*/
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[DllImport(BulletSharp.Native.Dll, CallingConvention = BulletSharp.Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btMultiBodyConstraintSolver_new();
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[DllImport(BulletSharp.Native.Dll, CallingConvention = BulletSharp.Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btMultiBodyConstraintSolver_solveGroupCacheFriendlyFinish(IntPtr obj, IntPtr bodies, int numBodies, IntPtr infoGlobal);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[DllImport(BulletSharp.Native.Dll, CallingConvention = BulletSharp.Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btMultiBodyConstraintSolver_solveMultiBodyGroup(IntPtr obj, IntPtr bodies, int numBodies, IntPtr manifold, int numManifolds, IntPtr constraints, int numConstraints, IntPtr multiBodyConstraints, int numMultiBodyConstraints, IntPtr info, IntPtr debugDrawer, IntPtr dispatcher);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -11,7 +11,7 @@ namespace BulletSharp
|
|||
public MultiBodyDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache,
|
||||
MultiBodyConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
|
||||
: base(btMultiBodyDynamicsWorld_new(dispatcher.Native, pairCache.Native,
|
||||
constraintSolver._native, collisionConfiguration.Native), dispatcher, pairCache)
|
||||
constraintSolver.Native, collisionConfiguration.Native), dispatcher, pairCache)
|
||||
{
|
||||
_constraintSolver = constraintSolver;
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,5 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using BulletSharp.Math;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
|
|
@ -15,8 +13,5 @@ namespace BulletSharp
|
|||
_rigidBodyA = rigidBodyA;
|
||||
_rigidBodyB = rigidBodyB;
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btFixedConstraint_new(IntPtr rbA, IntPtr rbB, [In] ref Matrix frameInA, [In] ref Matrix frameInB);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,7 +1,6 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using BulletSharp.Math;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
|
|
@ -21,10 +20,10 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btGearConstraint_getAxisA(_native, out value);
|
||||
btGearConstraint_getAxisA(Native, out value);
|
||||
return value;
|
||||
}
|
||||
set { btGearConstraint_setAxisA(_native, ref value); }
|
||||
set => btGearConstraint_setAxisA(Native, ref value);
|
||||
}
|
||||
|
||||
public Vector3 AxisB
|
||||
|
|
@ -32,43 +31,28 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btGearConstraint_getAxisB(_native, out value);
|
||||
btGearConstraint_getAxisB(Native, out value);
|
||||
return value;
|
||||
}
|
||||
set { btGearConstraint_setAxisB(_native, ref value); }
|
||||
set => btGearConstraint_setAxisB(Native, ref value);
|
||||
}
|
||||
|
||||
public float Ratio
|
||||
{
|
||||
get { return btGearConstraint_getRatio(_native); }
|
||||
set { btGearConstraint_setRatio(_native, value); }
|
||||
get => btGearConstraint_getRatio(Native);
|
||||
set => btGearConstraint_setRatio(Native, value);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btGearConstraint_new(IntPtr rbA, IntPtr rbB, [In] ref Vector3 axisInA, [In] ref Vector3 axisInB, float ratio);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btGearConstraint_getAxisA(IntPtr obj, out Vector3 axisA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btGearConstraint_getAxisB(IntPtr obj, out Vector3 axisB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btGearConstraint_getRatio(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btGearConstraint_setAxisA(IntPtr obj, ref Vector3 axisA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btGearConstraint_setAxisB(IntPtr obj, ref Vector3 axisB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btGearConstraint_setRatio(IntPtr obj, float ratio);
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal struct GearConstraintFloatData
|
||||
{
|
||||
public TypedConstraintFloatData TypedConstraintData;
|
||||
public Vector3FloatData AxisInA;
|
||||
public Vector3FloatData AxisInB;
|
||||
public float Ratio;
|
||||
public int Padding;
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal struct GearConstraintFloatData
|
||||
{
|
||||
public TypedConstraintFloatData TypedConstraintData;
|
||||
public Vector3FloatData AxisInA;
|
||||
public Vector3FloatData AxisInB;
|
||||
public float Ratio;
|
||||
public int Padding;
|
||||
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(GearConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(GearConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Разница между файлами не показана из-за своего большого размера
Загрузить разницу
Разница между файлами не показана из-за своего большого размера
Загрузить разницу
|
|
@ -1,7 +1,6 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using BulletSharp.Math;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
|
|
@ -21,96 +20,70 @@ namespace BulletSharp
|
|||
: base(btGeneric6DofSpringConstraint_new2(rigidBodyB.Native, ref frameInB,
|
||||
useLinearReferenceFrameB))
|
||||
{
|
||||
_rigidBodyA = GetFixedBody();
|
||||
_rigidBodyA = GetFixedBody();
|
||||
_rigidBodyB = rigidBodyB;
|
||||
}
|
||||
|
||||
public void EnableSpring(int index, bool onOff)
|
||||
{
|
||||
btGeneric6DofSpringConstraint_enableSpring(_native, index, onOff);
|
||||
btGeneric6DofSpringConstraint_enableSpring(Native, index, onOff);
|
||||
}
|
||||
|
||||
public float GetDamping(int index)
|
||||
{
|
||||
return btGeneric6DofSpringConstraint_getDamping(_native, index);
|
||||
return btGeneric6DofSpringConstraint_getDamping(Native, index);
|
||||
}
|
||||
|
||||
public float GetEquilibriumPoint(int index)
|
||||
{
|
||||
return btGeneric6DofSpringConstraint_getEquilibriumPoint(_native, index);
|
||||
return btGeneric6DofSpringConstraint_getEquilibriumPoint(Native, index);
|
||||
}
|
||||
|
||||
public float GetStiffness(int index)
|
||||
{
|
||||
return btGeneric6DofSpringConstraint_getStiffness(_native, index);
|
||||
return btGeneric6DofSpringConstraint_getStiffness(Native, index);
|
||||
}
|
||||
|
||||
public bool IsSpringEnabled(int index)
|
||||
{
|
||||
return btGeneric6DofSpringConstraint_isSpringEnabled(_native, index);
|
||||
return btGeneric6DofSpringConstraint_isSpringEnabled(Native, index);
|
||||
}
|
||||
|
||||
public void SetDamping(int index, float damping)
|
||||
{
|
||||
btGeneric6DofSpringConstraint_setDamping(_native, index, damping);
|
||||
btGeneric6DofSpringConstraint_setDamping(Native, index, damping);
|
||||
}
|
||||
|
||||
public void SetEquilibriumPoint()
|
||||
{
|
||||
btGeneric6DofSpringConstraint_setEquilibriumPoint(_native);
|
||||
btGeneric6DofSpringConstraint_setEquilibriumPoint(Native);
|
||||
}
|
||||
|
||||
public void SetEquilibriumPoint(int index)
|
||||
{
|
||||
btGeneric6DofSpringConstraint_setEquilibriumPoint2(_native, index);
|
||||
btGeneric6DofSpringConstraint_setEquilibriumPoint2(Native, index);
|
||||
}
|
||||
|
||||
public void SetEquilibriumPoint(int index, float val)
|
||||
{
|
||||
btGeneric6DofSpringConstraint_setEquilibriumPoint3(_native, index, val);
|
||||
btGeneric6DofSpringConstraint_setEquilibriumPoint3(Native, index, val);
|
||||
}
|
||||
|
||||
public void SetStiffness(int index, float stiffness)
|
||||
{
|
||||
btGeneric6DofSpringConstraint_setStiffness(_native, index, stiffness);
|
||||
btGeneric6DofSpringConstraint_setStiffness(Native, index, stiffness);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btGeneric6DofSpringConstraint_new(IntPtr rbA, IntPtr rbB, [In] ref Matrix frameInA, [In] ref Matrix frameInB, bool useLinearReferenceFrameA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btGeneric6DofSpringConstraint_new2(IntPtr rbB, [In] ref Matrix frameInB, bool useLinearReferenceFrameB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btGeneric6DofSpringConstraint_enableSpring(IntPtr obj, int index, bool onOff);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btGeneric6DofSpringConstraint_getDamping(IntPtr obj, int index);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btGeneric6DofSpringConstraint_getEquilibriumPoint(IntPtr obj, int index);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btGeneric6DofSpringConstraint_getStiffness(IntPtr obj, int index);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btGeneric6DofSpringConstraint_isSpringEnabled(IntPtr obj, int index);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btGeneric6DofSpringConstraint_setDamping(IntPtr obj, int index, float damping);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btGeneric6DofSpringConstraint_setEquilibriumPoint(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btGeneric6DofSpringConstraint_setEquilibriumPoint2(IntPtr obj, int index);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btGeneric6DofSpringConstraint_setEquilibriumPoint3(IntPtr obj, int index, float val);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btGeneric6DofSpringConstraint_setStiffness(IntPtr obj, int index, float stiffness);
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal unsafe struct Generic6DofSpringConstraintFloatData
|
||||
{
|
||||
public Generic6DofConstraintFloatData SixDofData;
|
||||
public fixed int SpringEnabled[6];
|
||||
public fixed float EquilibriumPoint[6];
|
||||
public fixed float SpringStiffness[6];
|
||||
public fixed float SpringDamping[6];
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal unsafe struct Generic6DofSpringConstraintFloatData
|
||||
{
|
||||
public Generic6DofConstraintFloatData SixDofData;
|
||||
public fixed int SpringEnabled[6];
|
||||
public fixed float EquilibriumPoint[6];
|
||||
public fixed float SpringStiffness[6];
|
||||
public fixed float SpringDamping[6];
|
||||
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(Generic6DofSpringConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(Generic6DofSpringConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,7 +1,5 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using BulletSharp.Math;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
|
|
@ -18,12 +16,12 @@ namespace BulletSharp
|
|||
|
||||
public void SetLowerLimit(float ang1min)
|
||||
{
|
||||
btHinge2Constraint_setLowerLimit(_native, ang1min);
|
||||
btHinge2Constraint_setLowerLimit(Native, ang1min);
|
||||
}
|
||||
|
||||
public void SetUpperLimit(float ang1max)
|
||||
{
|
||||
btHinge2Constraint_setUpperLimit(_native, ang1max);
|
||||
btHinge2Constraint_setUpperLimit(Native, ang1max);
|
||||
}
|
||||
|
||||
public Vector3 Anchor
|
||||
|
|
@ -31,7 +29,7 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btHinge2Constraint_getAnchor(_native, out value);
|
||||
btHinge2Constraint_getAnchor(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
|
@ -41,27 +39,21 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btHinge2Constraint_getAnchor2(_native, out value);
|
||||
btHinge2Constraint_getAnchor2(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
public float Angle1
|
||||
{
|
||||
get { return btHinge2Constraint_getAngle1(_native); }
|
||||
}
|
||||
public float Angle1 => btHinge2Constraint_getAngle1(Native);
|
||||
|
||||
public float Angle2
|
||||
{
|
||||
get { return btHinge2Constraint_getAngle2(_native); }
|
||||
}
|
||||
public float Angle2 => btHinge2Constraint_getAngle2(Native);
|
||||
|
||||
public Vector3 Axis1
|
||||
{
|
||||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btHinge2Constraint_getAxis1(_native, out value);
|
||||
btHinge2Constraint_getAxis1(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
|
@ -71,28 +63,9 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btHinge2Constraint_getAxis2(_native, out value);
|
||||
btHinge2Constraint_getAxis2(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btHinge2Constraint_new(IntPtr rbA, IntPtr rbB, [In] ref Vector3 anchor, [In] ref Vector3 axis1, [In] ref Vector3 axis2);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHinge2Constraint_getAnchor(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHinge2Constraint_getAnchor2(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btHinge2Constraint_getAngle1(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btHinge2Constraint_getAngle2(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHinge2Constraint_getAxis1(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHinge2Constraint_getAxis2(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHinge2Constraint_setLowerLimit(IntPtr obj, float ang1min);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHinge2Constraint_setUpperLimit(IntPtr obj, float ang1max);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using BulletSharp.Math;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
|
|
@ -37,7 +37,7 @@ namespace BulletSharp
|
|||
useReferenceFrameA))
|
||||
{
|
||||
_rigidBodyA = rigidBodyA;
|
||||
_rigidBodyB = GetFixedBody();
|
||||
_rigidBodyB = GetFixedBody();
|
||||
}
|
||||
|
||||
public HingeConstraint(RigidBody rigidBodyA, RigidBody rigidBodyB, Matrix rigidBodyAFrame,
|
||||
|
|
@ -54,121 +54,121 @@ namespace BulletSharp
|
|||
useReferenceFrameA))
|
||||
{
|
||||
_rigidBodyA = rigidBodyA;
|
||||
_rigidBodyB = GetFixedBody();
|
||||
_rigidBodyB = GetFixedBody();
|
||||
}
|
||||
|
||||
public void EnableAngularMotor(bool enableMotor, float targetVelocity, float maxMotorImpulse)
|
||||
{
|
||||
btHingeConstraint_enableAngularMotor(_native, enableMotor, targetVelocity,
|
||||
btHingeConstraint_enableAngularMotor(Native, enableMotor, targetVelocity,
|
||||
maxMotorImpulse);
|
||||
}
|
||||
|
||||
public float GetHingeAngleRef(ref Matrix transA, ref Matrix transB)
|
||||
{
|
||||
return btHingeConstraint_getHingeAngle(_native, ref transA, ref transB);
|
||||
}
|
||||
public float GetHingeAngleRef(ref Matrix transA, ref Matrix transB)
|
||||
{
|
||||
return btHingeConstraint_getHingeAngle(Native, ref transA, ref transB);
|
||||
}
|
||||
|
||||
public float GetHingeAngle(Matrix transA, Matrix transB)
|
||||
{
|
||||
return btHingeConstraint_getHingeAngle(_native, ref transA, ref transB);
|
||||
return btHingeConstraint_getHingeAngle(Native, ref transA, ref transB);
|
||||
}
|
||||
|
||||
public void GetInfo1NonVirtual(ConstraintInfo1 info)
|
||||
{
|
||||
btHingeConstraint_getInfo1NonVirtual(_native, info._native);
|
||||
btHingeConstraint_getInfo1NonVirtual(Native, info._native);
|
||||
}
|
||||
|
||||
public void GetInfo2Internal(ConstraintInfo2 info, Matrix transA, Matrix transB,
|
||||
Vector3 angVelA, Vector3 angVelB)
|
||||
{
|
||||
btHingeConstraint_getInfo2Internal(_native, info._native, ref transA,
|
||||
btHingeConstraint_getInfo2Internal(Native, info._native, ref transA,
|
||||
ref transB, ref angVelA, ref angVelB);
|
||||
}
|
||||
|
||||
public void GetInfo2InternalUsingFrameOffset(ConstraintInfo2 info, Matrix transA,
|
||||
Matrix transB, Vector3 angVelA, Vector3 angVelB)
|
||||
{
|
||||
btHingeConstraint_getInfo2InternalUsingFrameOffset(_native, info._native,
|
||||
btHingeConstraint_getInfo2InternalUsingFrameOffset(Native, info._native,
|
||||
ref transA, ref transB, ref angVelA, ref angVelB);
|
||||
}
|
||||
|
||||
public void GetInfo2NonVirtual(ConstraintInfo2 info, Matrix transA, Matrix transB,
|
||||
Vector3 angVelA, Vector3 angVelB)
|
||||
{
|
||||
btHingeConstraint_getInfo2NonVirtual(_native, info._native, ref transA,
|
||||
btHingeConstraint_getInfo2NonVirtual(Native, info._native, ref transA,
|
||||
ref transB, ref angVelA, ref angVelB);
|
||||
}
|
||||
|
||||
public void SetAxisRef(ref Vector3 axisInA)
|
||||
{
|
||||
btHingeConstraint_setAxis(_native, ref axisInA);
|
||||
}
|
||||
public void SetAxisRef(ref Vector3 axisInA)
|
||||
{
|
||||
btHingeConstraint_setAxis(Native, ref axisInA);
|
||||
}
|
||||
|
||||
public void SetAxis(Vector3 axisInA)
|
||||
{
|
||||
btHingeConstraint_setAxis(_native, ref axisInA);
|
||||
btHingeConstraint_setAxis(Native, ref axisInA);
|
||||
}
|
||||
|
||||
public void SetFramesRef(ref Matrix frameA, ref Matrix frameB)
|
||||
{
|
||||
btHingeConstraint_setFrames(_native, ref frameA, ref frameB);
|
||||
}
|
||||
public void SetFramesRef(ref Matrix frameA, ref Matrix frameB)
|
||||
{
|
||||
btHingeConstraint_setFrames(Native, ref frameA, ref frameB);
|
||||
}
|
||||
|
||||
public void SetFrames(Matrix frameA, Matrix frameB)
|
||||
{
|
||||
btHingeConstraint_setFrames(_native, ref frameA, ref frameB);
|
||||
btHingeConstraint_setFrames(Native, ref frameA, ref frameB);
|
||||
}
|
||||
|
||||
public void SetLimit(float low, float high)
|
||||
{
|
||||
btHingeConstraint_setLimit(_native, low, high);
|
||||
btHingeConstraint_setLimit(Native, low, high);
|
||||
}
|
||||
|
||||
public void SetLimit(float low, float high, float softness)
|
||||
{
|
||||
btHingeConstraint_setLimit2(_native, low, high, softness);
|
||||
btHingeConstraint_setLimit2(Native, low, high, softness);
|
||||
}
|
||||
|
||||
public void SetLimit(float low, float high, float softness, float biasFactor)
|
||||
{
|
||||
btHingeConstraint_setLimit3(_native, low, high, softness, biasFactor);
|
||||
btHingeConstraint_setLimit3(Native, low, high, softness, biasFactor);
|
||||
}
|
||||
|
||||
public void SetLimit(float low, float high, float softness, float biasFactor,
|
||||
float relaxationFactor)
|
||||
{
|
||||
btHingeConstraint_setLimit4(_native, low, high, softness, biasFactor,
|
||||
btHingeConstraint_setLimit4(Native, low, high, softness, biasFactor,
|
||||
relaxationFactor);
|
||||
}
|
||||
|
||||
public void SetMotorTarget(float targetAngle, float deltaTime)
|
||||
{
|
||||
btHingeConstraint_setMotorTarget(_native, targetAngle, deltaTime);
|
||||
btHingeConstraint_setMotorTarget(Native, targetAngle, deltaTime);
|
||||
}
|
||||
|
||||
public void SetMotorTargetRef(ref Quaternion qAinB, float deltaTime)
|
||||
{
|
||||
btHingeConstraint_setMotorTarget2(_native, ref qAinB, deltaTime);
|
||||
}
|
||||
public void SetMotorTargetRef(ref Quaternion qAinB, float deltaTime)
|
||||
{
|
||||
btHingeConstraint_setMotorTarget2(Native, ref qAinB, deltaTime);
|
||||
}
|
||||
|
||||
public void SetMotorTarget(Quaternion qAinB, float deltaTime)
|
||||
{
|
||||
btHingeConstraint_setMotorTarget2(_native, ref qAinB, deltaTime);
|
||||
btHingeConstraint_setMotorTarget2(Native, ref qAinB, deltaTime);
|
||||
}
|
||||
|
||||
public void TestLimitRef(ref Matrix transA, ref Matrix transB)
|
||||
{
|
||||
btHingeConstraint_testLimit(_native, ref transA, ref transB);
|
||||
}
|
||||
public void TestLimitRef(ref Matrix transA, ref Matrix transB)
|
||||
{
|
||||
btHingeConstraint_testLimit(Native, ref transA, ref transB);
|
||||
}
|
||||
|
||||
public void TestLimit(Matrix transA, Matrix transB)
|
||||
{
|
||||
btHingeConstraint_testLimit(_native, ref transA, ref transB);
|
||||
btHingeConstraint_testLimit(Native, ref transA, ref transB);
|
||||
}
|
||||
|
||||
public void UpdateRhs(float timeStep)
|
||||
{
|
||||
btHingeConstraint_updateRHS(_native, timeStep);
|
||||
btHingeConstraint_updateRHS(Native, timeStep);
|
||||
}
|
||||
|
||||
public Matrix AFrame
|
||||
|
|
@ -176,15 +176,15 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Matrix value;
|
||||
btHingeConstraint_getAFrame(_native, out value);
|
||||
btHingeConstraint_getAFrame(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
public bool AngularOnly
|
||||
{
|
||||
get { return btHingeConstraint_getAngularOnly(_native); }
|
||||
set { btHingeConstraint_setAngularOnly(_native, value); }
|
||||
get => btHingeConstraint_getAngularOnly(Native);
|
||||
set => btHingeConstraint_setAngularOnly(Native, value);
|
||||
}
|
||||
|
||||
public Matrix BFrame
|
||||
|
|
@ -192,28 +192,25 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Matrix value;
|
||||
btHingeConstraint_getBFrame(_native, out value);
|
||||
btHingeConstraint_getBFrame(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
public bool EnableMotor
|
||||
public bool EnableMotor
|
||||
{
|
||||
get { return btHingeConstraint_getEnableAngularMotor(_native); }
|
||||
set { btHingeConstraint_enableMotor(_native, value); }
|
||||
get => btHingeConstraint_getEnableAngularMotor(Native);
|
||||
set => btHingeConstraint_enableMotor(Native, value);
|
||||
}
|
||||
|
||||
public HingeFlags Flags
|
||||
{
|
||||
get { return btHingeConstraint_getFlags(_native); }
|
||||
}
|
||||
public HingeFlags Flags => btHingeConstraint_getFlags(Native);
|
||||
|
||||
public Matrix FrameOffsetA
|
||||
{
|
||||
get
|
||||
{
|
||||
Matrix value;
|
||||
btHingeConstraint_getFrameOffsetA(_native, out value);
|
||||
btHingeConstraint_getFrameOffsetA(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
|
@ -223,176 +220,48 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Matrix value;
|
||||
btHingeConstraint_getFrameOffsetB(_native, out value);
|
||||
btHingeConstraint_getFrameOffsetB(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
public bool HasLimit
|
||||
{
|
||||
get { return btHingeConstraint_hasLimit(_native); }
|
||||
}
|
||||
public bool HasLimit => btHingeConstraint_hasLimit(Native);
|
||||
|
||||
public float HingeAngle
|
||||
{
|
||||
get { return btHingeConstraint_getHingeAngle2(_native); }
|
||||
}
|
||||
public float HingeAngle => btHingeConstraint_getHingeAngle2(Native);
|
||||
|
||||
public float LimitBiasFactor
|
||||
{
|
||||
get { return btHingeConstraint_getLimitBiasFactor(_native); }
|
||||
}
|
||||
public float LimitBiasFactor => btHingeConstraint_getLimitBiasFactor(Native);
|
||||
|
||||
public float LimitRelaxationFactor
|
||||
{
|
||||
get { return btHingeConstraint_getLimitRelaxationFactor(_native); }
|
||||
}
|
||||
public float LimitRelaxationFactor => btHingeConstraint_getLimitRelaxationFactor(Native);
|
||||
|
||||
public float LimitSign
|
||||
{
|
||||
get { return btHingeConstraint_getLimitSign(_native); }
|
||||
}
|
||||
public float LimitSign => btHingeConstraint_getLimitSign(Native);
|
||||
|
||||
public float LimitSoftness
|
||||
{
|
||||
get { return btHingeConstraint_getLimitSoftness(_native); }
|
||||
}
|
||||
public float LimitSoftness => btHingeConstraint_getLimitSoftness(Native);
|
||||
|
||||
public float LowerLimit
|
||||
{
|
||||
get { return btHingeConstraint_getLowerLimit(_native); }
|
||||
}
|
||||
public float LowerLimit => btHingeConstraint_getLowerLimit(Native);
|
||||
|
||||
public float MaxMotorImpulse
|
||||
{
|
||||
get { return btHingeConstraint_getMaxMotorImpulse(_native); }
|
||||
set { btHingeConstraint_setMaxMotorImpulse(_native, value); }
|
||||
get => btHingeConstraint_getMaxMotorImpulse(Native);
|
||||
set => btHingeConstraint_setMaxMotorImpulse(Native, value);
|
||||
}
|
||||
|
||||
public float MotorTargetVelocity
|
||||
{
|
||||
get { return btHingeConstraint_getMotorTargetVelocity(_native); }
|
||||
}
|
||||
public float MotorTargetVelocity => btHingeConstraint_getMotorTargetVelocity(Native);
|
||||
|
||||
public int SolveLimit
|
||||
{
|
||||
get { return btHingeConstraint_getSolveLimit(_native); }
|
||||
}
|
||||
public int SolveLimit => btHingeConstraint_getSolveLimit(Native);
|
||||
|
||||
public float UpperLimit
|
||||
{
|
||||
get { return btHingeConstraint_getUpperLimit(_native); }
|
||||
}
|
||||
public float UpperLimit => btHingeConstraint_getUpperLimit(Native);
|
||||
|
||||
public bool UseFrameOffset
|
||||
{
|
||||
get { return btHingeConstraint_getUseFrameOffset(_native); }
|
||||
set { btHingeConstraint_setUseFrameOffset(_native, value); }
|
||||
get => btHingeConstraint_getUseFrameOffset(Native);
|
||||
set => btHingeConstraint_setUseFrameOffset(Native, value);
|
||||
}
|
||||
|
||||
public bool UseReferenceFrameA
|
||||
{
|
||||
get { return btHingeConstraint_getUseReferenceFrameA(_native); }
|
||||
set { btHingeConstraint_setUseReferenceFrameA(_native, value); }
|
||||
get => btHingeConstraint_getUseReferenceFrameA(Native);
|
||||
set => btHingeConstraint_setUseReferenceFrameA(Native, value);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btHingeConstraint_new(IntPtr rbA, IntPtr rbB, [In] ref Vector3 pivotInA, [In] ref Vector3 pivotInB, [In] ref Vector3 axisInA, [In] ref Vector3 axisInB, bool useReferenceFrameA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btHingeConstraint_new2(IntPtr rbA, [In] ref Vector3 pivotInA, [In] ref Vector3 axisInA, bool useReferenceFrameA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btHingeConstraint_new3(IntPtr rbA, IntPtr rbB, [In] ref Matrix rbAFrame, [In] ref Matrix rbBFrame, bool useReferenceFrameA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btHingeConstraint_new4(IntPtr rbA, [In] ref Matrix rbAFrame, bool useReferenceFrameA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_enableAngularMotor(IntPtr obj, bool enableMotor, float targetVelocity, float maxMotorImpulse);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_enableMotor(IntPtr obj, bool enableMotor);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_getAFrame(IntPtr obj, out Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btHingeConstraint_getAngularOnly(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_getBFrame(IntPtr obj, out Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btHingeConstraint_getEnableAngularMotor(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern HingeFlags btHingeConstraint_getFlags(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_getFrameOffsetA(IntPtr obj, out Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_getFrameOffsetB(IntPtr obj, out Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btHingeConstraint_getHingeAngle(IntPtr obj, [In] ref Matrix transA, [In] ref Matrix transB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btHingeConstraint_getHingeAngle2(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_getInfo1NonVirtual(IntPtr obj, IntPtr info);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_getInfo2Internal(IntPtr obj, IntPtr info, [In] ref Matrix transA, [In] ref Matrix transB, [In] ref Vector3 angVelA, [In] ref Vector3 angVelB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_getInfo2InternalUsingFrameOffset(IntPtr obj, IntPtr info, [In] ref Matrix transA, [In] ref Matrix transB, [In] ref Vector3 angVelA, [In] ref Vector3 angVelB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_getInfo2NonVirtual(IntPtr obj, IntPtr info, [In] ref Matrix transA, [In] ref Matrix transB, [In] ref Vector3 angVelA, [In] ref Vector3 angVelB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btHingeConstraint_getLimitBiasFactor(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btHingeConstraint_getLimitRelaxationFactor(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btHingeConstraint_getLimitSign(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btHingeConstraint_getLimitSoftness(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btHingeConstraint_getLowerLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btHingeConstraint_getMaxMotorImpulse(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btHingeConstraint_getMotorTargetVelocity(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btHingeConstraint_getSolveLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btHingeConstraint_getUpperLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btHingeConstraint_getUseFrameOffset(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btHingeConstraint_getUseReferenceFrameA(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btHingeConstraint_hasLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_setAngularOnly(IntPtr obj, bool angularOnly);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_setAxis(IntPtr obj, [In] ref Vector3 axisInA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_setFrames(IntPtr obj, [In] ref Matrix frameA, [In] ref Matrix frameB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_setLimit(IntPtr obj, float low, float high);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_setLimit2(IntPtr obj, float low, float high, float _softness);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_setLimit3(IntPtr obj, float low, float high, float _softness, float _biasFactor);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_setLimit4(IntPtr obj, float low, float high, float _softness, float _biasFactor, float _relaxationFactor);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_setMaxMotorImpulse(IntPtr obj, float maxMotorImpulse);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_setMotorTarget(IntPtr obj, float targetAngle, float dt);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_setMotorTarget2(IntPtr obj, [In] ref Quaternion qAinB, float dt);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_setMotorTargetVelocity(IntPtr obj, float motorTargetVelocity);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_setUseFrameOffset(IntPtr obj, bool frameOffsetOnOff);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_setUseReferenceFrameA(IntPtr obj, bool useReferenceFrameA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_testLimit(IntPtr obj, [In] ref Matrix transA, [In] ref Matrix transB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeConstraint_updateRHS(IntPtr obj, float timeStep);
|
||||
}
|
||||
|
||||
public class HingeAccumulatedAngleConstraint : HingeConstraint
|
||||
|
|
@ -412,7 +281,7 @@ namespace BulletSharp
|
|||
ref axisInA, useReferenceFrameA))
|
||||
{
|
||||
_rigidBodyA = rigidBodyA;
|
||||
_rigidBodyB = GetFixedBody();
|
||||
_rigidBodyB = GetFixedBody();
|
||||
}
|
||||
|
||||
public HingeAccumulatedAngleConstraint(RigidBody rigidBodyA, RigidBody rigidBodyB,
|
||||
|
|
@ -430,46 +299,33 @@ namespace BulletSharp
|
|||
useReferenceFrameA))
|
||||
{
|
||||
_rigidBodyA = rigidBodyA;
|
||||
_rigidBodyB = GetFixedBody();
|
||||
_rigidBodyB = GetFixedBody();
|
||||
}
|
||||
|
||||
public float AccumulatedHingeAngle
|
||||
{
|
||||
get { return btHingeAccumulatedAngleConstraint_getAccumulatedHingeAngle(_native); }
|
||||
set { btHingeAccumulatedAngleConstraint_setAccumulatedHingeAngle(_native, value); }
|
||||
get => btHingeAccumulatedAngleConstraint_getAccumulatedHingeAngle(Native);
|
||||
set => btHingeAccumulatedAngleConstraint_setAccumulatedHingeAngle(Native, value);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btHingeAccumulatedAngleConstraint_new(IntPtr rbA, IntPtr rbB, [In] ref Vector3 pivotInA, [In] ref Vector3 pivotInB, [In] ref Vector3 axisInA, [In] ref Vector3 axisInB, bool useReferenceFrameA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btHingeAccumulatedAngleConstraint_new2(IntPtr rbA, [In] ref Vector3 pivotInA, [In] ref Vector3 axisInA, bool useReferenceFrameA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btHingeAccumulatedAngleConstraint_new3(IntPtr rbA, IntPtr rbB, [In] ref Matrix rbAFrame, [In] ref Matrix rbBFrame, bool useReferenceFrameA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btHingeAccumulatedAngleConstraint_new4(IntPtr rbA, [In] ref Matrix rbAFrame, bool useReferenceFrameA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btHingeAccumulatedAngleConstraint_getAccumulatedHingeAngle(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btHingeAccumulatedAngleConstraint_setAccumulatedHingeAngle(IntPtr obj, float accAngle);
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal struct HingeConstraintFloatData
|
||||
{
|
||||
public TypedConstraintFloatData TypedConstraintData;
|
||||
public TransformFloatData RigidBodyAFrame;
|
||||
public TransformFloatData RigidBodyBFrame;
|
||||
public int UseReferenceFrameA;
|
||||
public int AngularOnly;
|
||||
public int EnableAngularMotor;
|
||||
public float MotorTargetVelocity;
|
||||
public float MaxMotorImpulse;
|
||||
public float LowerLimit;
|
||||
public float UpperLimit;
|
||||
public float LimitSoftness;
|
||||
public float BiasFactor;
|
||||
public float RelaxationFactor;
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal struct HingeConstraintFloatData
|
||||
{
|
||||
public TypedConstraintFloatData TypedConstraintData;
|
||||
public TransformFloatData RigidBodyAFrame;
|
||||
public TransformFloatData RigidBodyBFrame;
|
||||
public int UseReferenceFrameA;
|
||||
public int AngularOnly;
|
||||
public int EnableAngularMotor;
|
||||
public float MotorTargetVelocity;
|
||||
public float MaxMotorImpulse;
|
||||
public float LowerLimit;
|
||||
public float UpperLimit;
|
||||
public float LimitSoftness;
|
||||
public float BiasFactor;
|
||||
public float RelaxationFactor;
|
||||
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(HingeConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(HingeConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,51 +1,52 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
public interface IAction
|
||||
{
|
||||
void DebugDraw(IDebugDraw debugDrawer);
|
||||
void UpdateAction(CollisionWorld collisionWorld, float deltaTimeStep);
|
||||
}
|
||||
public interface IAction
|
||||
{
|
||||
void DebugDraw(IDebugDraw debugDrawer);
|
||||
void UpdateAction(CollisionWorld collisionWorld, float deltaTimeStep);
|
||||
}
|
||||
|
||||
internal class ActionInterfaceWrapper : IDisposable
|
||||
internal class ActionInterfaceWrapper : IDisposable
|
||||
{
|
||||
internal IntPtr _native;
|
||||
IAction _actionInterface;
|
||||
DynamicsWorld _world;
|
||||
private IAction _actionInterface;
|
||||
private DynamicsWorld _world;
|
||||
|
||||
[UnmanagedFunctionPointerAttribute(Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
delegate void DebugDrawUnmanagedDelegate(IntPtr debugDrawer);
|
||||
[UnmanagedFunctionPointerAttribute(Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
delegate void UpdateActionUnmanagedDelegate(IntPtr collisionWorld, float deltaTimeStep);
|
||||
[UnmanagedFunctionPointer(Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
private delegate void DebugDrawUnmanagedDelegate(IntPtr debugDrawer);
|
||||
[UnmanagedFunctionPointer(Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
private delegate void UpdateActionUnmanagedDelegate(IntPtr collisionWorld, float deltaTimeStep);
|
||||
|
||||
DebugDrawUnmanagedDelegate _debugDraw;
|
||||
UpdateActionUnmanagedDelegate _updateAction;
|
||||
private DebugDrawUnmanagedDelegate _debugDraw;
|
||||
private UpdateActionUnmanagedDelegate _updateAction;
|
||||
|
||||
public ActionInterfaceWrapper(IAction actionInterface, DynamicsWorld world)
|
||||
{
|
||||
_actionInterface = actionInterface;
|
||||
_world = world;
|
||||
public ActionInterfaceWrapper(IAction actionInterface, DynamicsWorld world)
|
||||
{
|
||||
_actionInterface = actionInterface;
|
||||
_world = world;
|
||||
|
||||
_debugDraw = new DebugDrawUnmanagedDelegate(DebugDrawUnmanaged);
|
||||
_updateAction = new UpdateActionUnmanagedDelegate(UpdateActionUnmanaged);
|
||||
_debugDraw = new DebugDrawUnmanagedDelegate(DebugDrawUnmanaged);
|
||||
_updateAction = new UpdateActionUnmanagedDelegate(UpdateActionUnmanaged);
|
||||
|
||||
_native = btActionInterfaceWrapper_new(
|
||||
Marshal.GetFunctionPointerForDelegate(_debugDraw),
|
||||
Marshal.GetFunctionPointerForDelegate(_updateAction));
|
||||
}
|
||||
_native = btActionInterfaceWrapper_new(
|
||||
Marshal.GetFunctionPointerForDelegate(_debugDraw),
|
||||
Marshal.GetFunctionPointerForDelegate(_updateAction));
|
||||
}
|
||||
|
||||
private void DebugDrawUnmanaged(IntPtr debugDrawer)
|
||||
{
|
||||
_actionInterface.DebugDraw(DebugDraw.GetManaged(debugDrawer));
|
||||
}
|
||||
private void DebugDrawUnmanaged(IntPtr debugDrawer)
|
||||
{
|
||||
_actionInterface.DebugDraw(DebugDraw.GetManaged(debugDrawer));
|
||||
}
|
||||
|
||||
private void UpdateActionUnmanaged(IntPtr collisionWorld, float deltaTimeStep)
|
||||
{
|
||||
_actionInterface.UpdateAction(_world, deltaTimeStep);
|
||||
}
|
||||
private void UpdateActionUnmanaged(IntPtr collisionWorld, float deltaTimeStep)
|
||||
{
|
||||
_actionInterface.UpdateAction(_world, deltaTimeStep);
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
|
|
@ -66,10 +67,5 @@ namespace BulletSharp
|
|||
{
|
||||
Dispose(false);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btActionInterfaceWrapper_new(IntPtr debugDrawCallback, IntPtr updateActionCallback);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btActionInterface_delete(IntPtr obj);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,38 +1,27 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
public class MlcpSolver : SequentialImpulseConstraintSolver
|
||||
{
|
||||
private MlcpSolverInterface _mlcpSolver;
|
||||
private MlcpSolverInterface _mlcpSolver;
|
||||
|
||||
public MlcpSolver(MlcpSolverInterface solver)
|
||||
: base(btMLCPSolver_new(solver._native), false)
|
||||
: base(btMLCPSolver_new(solver.Native), false)
|
||||
{
|
||||
_mlcpSolver = solver;
|
||||
_mlcpSolver = solver;
|
||||
}
|
||||
|
||||
public void SetMLCPSolver(MlcpSolverInterface solver)
|
||||
{
|
||||
btMLCPSolver_setMLCPSolver(_native, solver._native);
|
||||
_mlcpSolver = solver;
|
||||
btMLCPSolver_setMLCPSolver(Native, solver.Native);
|
||||
_mlcpSolver = solver;
|
||||
}
|
||||
|
||||
public int NumFallbacks
|
||||
{
|
||||
get { return btMLCPSolver_getNumFallbacks(_native); }
|
||||
set { btMLCPSolver_setNumFallbacks(_native, value); }
|
||||
get => btMLCPSolver_getNumFallbacks(Native);
|
||||
set => btMLCPSolver_setNumFallbacks(Native, value);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btMLCPSolver_new(IntPtr solver);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btMLCPSolver_getNumFallbacks(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btMLCPSolver_setMLCPSolver(IntPtr obj, IntPtr solver);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btMLCPSolver_setNumFallbacks(IntPtr obj, int num);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,27 +1,26 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
public abstract class MlcpSolverInterface : IDisposable
|
||||
{
|
||||
internal IntPtr _native;
|
||||
internal IntPtr Native;
|
||||
|
||||
internal MlcpSolverInterface(IntPtr native)
|
||||
{
|
||||
_native = native;
|
||||
Native = native;
|
||||
}
|
||||
/*
|
||||
/*
|
||||
public bool SolveMLCP(btMatrixX<float> a, btVectorX<float> b, btVectorX<float> x,
|
||||
btVectorX<float> lo, btVectorX<float> hi, AlignedObjectArray<int> limitDependency,
|
||||
int numIterations, bool useSparsity = true)
|
||||
{
|
||||
return btMLCPSolverInterface_solveMLCP(_native, a._native, b._native,
|
||||
x._native, lo._native, hi._native, limitDependency._native, numIterations,
|
||||
return btMLCPSolverInterface_solveMLCP(Native, a.Native, b.Native,
|
||||
x.Native, lo.Native, hi.Native, limitDependency.Native, numIterations,
|
||||
useSparsity);
|
||||
}
|
||||
*/
|
||||
*/
|
||||
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)
|
||||
{
|
||||
btMLCPSolverInterface_delete(_native);
|
||||
_native = IntPtr.Zero;
|
||||
btMLCPSolverInterface_delete(Native);
|
||||
Native = IntPtr.Zero;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -41,11 +40,5 @@ namespace BulletSharp
|
|||
{
|
||||
Dispose(false);
|
||||
}
|
||||
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//[return: MarshalAs(UnmanagedType.I1)]
|
||||
//static extern bool btMLCPSolverInterface_solveMLCP(IntPtr obj, IntPtr A, IntPtr b, IntPtr x, IntPtr lo, IntPtr hi, IntPtr limitDependency, int numIterations, bool useSparsity);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btMLCPSolverInterface_delete(IntPtr obj);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,6 +1,4 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
|
|
@ -13,16 +11,8 @@ namespace BulletSharp
|
|||
|
||||
public bool OnlyForNoneContact
|
||||
{
|
||||
get { return btNNCGConstraintSolver_getOnlyForNoneContact(_native); }
|
||||
set { btNNCGConstraintSolver_setOnlyForNoneContact(_native, value); }
|
||||
get => btNNCGConstraintSolver_getOnlyForNoneContact(Native);
|
||||
set => btNNCGConstraintSolver_setOnlyForNoneContact(Native, value);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btNNCGConstraintSolver_new();
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btNNCGConstraintSolver_getOnlyForNoneContact(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btNNCGConstraintSolver_setOnlyForNoneContact(IntPtr obj, bool value);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using BulletSharp.Math;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
|
|
@ -15,47 +15,30 @@ namespace BulletSharp
|
|||
|
||||
public class ConstraintSetting
|
||||
{
|
||||
internal IntPtr _native;
|
||||
internal IntPtr Native;
|
||||
|
||||
internal ConstraintSetting(IntPtr native)
|
||||
{
|
||||
_native = native;
|
||||
Native = native;
|
||||
}
|
||||
|
||||
public float Damping
|
||||
{
|
||||
get { return btConstraintSetting_getDamping(_native); }
|
||||
set { btConstraintSetting_setDamping(_native, value); }
|
||||
get => btConstraintSetting_getDamping(Native);
|
||||
set => btConstraintSetting_setDamping(Native, value);
|
||||
}
|
||||
|
||||
public float ImpulseClamp
|
||||
{
|
||||
get { return btConstraintSetting_getImpulseClamp(_native); }
|
||||
set { btConstraintSetting_setImpulseClamp(_native, value); }
|
||||
get => btConstraintSetting_getImpulseClamp(Native);
|
||||
set => btConstraintSetting_setImpulseClamp(Native, value);
|
||||
}
|
||||
|
||||
public float Tau
|
||||
{
|
||||
get { return btConstraintSetting_getTau(_native); }
|
||||
set { btConstraintSetting_setTau(_native, value); }
|
||||
get => btConstraintSetting_getTau(Native);
|
||||
set => btConstraintSetting_setTau(Native, value);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btConstraintSetting_new();
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConstraintSetting_getDamping(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConstraintSetting_getImpulseClamp(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btConstraintSetting_getTau(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConstraintSetting_setDamping(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConstraintSetting_setImpulseClamp(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConstraintSetting_setTau(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btConstraintSetting_delete(IntPtr obj);
|
||||
}
|
||||
|
||||
public class Point2PointConstraint : TypedConstraint
|
||||
|
|
@ -73,39 +56,36 @@ namespace BulletSharp
|
|||
: base(btPoint2PointConstraint_new2(rigidBodyA.Native, ref pivotInA))
|
||||
{
|
||||
_rigidBodyA = rigidBodyA;
|
||||
_rigidBodyB = GetFixedBody();
|
||||
_rigidBodyB = GetFixedBody();
|
||||
}
|
||||
|
||||
public void GetInfo1NonVirtual(ConstraintInfo1 info)
|
||||
{
|
||||
btPoint2PointConstraint_getInfo1NonVirtual(_native, info._native);
|
||||
btPoint2PointConstraint_getInfo1NonVirtual(Native, info._native);
|
||||
}
|
||||
|
||||
public void GetInfo2NonVirtual(ConstraintInfo2 info, Matrix body0Trans, Matrix body1Trans)
|
||||
{
|
||||
btPoint2PointConstraint_getInfo2NonVirtual(_native, info._native, ref body0Trans,
|
||||
btPoint2PointConstraint_getInfo2NonVirtual(Native, info._native, ref body0Trans,
|
||||
ref body1Trans);
|
||||
}
|
||||
|
||||
public void UpdateRhs(float timeStep)
|
||||
{
|
||||
btPoint2PointConstraint_updateRHS(_native, timeStep);
|
||||
btPoint2PointConstraint_updateRHS(Native, timeStep);
|
||||
}
|
||||
|
||||
public Point2PointFlags Flags
|
||||
{
|
||||
get { return btPoint2PointConstraint_getFlags(_native); }
|
||||
}
|
||||
public Point2PointFlags Flags => btPoint2PointConstraint_getFlags(Native);
|
||||
|
||||
public Vector3 PivotInA
|
||||
{
|
||||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btPoint2PointConstraint_getPivotInA(_native, out value);
|
||||
btPoint2PointConstraint_getPivotInA(Native, out value);
|
||||
return value;
|
||||
}
|
||||
set { btPoint2PointConstraint_setPivotA(_native, ref value); }
|
||||
set => btPoint2PointConstraint_setPivotA(Native, ref value);
|
||||
}
|
||||
|
||||
public Vector3 PivotInB
|
||||
|
|
@ -113,59 +93,28 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btPoint2PointConstraint_getPivotInB(_native, out value);
|
||||
btPoint2PointConstraint_getPivotInB(Native, out value);
|
||||
return value;
|
||||
}
|
||||
set { btPoint2PointConstraint_setPivotB(_native, ref value); }
|
||||
set => btPoint2PointConstraint_setPivotB(Native, ref value);
|
||||
}
|
||||
|
||||
public ConstraintSetting Setting
|
||||
{
|
||||
get { return new ConstraintSetting(btPoint2PointConstraint_getSetting(_native)); }
|
||||
}
|
||||
public ConstraintSetting Setting => new ConstraintSetting(btPoint2PointConstraint_getSetting(Native));
|
||||
|
||||
public bool UseSolveConstraintObsolete
|
||||
{
|
||||
get { return btPoint2PointConstraint_getUseSolveConstraintObsolete(_native); }
|
||||
set { btPoint2PointConstraint_setUseSolveConstraintObsolete(_native, value); }
|
||||
get => btPoint2PointConstraint_getUseSolveConstraintObsolete(Native);
|
||||
set => btPoint2PointConstraint_setUseSolveConstraintObsolete(Native, value);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btPoint2PointConstraint_new(IntPtr rbA, IntPtr rbB, [In] ref Vector3 pivotInA, [In] ref Vector3 pivotInB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btPoint2PointConstraint_new2(IntPtr rbA, [In] ref Vector3 pivotInA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern Point2PointFlags btPoint2PointConstraint_getFlags(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btPoint2PointConstraint_getInfo1NonVirtual(IntPtr obj, IntPtr info);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btPoint2PointConstraint_getInfo2NonVirtual(IntPtr obj, IntPtr info, [In] ref Matrix body0_trans, [In] ref Matrix body1_trans);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btPoint2PointConstraint_getPivotInA(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btPoint2PointConstraint_getPivotInB(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btPoint2PointConstraint_getSetting(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btPoint2PointConstraint_getUseSolveConstraintObsolete(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btPoint2PointConstraint_setPivotA(IntPtr obj, [In] ref Vector3 pivotA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btPoint2PointConstraint_setPivotB(IntPtr obj, [In] ref Vector3 pivotB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btPoint2PointConstraint_setUseSolveConstraintObsolete(IntPtr obj, bool value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btPoint2PointConstraint_updateRHS(IntPtr obj, float timeStep);
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal struct Point2PointConstraintFloatData
|
||||
{
|
||||
public TypedConstraintFloatData TypedConstraintData;
|
||||
public Vector3FloatData PivotInA;
|
||||
public Vector3FloatData PivotInB;
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal struct Point2PointConstraintFloatData
|
||||
{
|
||||
public TypedConstraintFloatData TypedConstraintData;
|
||||
public Vector3FloatData PivotInA;
|
||||
public Vector3FloatData PivotInB;
|
||||
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(Point2PointConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(Point2PointConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -23,7 +23,7 @@ namespace BulletSharp
|
|||
internal List<TypedConstraint> _constraintRefs;
|
||||
|
||||
public RigidBody(RigidBodyConstructionInfo constructionInfo)
|
||||
: base(btRigidBody_new(constructionInfo._native))
|
||||
: base(btRigidBody_new(constructionInfo.Native))
|
||||
{
|
||||
_collisionShape = constructionInfo.CollisionShape;
|
||||
_motionState = constructionInfo.MotionState;
|
||||
|
|
@ -36,7 +36,7 @@ namespace BulletSharp
|
|||
_constraintRefs = new List<TypedConstraint>();
|
||||
}
|
||||
_constraintRefs.Add(constraint);
|
||||
btRigidBody_addConstraintRef(Native, constraint._native);
|
||||
btRigidBody_addConstraintRef(Native, constraint.Native);
|
||||
}
|
||||
|
||||
public void ApplyCentralForceRef(ref Vector3 force)
|
||||
|
|
@ -200,7 +200,7 @@ namespace BulletSharp
|
|||
if (_constraintRefs != null)
|
||||
{
|
||||
_constraintRefs.Remove(constraint);
|
||||
btRigidBody_removeConstraintRef(Native, constraint._native);
|
||||
btRigidBody_removeConstraintRef(Native, constraint.Native);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,13 +1,12 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using BulletSharp.Math;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
public class RigidBodyConstructionInfo : IDisposable
|
||||
{
|
||||
internal IntPtr _native;
|
||||
internal IntPtr Native;
|
||||
|
||||
private CollisionShape _collisionShape;
|
||||
private MotionState _motionState;
|
||||
|
|
@ -15,7 +14,7 @@ namespace BulletSharp
|
|||
public RigidBodyConstructionInfo(float mass, MotionState motionState,
|
||||
CollisionShape collisionShape)
|
||||
{
|
||||
_native = btRigidBody_btRigidBodyConstructionInfo_new(mass, motionState != null ? motionState._native : IntPtr.Zero,
|
||||
Native = btRigidBody_btRigidBodyConstructionInfo_new(mass, motionState != null ? motionState._native : IntPtr.Zero,
|
||||
collisionShape != null ? collisionShape.Native : IntPtr.Zero);
|
||||
_collisionShape = collisionShape;
|
||||
_motionState = motionState;
|
||||
|
|
@ -24,7 +23,7 @@ namespace BulletSharp
|
|||
public RigidBodyConstructionInfo(float mass, MotionState motionState,
|
||||
CollisionShape collisionShape, Vector3 localInertia)
|
||||
{
|
||||
_native = btRigidBody_btRigidBodyConstructionInfo_new2(mass, motionState != null ? motionState._native : IntPtr.Zero,
|
||||
Native = btRigidBody_btRigidBodyConstructionInfo_new2(mass, motionState != null ? motionState._native : IntPtr.Zero,
|
||||
collisionShape != null ? collisionShape.Native : IntPtr.Zero, ref localInertia);
|
||||
_collisionShape = collisionShape;
|
||||
_motionState = motionState;
|
||||
|
|
@ -32,72 +31,72 @@ namespace BulletSharp
|
|||
|
||||
public float AdditionalAngularDampingFactor
|
||||
{
|
||||
get { return btRigidBody_btRigidBodyConstructionInfo_getAdditionalAngularDampingFactor(_native); }
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setAdditionalAngularDampingFactor(_native, value); }
|
||||
get => btRigidBody_btRigidBodyConstructionInfo_getAdditionalAngularDampingFactor(Native);
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setAdditionalAngularDampingFactor(Native, value);
|
||||
}
|
||||
|
||||
public float AdditionalAngularDampingThresholdSqr
|
||||
{
|
||||
get { return btRigidBody_btRigidBodyConstructionInfo_getAdditionalAngularDampingThresholdSqr(_native); }
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setAdditionalAngularDampingThresholdSqr(_native, value); }
|
||||
get => btRigidBody_btRigidBodyConstructionInfo_getAdditionalAngularDampingThresholdSqr(Native);
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setAdditionalAngularDampingThresholdSqr(Native, value);
|
||||
}
|
||||
|
||||
public bool AdditionalDamping
|
||||
{
|
||||
get { return btRigidBody_btRigidBodyConstructionInfo_getAdditionalDamping(_native); }
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setAdditionalDamping(_native, value); }
|
||||
get => btRigidBody_btRigidBodyConstructionInfo_getAdditionalDamping(Native);
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setAdditionalDamping(Native, value);
|
||||
}
|
||||
|
||||
public float AdditionalDampingFactor
|
||||
{
|
||||
get { return btRigidBody_btRigidBodyConstructionInfo_getAdditionalDampingFactor(_native); }
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setAdditionalDampingFactor(_native, value); }
|
||||
get => btRigidBody_btRigidBodyConstructionInfo_getAdditionalDampingFactor(Native);
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setAdditionalDampingFactor(Native, value);
|
||||
}
|
||||
|
||||
public float AdditionalLinearDampingThresholdSqr
|
||||
{
|
||||
get { return btRigidBody_btRigidBodyConstructionInfo_getAdditionalLinearDampingThresholdSqr(_native); }
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setAdditionalLinearDampingThresholdSqr(_native, value); }
|
||||
get => btRigidBody_btRigidBodyConstructionInfo_getAdditionalLinearDampingThresholdSqr(Native);
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setAdditionalLinearDampingThresholdSqr(Native, value);
|
||||
}
|
||||
|
||||
public float AngularDamping
|
||||
{
|
||||
get { return btRigidBody_btRigidBodyConstructionInfo_getAngularDamping(_native); }
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setAngularDamping(_native, value); }
|
||||
get => btRigidBody_btRigidBodyConstructionInfo_getAngularDamping(Native);
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setAngularDamping(Native, value);
|
||||
}
|
||||
|
||||
public float AngularSleepingThreshold
|
||||
{
|
||||
get { return btRigidBody_btRigidBodyConstructionInfo_getAngularSleepingThreshold(_native); }
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setAngularSleepingThreshold(_native, value); }
|
||||
get => btRigidBody_btRigidBodyConstructionInfo_getAngularSleepingThreshold(Native);
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setAngularSleepingThreshold(Native, value);
|
||||
}
|
||||
|
||||
public CollisionShape CollisionShape
|
||||
{
|
||||
get { return _collisionShape; }
|
||||
get => _collisionShape;
|
||||
set
|
||||
{
|
||||
btRigidBody_btRigidBodyConstructionInfo_setCollisionShape(_native, value != null ? value.Native : IntPtr.Zero);
|
||||
btRigidBody_btRigidBodyConstructionInfo_setCollisionShape(Native, value != null ? value.Native : IntPtr.Zero);
|
||||
_collisionShape = value;
|
||||
}
|
||||
}
|
||||
|
||||
public float Friction
|
||||
{
|
||||
get { return btRigidBody_btRigidBodyConstructionInfo_getFriction(_native); }
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setFriction(_native, value); }
|
||||
get => btRigidBody_btRigidBodyConstructionInfo_getFriction(Native);
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setFriction(Native, value);
|
||||
}
|
||||
|
||||
public float LinearDamping
|
||||
{
|
||||
get { return btRigidBody_btRigidBodyConstructionInfo_getLinearDamping(_native); }
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setLinearDamping(_native, value); }
|
||||
get => btRigidBody_btRigidBodyConstructionInfo_getLinearDamping(Native);
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setLinearDamping(Native, value);
|
||||
}
|
||||
|
||||
public float LinearSleepingThreshold
|
||||
{
|
||||
get { return btRigidBody_btRigidBodyConstructionInfo_getLinearSleepingThreshold(_native); }
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setLinearSleepingThreshold(_native, value); }
|
||||
get => btRigidBody_btRigidBodyConstructionInfo_getLinearSleepingThreshold(Native);
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setLinearSleepingThreshold(Native, value);
|
||||
}
|
||||
|
||||
public Vector3 LocalInertia
|
||||
|
|
@ -105,38 +104,38 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btRigidBody_btRigidBodyConstructionInfo_getLocalInertia(_native, out value);
|
||||
btRigidBody_btRigidBodyConstructionInfo_getLocalInertia(Native, out value);
|
||||
return value;
|
||||
}
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setLocalInertia(_native, ref value); }
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setLocalInertia(Native, ref value);
|
||||
}
|
||||
|
||||
public float Mass
|
||||
{
|
||||
get { return btRigidBody_btRigidBodyConstructionInfo_getMass(_native); }
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setMass(_native, value); }
|
||||
get => btRigidBody_btRigidBodyConstructionInfo_getMass(Native);
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setMass(Native, value);
|
||||
}
|
||||
|
||||
public MotionState MotionState
|
||||
{
|
||||
get { return _motionState; }
|
||||
get => _motionState;
|
||||
set
|
||||
{
|
||||
btRigidBody_btRigidBodyConstructionInfo_setMotionState(_native, value != null ? value._native : IntPtr.Zero);
|
||||
btRigidBody_btRigidBodyConstructionInfo_setMotionState(Native, value != null ? value._native : IntPtr.Zero);
|
||||
_motionState = value;
|
||||
}
|
||||
}
|
||||
|
||||
public float Restitution
|
||||
{
|
||||
get { return btRigidBody_btRigidBodyConstructionInfo_getRestitution(_native); }
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setRestitution(_native, value); }
|
||||
get => btRigidBody_btRigidBodyConstructionInfo_getRestitution(Native);
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setRestitution(Native, value);
|
||||
}
|
||||
|
||||
public float RollingFriction
|
||||
{
|
||||
get { return btRigidBody_btRigidBodyConstructionInfo_getRollingFriction(_native); }
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setRollingFriction(_native, value); }
|
||||
get => btRigidBody_btRigidBodyConstructionInfo_getRollingFriction(Native);
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setRollingFriction(Native, value);
|
||||
}
|
||||
|
||||
public Matrix StartWorldTransform
|
||||
|
|
@ -144,10 +143,10 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Matrix value;
|
||||
btRigidBody_btRigidBodyConstructionInfo_getStartWorldTransform(_native, out value);
|
||||
btRigidBody_btRigidBodyConstructionInfo_getStartWorldTransform(Native, out value);
|
||||
return value;
|
||||
}
|
||||
set { btRigidBody_btRigidBodyConstructionInfo_setStartWorldTransform(_native, ref value); }
|
||||
set => btRigidBody_btRigidBodyConstructionInfo_setStartWorldTransform(Native, ref value);
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
|
|
@ -158,10 +157,10 @@ namespace BulletSharp
|
|||
|
||||
protected virtual void Dispose(bool disposing)
|
||||
{
|
||||
if (_native != IntPtr.Zero)
|
||||
if (Native != IntPtr.Zero)
|
||||
{
|
||||
btRigidBody_btRigidBodyConstructionInfo_delete(_native);
|
||||
_native = IntPtr.Zero;
|
||||
btRigidBody_btRigidBodyConstructionInfo_delete(Native);
|
||||
Native = IntPtr.Zero;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -169,77 +168,5 @@ namespace BulletSharp
|
|||
{
|
||||
Dispose(false);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btRigidBody_btRigidBodyConstructionInfo_new(float mass, IntPtr motionState, IntPtr collisionShape);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btRigidBody_btRigidBodyConstructionInfo_new2(float mass, IntPtr motionState, IntPtr collisionShape, [In] ref Vector3 localInertia);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btRigidBody_btRigidBodyConstructionInfo_getAdditionalAngularDampingFactor(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btRigidBody_btRigidBodyConstructionInfo_getAdditionalAngularDampingThresholdSqr(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btRigidBody_btRigidBodyConstructionInfo_getAdditionalDamping(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btRigidBody_btRigidBodyConstructionInfo_getAdditionalDampingFactor(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btRigidBody_btRigidBodyConstructionInfo_getAdditionalLinearDampingThresholdSqr(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btRigidBody_btRigidBodyConstructionInfo_getAngularDamping(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btRigidBody_btRigidBodyConstructionInfo_getAngularSleepingThreshold(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btRigidBody_btRigidBodyConstructionInfo_getFriction(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btRigidBody_btRigidBodyConstructionInfo_getLinearDamping(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btRigidBody_btRigidBodyConstructionInfo_getLinearSleepingThreshold(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_getLocalInertia(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btRigidBody_btRigidBodyConstructionInfo_getMass(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btRigidBody_btRigidBodyConstructionInfo_getRestitution(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btRigidBody_btRigidBodyConstructionInfo_getRollingFriction(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_getStartWorldTransform(IntPtr obj, out Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setAdditionalAngularDampingFactor(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setAdditionalAngularDampingThresholdSqr(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setAdditionalDamping(IntPtr obj, bool value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setAdditionalDampingFactor(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setAdditionalLinearDampingThresholdSqr(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setAngularDamping(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setAngularSleepingThreshold(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setCollisionShape(IntPtr obj, IntPtr value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setFriction(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setLinearDamping(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setLinearSleepingThreshold(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setLocalInertia(IntPtr obj, [In] ref Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setMass(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setMotionState(IntPtr obj, IntPtr value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setRestitution(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setRollingFriction(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_setStartWorldTransform(IntPtr obj, [In] ref Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btRigidBody_btRigidBodyConstructionInfo_delete(IntPtr obj);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,6 +1,5 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
|
|
@ -18,110 +17,80 @@ namespace BulletSharp
|
|||
|
||||
public ulong BtRand2()
|
||||
{
|
||||
return btSequentialImpulseConstraintSolver_btRand2(_native);
|
||||
return btSequentialImpulseConstraintSolver_btRand2(Native);
|
||||
}
|
||||
|
||||
public int BtRandInt2(int n)
|
||||
{
|
||||
return btSequentialImpulseConstraintSolver_btRandInt2(_native, n);
|
||||
return btSequentialImpulseConstraintSolver_btRandInt2(Native, n);
|
||||
}
|
||||
/*
|
||||
public void SetConstraintRowSolverGeneric(SingleConstraintRowSolver rowSolver)
|
||||
{
|
||||
btSequentialImpulseConstraintSolver_setConstraintRowSolverGeneric(_native,
|
||||
rowSolver._native);
|
||||
btSequentialImpulseConstraintSolver_setConstraintRowSolverGeneric(Native,
|
||||
rowSolver.Native);
|
||||
}
|
||||
|
||||
public void SetConstraintRowSolverLowerLimit(SingleConstraintRowSolver rowSolver)
|
||||
{
|
||||
btSequentialImpulseConstraintSolver_setConstraintRowSolverLowerLimit(
|
||||
_native, rowSolver._native);
|
||||
Native, rowSolver.Native);
|
||||
}
|
||||
|
||||
public float SolveGroup(CollisionObject bodies, int numBodies, PersistentManifold manifold,
|
||||
int numManifolds, TypedConstraint constraints, int numConstraints, ContactSolverInfo info,
|
||||
IDebugDraw debugDrawer, Dispatcher dispatcher)
|
||||
{
|
||||
return btSequentialImpulseConstraintSolver_solveGroup(_native, bodies._native,
|
||||
numBodies, manifold._native, numManifolds, constraints._native, numConstraints,
|
||||
info._native, DebugDraw.GetUnmanaged(debugDrawer), dispatcher._native);
|
||||
return btSequentialImpulseConstraintSolver_solveGroup(Native, bodies.Native,
|
||||
numBodies, manifold.Native, numManifolds, constraints.Native, numConstraints,
|
||||
info.Native, DebugDraw.GetUnmanaged(debugDrawer), dispatcher.Native);
|
||||
}
|
||||
|
||||
public SingleConstraintRowSolver ActiveConstraintRowSolverGeneric
|
||||
{
|
||||
get { return btSequentialImpulseConstraintSolver_getActiveConstraintRowSolverGeneric(_native); }
|
||||
get { return btSequentialImpulseConstraintSolver_getActiveConstraintRowSolverGeneric(Native); }
|
||||
}
|
||||
|
||||
public SingleConstraintRowSolver ActiveConstraintRowSolverLowerLimit
|
||||
{
|
||||
get { return btSequentialImpulseConstraintSolver_getActiveConstraintRowSolverLowerLimit(_native); }
|
||||
get { return btSequentialImpulseConstraintSolver_getActiveConstraintRowSolverLowerLimit(Native); }
|
||||
}
|
||||
*/
|
||||
public ulong RandSeed
|
||||
{
|
||||
get { return btSequentialImpulseConstraintSolver_getRandSeed(_native); }
|
||||
set { btSequentialImpulseConstraintSolver_setRandSeed(_native, value); }
|
||||
get => btSequentialImpulseConstraintSolver_getRandSeed(Native);
|
||||
set => btSequentialImpulseConstraintSolver_setRandSeed(Native, value);
|
||||
}
|
||||
/*
|
||||
public SingleConstraintRowSolver ScalarConstraintRowSolverGeneric
|
||||
{
|
||||
get { return btSequentialImpulseConstraintSolver_getScalarConstraintRowSolverGeneric(_native); }
|
||||
get { return btSequentialImpulseConstraintSolver_getScalarConstraintRowSolverGeneric(Native); }
|
||||
}
|
||||
|
||||
public SingleConstraintRowSolver ScalarConstraintRowSolverLowerLimit
|
||||
{
|
||||
get { return btSequentialImpulseConstraintSolver_getScalarConstraintRowSolverLowerLimit(_native); }
|
||||
get { return btSequentialImpulseConstraintSolver_getScalarConstraintRowSolverLowerLimit(Native); }
|
||||
}
|
||||
|
||||
public SingleConstraintRowSolver SSE2ConstraintRowSolverGeneric
|
||||
{
|
||||
get { return btSequentialImpulseConstraintSolver_getSSE2ConstraintRowSolverGeneric(_native); }
|
||||
get { return btSequentialImpulseConstraintSolver_getSSE2ConstraintRowSolverGeneric(Native); }
|
||||
}
|
||||
|
||||
public SingleConstraintRowSolver SSE2ConstraintRowSolverLowerLimit
|
||||
{
|
||||
get { return btSequentialImpulseConstraintSolver_getSSE2ConstraintRowSolverLowerLimit(_native); }
|
||||
get { return btSequentialImpulseConstraintSolver_getSSE2ConstraintRowSolverLowerLimit(Native); }
|
||||
}
|
||||
|
||||
public SingleConstraintRowSolver SSE41ConstraintRowSolverGeneric
|
||||
{
|
||||
get { return btSequentialImpulseConstraintSolver_getSSE4_1ConstraintRowSolverGeneric(_native); }
|
||||
get { return btSequentialImpulseConstraintSolver_getSSE4_1ConstraintRowSolverGeneric(Native); }
|
||||
}
|
||||
|
||||
public SingleConstraintRowSolver SSE41ConstraintRowSolverLowerLimit
|
||||
{
|
||||
get { return btSequentialImpulseConstraintSolver_getSSE4_1ConstraintRowSolverLowerLimit(_native); }
|
||||
get { return btSequentialImpulseConstraintSolver_getSSE4_1ConstraintRowSolverLowerLimit(Native); }
|
||||
}
|
||||
*/
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btSequentialImpulseConstraintSolver_new();
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern ulong btSequentialImpulseConstraintSolver_btRand2(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btSequentialImpulseConstraintSolver_btRandInt2(IntPtr obj, int n);
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//static extern IntPtr btSequentialImpulseConstraintSolver_getActiveConstraintRowSolverGeneric(IntPtr obj);
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//static extern IntPtr btSequentialImpulseConstraintSolver_getActiveConstraintRowSolverLowerLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern ulong btSequentialImpulseConstraintSolver_getRandSeed(IntPtr obj);
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//static extern IntPtr btSequentialImpulseConstraintSolver_getScalarConstraintRowSolverGeneric(IntPtr obj);
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//static extern IntPtr btSequentialImpulseConstraintSolver_getScalarConstraintRowSolverLowerLimit(IntPtr obj);
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//static extern IntPtr btSequentialImpulseConstraintSolver_getSSE2ConstraintRowSolverGeneric(IntPtr obj);
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//static extern IntPtr btSequentialImpulseConstraintSolver_getSSE2ConstraintRowSolverLowerLimit(IntPtr obj);
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//static extern IntPtr btSequentialImpulseConstraintSolver_getSSE4_1ConstraintRowSolverGeneric(IntPtr obj);
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//static extern IntPtr btSequentialImpulseConstraintSolver_getSSE4_1ConstraintRowSolverLowerLimit(IntPtr obj);
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//static extern void btSequentialImpulseConstraintSolver_setConstraintRowSolverGeneric(IntPtr obj, IntPtr rowSolver);
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//static extern void btSequentialImpulseConstraintSolver_setConstraintRowSolverLowerLimit(IntPtr obj, IntPtr rowSolver);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSequentialImpulseConstraintSolver_setRandSeed(IntPtr obj, ulong seed);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using BulletSharp.Math;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
|
|
@ -37,50 +37,50 @@ namespace BulletSharp
|
|||
public SliderConstraint(RigidBody rigidBodyB, Matrix frameInB, bool useLinearReferenceFrameA)
|
||||
: base(btSliderConstraint_new2(rigidBodyB.Native, ref frameInB, useLinearReferenceFrameA))
|
||||
{
|
||||
_rigidBodyA = GetFixedBody();
|
||||
_rigidBodyA = GetFixedBody();
|
||||
_rigidBodyB = rigidBodyB;
|
||||
}
|
||||
|
||||
public void CalculateTransformsRef(ref Matrix transA, ref Matrix transB)
|
||||
{
|
||||
btSliderConstraint_calculateTransforms(_native, ref transA, ref transB);
|
||||
}
|
||||
public void CalculateTransformsRef(ref Matrix transA, ref Matrix transB)
|
||||
{
|
||||
btSliderConstraint_calculateTransforms(Native, ref transA, ref transB);
|
||||
}
|
||||
|
||||
public void CalculateTransforms(Matrix transA, Matrix transB)
|
||||
{
|
||||
btSliderConstraint_calculateTransforms(_native, ref transA, ref transB);
|
||||
btSliderConstraint_calculateTransforms(Native, ref transA, ref transB);
|
||||
}
|
||||
|
||||
public void GetInfo1NonVirtual(ConstraintInfo1 info)
|
||||
{
|
||||
btSliderConstraint_getInfo1NonVirtual(_native, info._native);
|
||||
btSliderConstraint_getInfo1NonVirtual(Native, info._native);
|
||||
}
|
||||
|
||||
public void GetInfo2NonVirtual(ConstraintInfo2 info, Matrix transA, Matrix transB,
|
||||
Vector3 linVelA, Vector3 linVelB, float rbAinvMass, float rbBinvMass)
|
||||
{
|
||||
btSliderConstraint_getInfo2NonVirtual(_native, info._native, ref transA,
|
||||
btSliderConstraint_getInfo2NonVirtual(Native, info._native, ref transA,
|
||||
ref transB, ref linVelA, ref linVelB, rbAinvMass, rbBinvMass);
|
||||
}
|
||||
|
||||
public void SetFramesRef(ref Matrix frameA, ref Matrix frameB)
|
||||
{
|
||||
btSliderConstraint_setFrames(_native, ref frameA, ref frameB);
|
||||
}
|
||||
public void SetFramesRef(ref Matrix frameA, ref Matrix frameB)
|
||||
{
|
||||
btSliderConstraint_setFrames(Native, ref frameA, ref frameB);
|
||||
}
|
||||
|
||||
public void SetFrames(Matrix frameA, Matrix frameB)
|
||||
{
|
||||
btSliderConstraint_setFrames(_native, ref frameA, ref frameB);
|
||||
btSliderConstraint_setFrames(Native, ref frameA, ref frameB);
|
||||
}
|
||||
|
||||
public void TestAngularLimits()
|
||||
{
|
||||
btSliderConstraint_testAngLimits(_native);
|
||||
btSliderConstraint_testAngLimits(Native);
|
||||
}
|
||||
|
||||
public void TestLinearLimits()
|
||||
{
|
||||
btSliderConstraint_testLinLimits(_native);
|
||||
btSliderConstraint_testLinLimits(Native);
|
||||
}
|
||||
|
||||
public Vector3 AncorInA
|
||||
|
|
@ -88,7 +88,7 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btSliderConstraint_getAncorInA(_native, out value);
|
||||
btSliderConstraint_getAncorInA(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
|
@ -98,27 +98,21 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btSliderConstraint_getAncorInB(_native, out value);
|
||||
btSliderConstraint_getAncorInB(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
public float AngularDepth
|
||||
{
|
||||
get { return btSliderConstraint_getAngDepth(_native); }
|
||||
}
|
||||
public float AngularDepth => btSliderConstraint_getAngDepth(Native);
|
||||
|
||||
public float AngularPosition
|
||||
{
|
||||
get { return btSliderConstraint_getAngularPos(_native); }
|
||||
}
|
||||
public float AngularPosition => btSliderConstraint_getAngularPos(Native);
|
||||
|
||||
public Matrix CalculatedTransformA
|
||||
{
|
||||
get
|
||||
{
|
||||
Matrix value;
|
||||
btSliderConstraint_getCalculatedTransformA(_native, out value);
|
||||
btSliderConstraint_getCalculatedTransformA(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
|
@ -128,58 +122,54 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Matrix value;
|
||||
btSliderConstraint_getCalculatedTransformB(_native, out value);
|
||||
btSliderConstraint_getCalculatedTransformB(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
public float DampingDirAngular
|
||||
{
|
||||
get { return btSliderConstraint_getDampingDirAng(_native); }
|
||||
set { btSliderConstraint_setDampingDirAng(_native, value); }
|
||||
get => btSliderConstraint_getDampingDirAng(Native);
|
||||
set => btSliderConstraint_setDampingDirAng(Native, value);
|
||||
}
|
||||
|
||||
public float DampingDirLinear
|
||||
{
|
||||
get { return btSliderConstraint_getDampingDirLin(_native); }
|
||||
set { btSliderConstraint_setDampingDirLin(_native, value); }
|
||||
get => btSliderConstraint_getDampingDirLin(Native);
|
||||
set => btSliderConstraint_setDampingDirLin(Native, value);
|
||||
}
|
||||
|
||||
public float DampingLimAngular
|
||||
{
|
||||
get { return btSliderConstraint_getDampingLimAng(_native); }
|
||||
set { btSliderConstraint_setDampingLimAng(_native, value); }
|
||||
get => btSliderConstraint_getDampingLimAng(Native);
|
||||
set => btSliderConstraint_setDampingLimAng(Native, value);
|
||||
}
|
||||
|
||||
public float DampingLimLinear
|
||||
{
|
||||
get { return btSliderConstraint_getDampingLimLin(_native); }
|
||||
set { btSliderConstraint_setDampingLimLin(_native, value); }
|
||||
get => btSliderConstraint_getDampingLimLin(Native);
|
||||
set => btSliderConstraint_setDampingLimLin(Native, value);
|
||||
}
|
||||
|
||||
public float DampingOrthoAngular
|
||||
{
|
||||
get { return btSliderConstraint_getDampingOrthoAng(_native); }
|
||||
set { btSliderConstraint_setDampingOrthoAng(_native, value); }
|
||||
get => btSliderConstraint_getDampingOrthoAng(Native);
|
||||
set => btSliderConstraint_setDampingOrthoAng(Native, value);
|
||||
}
|
||||
|
||||
public float DampingOrthoLinear
|
||||
{
|
||||
get { return btSliderConstraint_getDampingOrthoLin(_native); }
|
||||
set { btSliderConstraint_setDampingOrthoLin(_native, value); }
|
||||
}
|
||||
|
||||
public SliderFlags Flags
|
||||
{
|
||||
get { return btSliderConstraint_getFlags(_native); }
|
||||
get => btSliderConstraint_getDampingOrthoLin(Native);
|
||||
set => btSliderConstraint_setDampingOrthoLin(Native, value);
|
||||
}
|
||||
|
||||
public SliderFlags Flags => btSliderConstraint_getFlags(Native);
|
||||
public Matrix FrameOffsetA
|
||||
{
|
||||
get
|
||||
{
|
||||
Matrix value;
|
||||
btSliderConstraint_getFrameOffsetA(_native, out value);
|
||||
btSliderConstraint_getFrameOffsetA(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
|
@ -189,355 +179,173 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Matrix value;
|
||||
btSliderConstraint_getFrameOffsetB(_native, out value);
|
||||
btSliderConstraint_getFrameOffsetB(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
public float LinearDepth
|
||||
{
|
||||
get { return btSliderConstraint_getLinDepth(_native); }
|
||||
}
|
||||
public float LinearDepth => btSliderConstraint_getLinDepth(Native);
|
||||
|
||||
public float LinearPosition
|
||||
{
|
||||
get { return btSliderConstraint_getLinearPos(_native); }
|
||||
}
|
||||
public float LinearPosition => btSliderConstraint_getLinearPos(Native);
|
||||
|
||||
public float LowerAngularLimit
|
||||
{
|
||||
get { return btSliderConstraint_getLowerAngLimit(_native); }
|
||||
set { btSliderConstraint_setLowerAngLimit(_native, value); }
|
||||
get => btSliderConstraint_getLowerAngLimit(Native);
|
||||
set => btSliderConstraint_setLowerAngLimit(Native, value);
|
||||
}
|
||||
|
||||
public float LowerLinearLimit
|
||||
{
|
||||
get { return btSliderConstraint_getLowerLinLimit(_native); }
|
||||
set { btSliderConstraint_setLowerLinLimit(_native, value); }
|
||||
get => btSliderConstraint_getLowerLinLimit(Native);
|
||||
set => btSliderConstraint_setLowerLinLimit(Native, value);
|
||||
}
|
||||
|
||||
public float MaxAngMotorForce
|
||||
{
|
||||
get { return btSliderConstraint_getMaxAngMotorForce(_native); }
|
||||
set { btSliderConstraint_setMaxAngMotorForce(_native, value); }
|
||||
get => btSliderConstraint_getMaxAngMotorForce(Native);
|
||||
set => btSliderConstraint_setMaxAngMotorForce(Native, value);
|
||||
}
|
||||
|
||||
public float MaxLinearMotorForce
|
||||
{
|
||||
get { return btSliderConstraint_getMaxLinMotorForce(_native); }
|
||||
set { btSliderConstraint_setMaxLinMotorForce(_native, value); }
|
||||
get => btSliderConstraint_getMaxLinMotorForce(Native);
|
||||
set => btSliderConstraint_setMaxLinMotorForce(Native, value);
|
||||
}
|
||||
|
||||
public bool PoweredAngularMotor
|
||||
{
|
||||
get { return btSliderConstraint_getPoweredAngMotor(_native); }
|
||||
set { btSliderConstraint_setPoweredAngMotor(_native, value); }
|
||||
get => btSliderConstraint_getPoweredAngMotor(Native);
|
||||
set => btSliderConstraint_setPoweredAngMotor(Native, value);
|
||||
}
|
||||
|
||||
public bool PoweredLinearMotor
|
||||
{
|
||||
get { return btSliderConstraint_getPoweredLinMotor(_native); }
|
||||
set { btSliderConstraint_setPoweredLinMotor(_native, value); }
|
||||
get => btSliderConstraint_getPoweredLinMotor(Native);
|
||||
set => btSliderConstraint_setPoweredLinMotor(Native, value);
|
||||
}
|
||||
|
||||
public float RestitutionDirAngular
|
||||
{
|
||||
get { return btSliderConstraint_getRestitutionDirAng(_native); }
|
||||
set { btSliderConstraint_setRestitutionDirAng(_native, value); }
|
||||
get => btSliderConstraint_getRestitutionDirAng(Native);
|
||||
set => btSliderConstraint_setRestitutionDirAng(Native, value);
|
||||
}
|
||||
|
||||
public float RestitutionDirLinear
|
||||
{
|
||||
get { return btSliderConstraint_getRestitutionDirLin(_native); }
|
||||
set { btSliderConstraint_setRestitutionDirLin(_native, value); }
|
||||
get => btSliderConstraint_getRestitutionDirLin(Native);
|
||||
set => btSliderConstraint_setRestitutionDirLin(Native, value);
|
||||
}
|
||||
|
||||
public float RestitutionLimAngular
|
||||
{
|
||||
get { return btSliderConstraint_getRestitutionLimAng(_native); }
|
||||
set { btSliderConstraint_setRestitutionLimAng(_native, value); }
|
||||
get => btSliderConstraint_getRestitutionLimAng(Native);
|
||||
set => btSliderConstraint_setRestitutionLimAng(Native, value);
|
||||
}
|
||||
|
||||
public float RestitutionLimLinear
|
||||
{
|
||||
get { return btSliderConstraint_getRestitutionLimLin(_native); }
|
||||
set { btSliderConstraint_setRestitutionLimLin(_native, value); }
|
||||
get => btSliderConstraint_getRestitutionLimLin(Native);
|
||||
set => btSliderConstraint_setRestitutionLimLin(Native, value);
|
||||
}
|
||||
|
||||
public float RestitutionOrthoAngular
|
||||
{
|
||||
get { return btSliderConstraint_getRestitutionOrthoAng(_native); }
|
||||
set { btSliderConstraint_setRestitutionOrthoAng(_native, value); }
|
||||
get => btSliderConstraint_getRestitutionOrthoAng(Native);
|
||||
set => btSliderConstraint_setRestitutionOrthoAng(Native, value);
|
||||
}
|
||||
|
||||
public float RestitutionOrthoLinear
|
||||
{
|
||||
get { return btSliderConstraint_getRestitutionOrthoLin(_native); }
|
||||
set { btSliderConstraint_setRestitutionOrthoLin(_native, value); }
|
||||
get => btSliderConstraint_getRestitutionOrthoLin(Native);
|
||||
set => btSliderConstraint_setRestitutionOrthoLin(Native, value);
|
||||
}
|
||||
|
||||
public float SoftnessDirAngular
|
||||
{
|
||||
get { return btSliderConstraint_getSoftnessDirAng(_native); }
|
||||
set { btSliderConstraint_setSoftnessDirAng(_native, value); }
|
||||
get => btSliderConstraint_getSoftnessDirAng(Native);
|
||||
set => btSliderConstraint_setSoftnessDirAng(Native, value);
|
||||
}
|
||||
|
||||
public float SoftnessDirLinear
|
||||
{
|
||||
get { return btSliderConstraint_getSoftnessDirLin(_native); }
|
||||
set { btSliderConstraint_setSoftnessDirLin(_native, value); }
|
||||
get => btSliderConstraint_getSoftnessDirLin(Native);
|
||||
set => btSliderConstraint_setSoftnessDirLin(Native, value);
|
||||
}
|
||||
|
||||
public float SoftnessLimAngular
|
||||
{
|
||||
get { return btSliderConstraint_getSoftnessLimAng(_native); }
|
||||
set { btSliderConstraint_setSoftnessLimAng(_native, value); }
|
||||
get => btSliderConstraint_getSoftnessLimAng(Native);
|
||||
set => btSliderConstraint_setSoftnessLimAng(Native, value);
|
||||
}
|
||||
|
||||
public float SoftnessLimLinear
|
||||
{
|
||||
get { return btSliderConstraint_getSoftnessLimLin(_native); }
|
||||
set { btSliderConstraint_setSoftnessLimLin(_native, value); }
|
||||
get => btSliderConstraint_getSoftnessLimLin(Native);
|
||||
set => btSliderConstraint_setSoftnessLimLin(Native, value);
|
||||
}
|
||||
|
||||
public float SoftnessOrthoAngular
|
||||
{
|
||||
get { return btSliderConstraint_getSoftnessOrthoAng(_native); }
|
||||
set { btSliderConstraint_setSoftnessOrthoAng(_native, value); }
|
||||
get => btSliderConstraint_getSoftnessOrthoAng(Native);
|
||||
set => btSliderConstraint_setSoftnessOrthoAng(Native, value);
|
||||
}
|
||||
|
||||
public float SoftnessOrthoLinear
|
||||
{
|
||||
get { return btSliderConstraint_getSoftnessOrthoLin(_native); }
|
||||
set { btSliderConstraint_setSoftnessOrthoLin(_native, value); }
|
||||
get => btSliderConstraint_getSoftnessOrthoLin(Native);
|
||||
set => btSliderConstraint_setSoftnessOrthoLin(Native, value);
|
||||
}
|
||||
|
||||
public bool SolveAngularLimit
|
||||
{
|
||||
get { return btSliderConstraint_getSolveAngLimit(_native); }
|
||||
}
|
||||
public bool SolveAngularLimit => btSliderConstraint_getSolveAngLimit(Native);
|
||||
|
||||
public bool SolveLinearLimit
|
||||
{
|
||||
get { return btSliderConstraint_getSolveLinLimit(_native); }
|
||||
}
|
||||
public bool SolveLinearLimit => btSliderConstraint_getSolveLinLimit(Native);
|
||||
|
||||
public float TargetAngularMotorVelocity
|
||||
{
|
||||
get { return btSliderConstraint_getTargetAngMotorVelocity(_native); }
|
||||
set { btSliderConstraint_setTargetAngMotorVelocity(_native, value); }
|
||||
get => btSliderConstraint_getTargetAngMotorVelocity(Native);
|
||||
set => btSliderConstraint_setTargetAngMotorVelocity(Native, value);
|
||||
}
|
||||
|
||||
public float TargetLinearMotorVelocity
|
||||
{
|
||||
get { return btSliderConstraint_getTargetLinMotorVelocity(_native); }
|
||||
set { btSliderConstraint_setTargetLinMotorVelocity(_native, value); }
|
||||
get => btSliderConstraint_getTargetLinMotorVelocity(Native);
|
||||
set => btSliderConstraint_setTargetLinMotorVelocity(Native, value);
|
||||
}
|
||||
|
||||
public float UpperAngularLimit
|
||||
{
|
||||
get { return btSliderConstraint_getUpperAngLimit(_native); }
|
||||
set { btSliderConstraint_setUpperAngLimit(_native, value); }
|
||||
get => btSliderConstraint_getUpperAngLimit(Native);
|
||||
set => btSliderConstraint_setUpperAngLimit(Native, value);
|
||||
}
|
||||
|
||||
public float UpperLinearLimit
|
||||
{
|
||||
get { return btSliderConstraint_getUpperLinLimit(_native); }
|
||||
set { btSliderConstraint_setUpperLinLimit(_native, value); }
|
||||
get => btSliderConstraint_getUpperLinLimit(Native);
|
||||
set => btSliderConstraint_setUpperLinLimit(Native, value);
|
||||
}
|
||||
|
||||
public bool UseFrameOffset
|
||||
{
|
||||
get { return btSliderConstraint_getUseFrameOffset(_native); }
|
||||
set { btSliderConstraint_setUseFrameOffset(_native, value); }
|
||||
get => btSliderConstraint_getUseFrameOffset(Native);
|
||||
set => btSliderConstraint_setUseFrameOffset(Native, value);
|
||||
}
|
||||
|
||||
public bool UseLinearReferenceFrameA
|
||||
{
|
||||
get { return btSliderConstraint_getUseLinearReferenceFrameA(_native); }
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btSliderConstraint_new(IntPtr rbA, IntPtr rbB, [In] ref Matrix frameInA, [In] ref Matrix frameInB, bool useLinearReferenceFrameA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btSliderConstraint_new2(IntPtr rbB, [In] ref Matrix frameInB, bool useLinearReferenceFrameA);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_calculateTransforms(IntPtr obj, [In] ref Matrix transA, [In] ref Matrix transB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_getAncorInA(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_getAncorInB(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getAngDepth(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getAngularPos(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_getCalculatedTransformA(IntPtr obj, out Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_getCalculatedTransformB(IntPtr obj, out Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getDampingDirAng(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getDampingDirLin(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getDampingLimAng(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getDampingLimLin(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getDampingOrthoAng(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getDampingOrthoLin(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern SliderFlags btSliderConstraint_getFlags(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_getFrameOffsetA(IntPtr obj, out Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_getFrameOffsetB(IntPtr obj, out Matrix value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_getInfo1NonVirtual(IntPtr obj, IntPtr info);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_getInfo2NonVirtual(IntPtr obj, IntPtr info, [In] ref Matrix transA, [In] ref Matrix transB, [In] ref Vector3 linVelA, [In] ref Vector3 linVelB, float rbAinvMass, float rbBinvMass);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getLinDepth(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getLinearPos(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getLowerAngLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getLowerLinLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getMaxAngMotorForce(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getMaxLinMotorForce(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btSliderConstraint_getPoweredAngMotor(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btSliderConstraint_getPoweredLinMotor(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getRestitutionDirAng(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getRestitutionDirLin(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getRestitutionLimAng(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getRestitutionLimLin(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getRestitutionOrthoAng(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getRestitutionOrthoLin(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getSoftnessDirAng(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getSoftnessDirLin(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getSoftnessLimAng(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getSoftnessLimLin(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getSoftnessOrthoAng(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getSoftnessOrthoLin(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btSliderConstraint_getSolveAngLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btSliderConstraint_getSolveLinLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getTargetAngMotorVelocity(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getTargetLinMotorVelocity(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getUpperAngLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btSliderConstraint_getUpperLinLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btSliderConstraint_getUseFrameOffset(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btSliderConstraint_getUseLinearReferenceFrameA(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setDampingDirAng(IntPtr obj, float dampingDirAng);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setDampingDirLin(IntPtr obj, float dampingDirLin);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setDampingLimAng(IntPtr obj, float dampingLimAng);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setDampingLimLin(IntPtr obj, float dampingLimLin);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setDampingOrthoAng(IntPtr obj, float dampingOrthoAng);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setDampingOrthoLin(IntPtr obj, float dampingOrthoLin);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setFrames(IntPtr obj, [In] ref Matrix frameA, [In] ref Matrix frameB);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setLowerAngLimit(IntPtr obj, float lowerLimit);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setLowerLinLimit(IntPtr obj, float lowerLimit);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setMaxAngMotorForce(IntPtr obj, float maxAngMotorForce);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setMaxLinMotorForce(IntPtr obj, float maxLinMotorForce);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setPoweredAngMotor(IntPtr obj, bool onOff);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setPoweredLinMotor(IntPtr obj, bool onOff);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setRestitutionDirAng(IntPtr obj, float restitutionDirAng);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setRestitutionDirLin(IntPtr obj, float restitutionDirLin);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setRestitutionLimAng(IntPtr obj, float restitutionLimAng);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setRestitutionLimLin(IntPtr obj, float restitutionLimLin);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setRestitutionOrthoAng(IntPtr obj, float restitutionOrthoAng);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setRestitutionOrthoLin(IntPtr obj, float restitutionOrthoLin);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setSoftnessDirAng(IntPtr obj, float softnessDirAng);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setSoftnessDirLin(IntPtr obj, float softnessDirLin);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setSoftnessLimAng(IntPtr obj, float softnessLimAng);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setSoftnessLimLin(IntPtr obj, float softnessLimLin);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setSoftnessOrthoAng(IntPtr obj, float softnessOrthoAng);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setSoftnessOrthoLin(IntPtr obj, float softnessOrthoLin);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setTargetAngMotorVelocity(IntPtr obj, float targetAngMotorVelocity);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setTargetLinMotorVelocity(IntPtr obj, float targetLinMotorVelocity);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setUpperAngLimit(IntPtr obj, float upperLimit);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setUpperLinLimit(IntPtr obj, float upperLimit);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_setUseFrameOffset(IntPtr obj, bool frameOffsetOnOff);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_testAngLimits(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btSliderConstraint_testLinLimits(IntPtr obj);
|
||||
public bool UseLinearReferenceFrameA => btSliderConstraint_getUseLinearReferenceFrameA(Native);
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal struct SliderConstraintFloatData
|
||||
{
|
||||
public TypedConstraintFloatData TypedConstraintData;
|
||||
public TransformFloatData RigidBodyAFrame;
|
||||
public TransformFloatData RigidBodyBFrame;
|
||||
public float LinearUpperLimit;
|
||||
public float LinearLowerLimit;
|
||||
public float AngularUpperLimit;
|
||||
public float AngularLowerLimit;
|
||||
public int UseLinearReferenceFrameA;
|
||||
public int UseOffsetForConstraintFrame;
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal struct SliderConstraintFloatData
|
||||
{
|
||||
public TypedConstraintFloatData TypedConstraintData;
|
||||
public TransformFloatData RigidBodyAFrame;
|
||||
public TransformFloatData RigidBodyBFrame;
|
||||
public float LinearUpperLimit;
|
||||
public float LinearLowerLimit;
|
||||
public float AngularUpperLimit;
|
||||
public float AngularLowerLimit;
|
||||
public int UseLinearReferenceFrameA;
|
||||
public int UseOffsetForConstraintFrame;
|
||||
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(SliderConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(SliderConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,11 +1,11 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using BulletSharp.Math;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
public enum ConstraintParam
|
||||
public enum ConstraintParam
|
||||
{
|
||||
Erp = 1,
|
||||
StopErp,
|
||||
|
|
@ -15,26 +15,26 @@ namespace BulletSharp
|
|||
|
||||
public enum TypedConstraintType
|
||||
{
|
||||
Point2Point = 3,
|
||||
Hinge,
|
||||
ConeTwist,
|
||||
D6,
|
||||
Slider,
|
||||
Contact,
|
||||
D6Spring,
|
||||
Gear,
|
||||
Fixed,
|
||||
D6Spring2,
|
||||
Max
|
||||
Point2Point = 3,
|
||||
Hinge,
|
||||
ConeTwist,
|
||||
D6,
|
||||
Slider,
|
||||
Contact,
|
||||
D6Spring,
|
||||
Gear,
|
||||
Fixed,
|
||||
D6Spring2,
|
||||
Max
|
||||
}
|
||||
|
||||
public class JointFeedback : IDisposable
|
||||
{
|
||||
internal IntPtr _native;
|
||||
internal IntPtr Native;
|
||||
|
||||
public JointFeedback()
|
||||
{
|
||||
_native = btJointFeedback_new();
|
||||
Native = btJointFeedback_new();
|
||||
}
|
||||
|
||||
public Vector3 AppliedForceBodyA
|
||||
|
|
@ -42,10 +42,10 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btJointFeedback_getAppliedForceBodyA(_native, out value);
|
||||
btJointFeedback_getAppliedForceBodyA(Native, out value);
|
||||
return value;
|
||||
}
|
||||
set { btJointFeedback_setAppliedForceBodyA(_native, ref value); }
|
||||
set => btJointFeedback_setAppliedForceBodyA(Native, ref value);
|
||||
}
|
||||
|
||||
public Vector3 AppliedForceBodyB
|
||||
|
|
@ -53,10 +53,10 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btJointFeedback_getAppliedForceBodyB(_native, out value);
|
||||
btJointFeedback_getAppliedForceBodyB(Native, out value);
|
||||
return value;
|
||||
}
|
||||
set { btJointFeedback_setAppliedForceBodyB(_native, ref value); }
|
||||
set => btJointFeedback_setAppliedForceBodyB(Native, ref value);
|
||||
}
|
||||
|
||||
public Vector3 AppliedTorqueBodyA
|
||||
|
|
@ -64,10 +64,10 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btJointFeedback_getAppliedTorqueBodyA(_native, out value);
|
||||
btJointFeedback_getAppliedTorqueBodyA(Native, out value);
|
||||
return value;
|
||||
}
|
||||
set { btJointFeedback_setAppliedTorqueBodyA(_native, ref value); }
|
||||
set => btJointFeedback_setAppliedTorqueBodyA(Native, ref value);
|
||||
}
|
||||
|
||||
public Vector3 AppliedTorqueBodyB
|
||||
|
|
@ -75,10 +75,10 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btJointFeedback_getAppliedTorqueBodyB(_native, out value);
|
||||
btJointFeedback_getAppliedTorqueBodyB(Native, out value);
|
||||
return value;
|
||||
}
|
||||
set { btJointFeedback_setAppliedTorqueBodyB(_native, ref value); }
|
||||
set => btJointFeedback_setAppliedTorqueBodyB(Native, ref value);
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
|
|
@ -89,10 +89,10 @@ namespace BulletSharp
|
|||
|
||||
protected virtual void Dispose(bool disposing)
|
||||
{
|
||||
if (_native != IntPtr.Zero)
|
||||
if (Native != IntPtr.Zero)
|
||||
{
|
||||
btJointFeedback_delete(_native);
|
||||
_native = IntPtr.Zero;
|
||||
btJointFeedback_delete(Native);
|
||||
Native = IntPtr.Zero;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -100,27 +100,6 @@ namespace BulletSharp
|
|||
{
|
||||
Dispose(false);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btJointFeedback_new();
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btJointFeedback_getAppliedForceBodyA(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btJointFeedback_getAppliedForceBodyB(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btJointFeedback_getAppliedTorqueBodyA(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btJointFeedback_getAppliedTorqueBodyB(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btJointFeedback_setAppliedForceBodyA(IntPtr obj, [In] ref Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btJointFeedback_setAppliedForceBodyB(IntPtr obj, [In] ref Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btJointFeedback_setAppliedTorqueBodyA(IntPtr obj, [In] ref Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btJointFeedback_setAppliedTorqueBodyB(IntPtr obj, [In] ref Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btJointFeedback_delete(IntPtr obj);
|
||||
}
|
||||
|
||||
public abstract class TypedConstraint : IDisposable
|
||||
|
|
@ -136,14 +115,14 @@ namespace BulletSharp
|
|||
|
||||
public int Nub
|
||||
{
|
||||
get { return btTypedConstraint_btConstraintInfo1_getNub(_native); }
|
||||
set { btTypedConstraint_btConstraintInfo1_setNub(_native, value); }
|
||||
get => btTypedConstraint_btConstraintInfo1_getNub(_native);
|
||||
set => btTypedConstraint_btConstraintInfo1_setNub(_native, value);
|
||||
}
|
||||
|
||||
public int NumConstraintRows
|
||||
{
|
||||
get { return btTypedConstraint_btConstraintInfo1_getNumConstraintRows(_native); }
|
||||
set { btTypedConstraint_btConstraintInfo1_setNumConstraintRows(_native, value); }
|
||||
get => btTypedConstraint_btConstraintInfo1_getNumConstraintRows(_native);
|
||||
set => btTypedConstraint_btConstraintInfo1_setNumConstraintRows(_native, value);
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
|
|
@ -165,19 +144,6 @@ namespace BulletSharp
|
|||
{
|
||||
Dispose(false);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_btConstraintInfo1_new();
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btTypedConstraint_btConstraintInfo1_getNub(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btTypedConstraint_btConstraintInfo1_getNumConstraintRows(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo1_setNub(IntPtr obj, int value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo1_setNumConstraintRows(IntPtr obj, int value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo1_delete(IntPtr obj);
|
||||
}
|
||||
|
||||
public class ConstraintInfo2 : IDisposable
|
||||
|
|
@ -188,7 +154,7 @@ namespace BulletSharp
|
|||
{
|
||||
_native = btTypedConstraint_btConstraintInfo2_new();
|
||||
}
|
||||
/*
|
||||
/*
|
||||
public float Cfm
|
||||
{
|
||||
get { return btTypedConstraint_btConstraintInfo2_getCfm(_native); }
|
||||
|
|
@ -200,31 +166,31 @@ namespace BulletSharp
|
|||
get { return btTypedConstraint_btConstraintInfo2_getConstraintError(_native); }
|
||||
set { btTypedConstraint_btConstraintInfo2_setConstraintError(_native, value._native); }
|
||||
}
|
||||
*/
|
||||
*/
|
||||
public float Damping
|
||||
{
|
||||
get { return btTypedConstraint_btConstraintInfo2_getDamping(_native); }
|
||||
set { btTypedConstraint_btConstraintInfo2_setDamping(_native, value); }
|
||||
get => btTypedConstraint_btConstraintInfo2_getDamping(_native);
|
||||
set => btTypedConstraint_btConstraintInfo2_setDamping(_native, value);
|
||||
}
|
||||
|
||||
public float Erp
|
||||
{
|
||||
get { return btTypedConstraint_btConstraintInfo2_getErp(_native); }
|
||||
set { btTypedConstraint_btConstraintInfo2_setErp(_native, value); }
|
||||
get => btTypedConstraint_btConstraintInfo2_getErp(_native);
|
||||
set => btTypedConstraint_btConstraintInfo2_setErp(_native, value);
|
||||
}
|
||||
/*
|
||||
/*
|
||||
public int Findex
|
||||
{
|
||||
get { return btTypedConstraint_btConstraintInfo2_getFindex(_native); }
|
||||
set { btTypedConstraint_btConstraintInfo2_setFindex(_native, value._native); }
|
||||
}
|
||||
*/
|
||||
*/
|
||||
public float Fps
|
||||
{
|
||||
get { return btTypedConstraint_btConstraintInfo2_getFps(_native); }
|
||||
set { btTypedConstraint_btConstraintInfo2_setFps(_native, value); }
|
||||
get => btTypedConstraint_btConstraintInfo2_getFps(_native);
|
||||
set => btTypedConstraint_btConstraintInfo2_setFps(_native, value);
|
||||
}
|
||||
/*
|
||||
/*
|
||||
public float J1angularAxis
|
||||
{
|
||||
get { return btTypedConstraint_btConstraintInfo2_getJ1angularAxis(_native); }
|
||||
|
|
@ -254,25 +220,25 @@ namespace BulletSharp
|
|||
get { return btTypedConstraint_btConstraintInfo2_getLowerLimit(_native); }
|
||||
set { btTypedConstraint_btConstraintInfo2_setLowerLimit(_native, value._native); }
|
||||
}
|
||||
*/
|
||||
*/
|
||||
public int NumIterations
|
||||
{
|
||||
get { return btTypedConstraint_btConstraintInfo2_getNumIterations(_native); }
|
||||
set { btTypedConstraint_btConstraintInfo2_setNumIterations(_native, value); }
|
||||
get => btTypedConstraint_btConstraintInfo2_getNumIterations(_native);
|
||||
set => btTypedConstraint_btConstraintInfo2_setNumIterations(_native, value);
|
||||
}
|
||||
|
||||
public int Rowskip
|
||||
{
|
||||
get { return btTypedConstraint_btConstraintInfo2_getRowskip(_native); }
|
||||
set { btTypedConstraint_btConstraintInfo2_setRowskip(_native, value); }
|
||||
get => btTypedConstraint_btConstraintInfo2_getRowskip(_native);
|
||||
set => btTypedConstraint_btConstraintInfo2_setRowskip(_native, value);
|
||||
}
|
||||
/*
|
||||
/*
|
||||
public float UpperLimit
|
||||
{
|
||||
get { return btTypedConstraint_btConstraintInfo2_getUpperLimit(_native); }
|
||||
set { btTypedConstraint_btConstraintInfo2_setUpperLimit(_native, value._native); }
|
||||
}
|
||||
*/
|
||||
*/
|
||||
public void Dispose()
|
||||
{
|
||||
Dispose(true);
|
||||
|
|
@ -292,155 +258,94 @@ namespace BulletSharp
|
|||
{
|
||||
Dispose(false);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_btConstraintInfo2_new();
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_btConstraintInfo2_getCfm(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_btConstraintInfo2_getConstraintError(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btTypedConstraint_btConstraintInfo2_getDamping(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btTypedConstraint_btConstraintInfo2_getErp(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_btConstraintInfo2_getFindex(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btTypedConstraint_btConstraintInfo2_getFps(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_btConstraintInfo2_getJ1angularAxis(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_btConstraintInfo2_getJ1linearAxis(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_btConstraintInfo2_getJ2angularAxis(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_btConstraintInfo2_getJ2linearAxis(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_btConstraintInfo2_getLowerLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btTypedConstraint_btConstraintInfo2_getNumIterations(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btTypedConstraint_btConstraintInfo2_getRowskip(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_btConstraintInfo2_getUpperLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setCfm(IntPtr obj, IntPtr value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setConstraintError(IntPtr obj, IntPtr value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setDamping(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setErp(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setFindex(IntPtr obj, IntPtr value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setFps(IntPtr obj, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setJ1angularAxis(IntPtr obj, IntPtr value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setJ1linearAxis(IntPtr obj, IntPtr value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setJ2angularAxis(IntPtr obj, IntPtr value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setJ2linearAxis(IntPtr obj, IntPtr value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setLowerLimit(IntPtr obj, IntPtr value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setNumIterations(IntPtr obj, int value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setRowskip(IntPtr obj, int value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_setUpperLimit(IntPtr obj, IntPtr value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_btConstraintInfo2_delete(IntPtr obj);
|
||||
}
|
||||
|
||||
internal IntPtr _native;
|
||||
internal IntPtr Native;
|
||||
|
||||
private JointFeedback _jointFeedback;
|
||||
protected RigidBody _rigidBodyA;
|
||||
protected RigidBody _rigidBodyB;
|
||||
|
||||
static RigidBody _fixedBody;
|
||||
private static RigidBody _fixedBody;
|
||||
|
||||
internal TypedConstraint(IntPtr native)
|
||||
{
|
||||
_native = native;
|
||||
Native = native;
|
||||
}
|
||||
|
||||
public void BuildJacobian()
|
||||
{
|
||||
btTypedConstraint_buildJacobian(_native);
|
||||
btTypedConstraint_buildJacobian(Native);
|
||||
}
|
||||
|
||||
public int CalculateSerializeBufferSize()
|
||||
{
|
||||
return btTypedConstraint_calculateSerializeBufferSize(_native);
|
||||
return btTypedConstraint_calculateSerializeBufferSize(Native);
|
||||
}
|
||||
|
||||
public void EnableFeedback(bool needsFeedback)
|
||||
{
|
||||
btTypedConstraint_enableFeedback(_native, needsFeedback);
|
||||
btTypedConstraint_enableFeedback(Native, needsFeedback);
|
||||
}
|
||||
|
||||
public static RigidBody GetFixedBody()
|
||||
{
|
||||
if (_fixedBody == null)
|
||||
{
|
||||
using (var cinfo = new RigidBodyConstructionInfo(0, null, null))
|
||||
{
|
||||
_fixedBody = new RigidBody(cinfo);
|
||||
_fixedBody.SetMassProps(0, Vector3.Zero);
|
||||
}
|
||||
}
|
||||
return _fixedBody;
|
||||
}
|
||||
public static RigidBody GetFixedBody()
|
||||
{
|
||||
if (_fixedBody == null)
|
||||
{
|
||||
using (var cinfo = new RigidBodyConstructionInfo(0, null, null))
|
||||
{
|
||||
_fixedBody = new RigidBody(cinfo);
|
||||
_fixedBody.SetMassProps(0, Vector3.Zero);
|
||||
}
|
||||
}
|
||||
return _fixedBody;
|
||||
}
|
||||
|
||||
public void GetInfo1(ConstraintInfo1 info)
|
||||
{
|
||||
btTypedConstraint_getInfo1(_native, info._native);
|
||||
btTypedConstraint_getInfo1(Native, info._native);
|
||||
}
|
||||
|
||||
public void GetInfo2(ConstraintInfo2 info)
|
||||
{
|
||||
btTypedConstraint_getInfo2(_native, info._native);
|
||||
btTypedConstraint_getInfo2(Native, info._native);
|
||||
}
|
||||
|
||||
public float GetParam(ConstraintParam num)
|
||||
public float GetParam(ConstraintParam num)
|
||||
{
|
||||
return btTypedConstraint_getParam(_native, num);
|
||||
return btTypedConstraint_getParam(Native, num);
|
||||
}
|
||||
|
||||
public float GetParam(ConstraintParam num, int axis)
|
||||
public float GetParam(ConstraintParam num, int axis)
|
||||
{
|
||||
return btTypedConstraint_getParam2(_native, num, axis);
|
||||
return btTypedConstraint_getParam2(Native, num, axis);
|
||||
}
|
||||
|
||||
public float InternalGetAppliedImpulse()
|
||||
{
|
||||
return btTypedConstraint_internalGetAppliedImpulse(_native);
|
||||
return btTypedConstraint_internalGetAppliedImpulse(Native);
|
||||
}
|
||||
|
||||
public void InternalSetAppliedImpulse(float appliedImpulse)
|
||||
{
|
||||
btTypedConstraint_internalSetAppliedImpulse(_native, appliedImpulse);
|
||||
btTypedConstraint_internalSetAppliedImpulse(Native, appliedImpulse);
|
||||
}
|
||||
|
||||
public string Serialize(IntPtr dataBuffer, Serializer serializer)
|
||||
{
|
||||
return Marshal.PtrToStringAnsi(btTypedConstraint_serialize(_native, dataBuffer, serializer._native));
|
||||
return Marshal.PtrToStringAnsi(btTypedConstraint_serialize(Native, dataBuffer, serializer._native));
|
||||
}
|
||||
|
||||
public void SetParam(ConstraintParam num, float value)
|
||||
public void SetParam(ConstraintParam num, float value)
|
||||
{
|
||||
btTypedConstraint_setParam(_native, num, value);
|
||||
btTypedConstraint_setParam(Native, num, value);
|
||||
}
|
||||
|
||||
public void SetParam(ConstraintParam num, float value, int axis)
|
||||
public void SetParam(ConstraintParam num, float value, int axis)
|
||||
{
|
||||
btTypedConstraint_setParam2(_native, num, value, axis);
|
||||
btTypedConstraint_setParam2(Native, num, value, axis);
|
||||
}
|
||||
/*
|
||||
/*
|
||||
public void SetupSolverConstraint(btAlignedObjectArray<btSolverConstraint> ca,
|
||||
int solverBodyA, int solverBodyB, float timeStep)
|
||||
{
|
||||
|
|
@ -454,267 +359,140 @@ namespace BulletSharp
|
|||
btTypedConstraint_solveConstraintObsolete(_native, __unnamed0._native,
|
||||
__unnamed1._native, __unnamed2);
|
||||
}
|
||||
*/
|
||||
public float AppliedImpulse
|
||||
{
|
||||
get { return btTypedConstraint_getAppliedImpulse(_native); }
|
||||
}
|
||||
*/
|
||||
public float AppliedImpulse => btTypedConstraint_getAppliedImpulse(Native);
|
||||
|
||||
public float BreakingImpulseThreshold
|
||||
{
|
||||
get { return btTypedConstraint_getBreakingImpulseThreshold(_native); }
|
||||
set { btTypedConstraint_setBreakingImpulseThreshold(_native, value); }
|
||||
get => btTypedConstraint_getBreakingImpulseThreshold(Native);
|
||||
set => btTypedConstraint_setBreakingImpulseThreshold(Native, value);
|
||||
}
|
||||
|
||||
public TypedConstraintType ConstraintType
|
||||
{
|
||||
get { return btTypedConstraint_getConstraintType(_native); }
|
||||
}
|
||||
public TypedConstraintType ConstraintType => btTypedConstraint_getConstraintType(Native);
|
||||
|
||||
public float DebugDrawSize
|
||||
{
|
||||
get { return btTypedConstraint_getDbgDrawSize(_native); }
|
||||
set { btTypedConstraint_setDbgDrawSize(_native, value); }
|
||||
get => btTypedConstraint_getDbgDrawSize(Native);
|
||||
set => btTypedConstraint_setDbgDrawSize(Native, value);
|
||||
}
|
||||
|
||||
public bool IsEnabled
|
||||
{
|
||||
get { return btTypedConstraint_isEnabled(_native); }
|
||||
set { btTypedConstraint_setEnabled(_native, value); }
|
||||
get => btTypedConstraint_isEnabled(Native);
|
||||
set => btTypedConstraint_setEnabled(Native, value);
|
||||
}
|
||||
|
||||
public JointFeedback JointFeedback
|
||||
{
|
||||
get { return _jointFeedback; }
|
||||
get => _jointFeedback;
|
||||
set
|
||||
{
|
||||
btTypedConstraint_setJointFeedback(_native, (value == null) ? value._native : IntPtr.Zero);
|
||||
btTypedConstraint_setJointFeedback(Native, (value == null) ? value.Native : IntPtr.Zero);
|
||||
_jointFeedback = value;
|
||||
}
|
||||
}
|
||||
|
||||
public bool NeedsFeedback
|
||||
{
|
||||
get { return btTypedConstraint_needsFeedback(_native); }
|
||||
}
|
||||
public bool NeedsFeedback => btTypedConstraint_needsFeedback(Native);
|
||||
|
||||
public int OverrideNumSolverIterations
|
||||
{
|
||||
get { return btTypedConstraint_getOverrideNumSolverIterations(_native); }
|
||||
set { btTypedConstraint_setOverrideNumSolverIterations(_native, value); }
|
||||
get => btTypedConstraint_getOverrideNumSolverIterations(Native);
|
||||
set => btTypedConstraint_setOverrideNumSolverIterations(Native, value);
|
||||
}
|
||||
|
||||
public RigidBody RigidBodyA
|
||||
{
|
||||
get { return _rigidBodyA; }
|
||||
}
|
||||
public RigidBody RigidBodyA => _rigidBodyA;
|
||||
|
||||
public RigidBody RigidBodyB
|
||||
{
|
||||
get { return _rigidBodyB; }
|
||||
}
|
||||
public RigidBody RigidBodyB => _rigidBodyB;
|
||||
|
||||
public int Uid
|
||||
{
|
||||
get { return btTypedConstraint_getUid(_native); }
|
||||
}
|
||||
public int Uid => btTypedConstraint_getUid(Native);
|
||||
|
||||
public int UserConstraintId
|
||||
{
|
||||
get { return btTypedConstraint_getUserConstraintId(_native); }
|
||||
set { btTypedConstraint_setUserConstraintId(_native, value); }
|
||||
get => btTypedConstraint_getUserConstraintId(Native);
|
||||
set => btTypedConstraint_setUserConstraintId(Native, value);
|
||||
}
|
||||
|
||||
public Object Userobject { get; set; }
|
||||
public Object Userobject { get; set; }
|
||||
|
||||
public int UserConstraintType
|
||||
{
|
||||
get { return btTypedConstraint_getUserConstraintType(_native); }
|
||||
set { btTypedConstraint_setUserConstraintType(_native, value); }
|
||||
get => btTypedConstraint_getUserConstraintType(Native);
|
||||
set => btTypedConstraint_setUserConstraintType(Native, value);
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
Dispose(true);
|
||||
GC.SuppressFinalize(this);
|
||||
}
|
||||
public void Dispose()
|
||||
{
|
||||
Dispose(true);
|
||||
GC.SuppressFinalize(this);
|
||||
}
|
||||
|
||||
|
||||
protected virtual void Dispose(bool disposing)
|
||||
{
|
||||
if (_native != IntPtr.Zero)
|
||||
{
|
||||
btTypedConstraint_delete(_native);
|
||||
_native = IntPtr.Zero;
|
||||
}
|
||||
}
|
||||
protected virtual void Dispose(bool disposing)
|
||||
{
|
||||
if (Native != IntPtr.Zero)
|
||||
{
|
||||
btTypedConstraint_delete(Native);
|
||||
Native = IntPtr.Zero;
|
||||
}
|
||||
}
|
||||
|
||||
~TypedConstraint()
|
||||
{
|
||||
Dispose(false);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_buildJacobian(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btTypedConstraint_calculateSerializeBufferSize(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_enableFeedback(IntPtr obj, bool needsFeedback);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btTypedConstraint_getAppliedImpulse(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btTypedConstraint_getBreakingImpulseThreshold(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern TypedConstraintType btTypedConstraint_getConstraintType(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btTypedConstraint_getDbgDrawSize(IntPtr obj);
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//static extern IntPtr btTypedConstraint_getFixedBody();
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_getInfo1(IntPtr obj, IntPtr info);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_getInfo2(IntPtr obj, IntPtr info);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_getJointFeedback(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btTypedConstraint_getOverrideNumSolverIterations(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btTypedConstraint_getParam(IntPtr obj, ConstraintParam num);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btTypedConstraint_getParam2(IntPtr obj, ConstraintParam num, int axis);
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//static extern IntPtr btTypedConstraint_getRigidBodyA(IntPtr obj);
|
||||
//[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
//static extern IntPtr btTypedConstraint_getRigidBodyB(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btTypedConstraint_getUid(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btTypedConstraint_getUserConstraintId(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_getUserConstraintPtr(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern int btTypedConstraint_getUserConstraintType(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btTypedConstraint_internalGetAppliedImpulse(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_internalSetAppliedImpulse(IntPtr obj, float appliedImpulse);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btTypedConstraint_isEnabled(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btTypedConstraint_needsFeedback(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btTypedConstraint_serialize(IntPtr obj, IntPtr dataBuffer, IntPtr serializer);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_setBreakingImpulseThreshold(IntPtr obj, float threshold);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_setDbgDrawSize(IntPtr obj, float dbgDrawSize);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_setEnabled(IntPtr obj, bool enabled);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_setJointFeedback(IntPtr obj, IntPtr jointFeedback);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_setOverrideNumSolverIterations(IntPtr obj, int overideNumIterations);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_setParam(IntPtr obj, ConstraintParam num, float value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_setParam2(IntPtr obj, ConstraintParam num, float value, int axis);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_setupSolverConstraint(IntPtr obj, IntPtr ca, int solverBodyA, int solverBodyB, float timeStep);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_setUserConstraintId(IntPtr obj, int uid);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_setUserConstraintPtr(IntPtr obj, IntPtr ptr);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_setUserConstraintType(IntPtr obj, int userConstraintType);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_solveConstraintObsolete(IntPtr obj, IntPtr __unnamed0, IntPtr __unnamed1, float __unnamed2);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btTypedConstraint_delete(IntPtr obj);
|
||||
~TypedConstraint()
|
||||
{
|
||||
Dispose(false);
|
||||
}
|
||||
}
|
||||
|
||||
public class AngularLimit : IDisposable
|
||||
{
|
||||
internal IntPtr _native;
|
||||
bool _preventDelete;
|
||||
internal IntPtr Native;
|
||||
private bool _preventDelete;
|
||||
|
||||
internal AngularLimit(IntPtr native, bool preventDelete)
|
||||
{
|
||||
_native = native;
|
||||
Native = native;
|
||||
_preventDelete = preventDelete;
|
||||
}
|
||||
|
||||
public AngularLimit()
|
||||
{
|
||||
_native = btAngularLimit_new();
|
||||
Native = btAngularLimit_new();
|
||||
}
|
||||
|
||||
public void Fit(ref float angle)
|
||||
{
|
||||
btAngularLimit_fit(_native, ref angle);
|
||||
btAngularLimit_fit(Native, ref angle);
|
||||
}
|
||||
|
||||
public void Set(float low, float high, float softness = 0.9f, float biasFactor = 0.3f,
|
||||
float relaxationFactor = 1.0f)
|
||||
{
|
||||
btAngularLimit_set(_native, low, high, softness, biasFactor, relaxationFactor);
|
||||
btAngularLimit_set(Native, low, high, softness, biasFactor, relaxationFactor);
|
||||
}
|
||||
|
||||
public void Test(float angle)
|
||||
{
|
||||
btAngularLimit_test(_native, angle);
|
||||
btAngularLimit_test(Native, angle);
|
||||
}
|
||||
|
||||
public float BiasFactor
|
||||
{
|
||||
get { return btAngularLimit_getBiasFactor(_native); }
|
||||
}
|
||||
public float BiasFactor => btAngularLimit_getBiasFactor(Native);
|
||||
|
||||
public float Correction
|
||||
{
|
||||
get { return btAngularLimit_getCorrection(_native); }
|
||||
}
|
||||
public float Correction => btAngularLimit_getCorrection(Native);
|
||||
|
||||
public float Error
|
||||
{
|
||||
get { return btAngularLimit_getError(_native); }
|
||||
}
|
||||
public float Error => btAngularLimit_getError(Native);
|
||||
|
||||
public float HalfRange
|
||||
{
|
||||
get { return btAngularLimit_getHalfRange(_native); }
|
||||
}
|
||||
public float HalfRange => btAngularLimit_getHalfRange(Native);
|
||||
|
||||
public float High
|
||||
{
|
||||
get { return btAngularLimit_getHigh(_native); }
|
||||
}
|
||||
public float High => btAngularLimit_getHigh(Native);
|
||||
|
||||
public bool IsLimit
|
||||
{
|
||||
get { return btAngularLimit_isLimit(_native); }
|
||||
}
|
||||
public bool IsLimit => btAngularLimit_isLimit(Native);
|
||||
|
||||
public float Low
|
||||
{
|
||||
get { return btAngularLimit_getLow(_native); }
|
||||
}
|
||||
public float Low => btAngularLimit_getLow(Native);
|
||||
|
||||
public float RelaxationFactor
|
||||
{
|
||||
get { return btAngularLimit_getRelaxationFactor(_native); }
|
||||
}
|
||||
public float RelaxationFactor => btAngularLimit_getRelaxationFactor(Native);
|
||||
|
||||
public float Sign
|
||||
{
|
||||
get { return btAngularLimit_getSign(_native); }
|
||||
}
|
||||
public float Sign => btAngularLimit_getSign(Native);
|
||||
|
||||
public float Softness
|
||||
{
|
||||
get { return btAngularLimit_getSoftness(_native); }
|
||||
}
|
||||
public float Softness => btAngularLimit_getSoftness(Native);
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
|
|
@ -724,13 +502,13 @@ namespace BulletSharp
|
|||
|
||||
protected virtual void Dispose(bool disposing)
|
||||
{
|
||||
if (_native != IntPtr.Zero)
|
||||
if (Native != IntPtr.Zero)
|
||||
{
|
||||
if (!_preventDelete)
|
||||
{
|
||||
btAngularLimit_delete(_native);
|
||||
btAngularLimit_delete(Native);
|
||||
}
|
||||
_native = IntPtr.Zero;
|
||||
Native = IntPtr.Zero;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -738,57 +516,25 @@ namespace BulletSharp
|
|||
{
|
||||
Dispose(false);
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btAngularLimit_new();
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btAngularLimit_fit(IntPtr obj, ref float angle);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btAngularLimit_getBiasFactor(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btAngularLimit_getCorrection(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btAngularLimit_getError(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btAngularLimit_getHalfRange(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btAngularLimit_getHigh(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btAngularLimit_getLow(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btAngularLimit_getRelaxationFactor(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btAngularLimit_getSign(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btAngularLimit_getSoftness(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
[return: MarshalAs(UnmanagedType.I1)]
|
||||
static extern bool btAngularLimit_isLimit(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btAngularLimit_set(IntPtr obj, float low, float high, float _softness, float _biasFactor, float _relaxationFactor);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btAngularLimit_test(IntPtr obj, float angle);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btAngularLimit_delete(IntPtr obj);
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal struct TypedConstraintFloatData
|
||||
{
|
||||
public IntPtr RigidBodyA;
|
||||
public IntPtr RigidBodyB;
|
||||
public IntPtr Name;
|
||||
public int ObjectType;
|
||||
public int UserConstraintType;
|
||||
public int UserConstraintId;
|
||||
public int NeedsFeedback;
|
||||
public float AppliedImpulse;
|
||||
public float DebugDrawSize;
|
||||
public int DisableCollisionsBetweenLinkedBodies;
|
||||
public int OverrideNumSolverIterations;
|
||||
public float BreakingImpulseThreshold;
|
||||
public int IsEnabled;
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
internal struct TypedConstraintFloatData
|
||||
{
|
||||
public IntPtr RigidBodyA;
|
||||
public IntPtr RigidBodyB;
|
||||
public IntPtr Name;
|
||||
public int ObjectType;
|
||||
public int UserConstraintType;
|
||||
public int UserConstraintId;
|
||||
public int NeedsFeedback;
|
||||
public float AppliedImpulse;
|
||||
public float DebugDrawSize;
|
||||
public int DisableCollisionsBetweenLinkedBodies;
|
||||
public int OverrideNumSolverIterations;
|
||||
public float BreakingImpulseThreshold;
|
||||
public int IsEnabled;
|
||||
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(TypedConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
public static int Offset(string fieldName) { return Marshal.OffsetOf(typeof(TypedConstraintFloatData), fieldName).ToInt32(); }
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,7 +1,5 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using System.Security;
|
||||
using BulletSharp.Math;
|
||||
using static BulletSharp.UnsafeNativeMethods;
|
||||
|
||||
namespace BulletSharp
|
||||
{
|
||||
|
|
@ -18,12 +16,12 @@ namespace BulletSharp
|
|||
|
||||
public void SetLowerLimit(float ang1min, float ang2min)
|
||||
{
|
||||
btUniversalConstraint_setLowerLimit(_native, ang1min, ang2min);
|
||||
btUniversalConstraint_setLowerLimit(Native, ang1min, ang2min);
|
||||
}
|
||||
|
||||
public void SetUpperLimit(float ang1max, float ang2max)
|
||||
{
|
||||
btUniversalConstraint_setUpperLimit(_native, ang1max, ang2max);
|
||||
btUniversalConstraint_setUpperLimit(Native, ang1max, ang2max);
|
||||
}
|
||||
|
||||
public Vector3 Anchor
|
||||
|
|
@ -31,7 +29,7 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btUniversalConstraint_getAnchor(_native, out value);
|
||||
btUniversalConstraint_getAnchor(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
|
@ -41,27 +39,21 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btUniversalConstraint_getAnchor2(_native, out value);
|
||||
btUniversalConstraint_getAnchor2(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
public float Angle1
|
||||
{
|
||||
get { return btUniversalConstraint_getAngle1(_native); }
|
||||
}
|
||||
public float Angle1 => btUniversalConstraint_getAngle1(Native);
|
||||
|
||||
public float Angle2
|
||||
{
|
||||
get { return btUniversalConstraint_getAngle2(_native); }
|
||||
}
|
||||
public float Angle2 => btUniversalConstraint_getAngle2(Native);
|
||||
|
||||
public Vector3 Axis1
|
||||
{
|
||||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btUniversalConstraint_getAxis1(_native, out value);
|
||||
btUniversalConstraint_getAxis1(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
|
@ -71,28 +63,9 @@ namespace BulletSharp
|
|||
get
|
||||
{
|
||||
Vector3 value;
|
||||
btUniversalConstraint_getAxis2(_native, out value);
|
||||
btUniversalConstraint_getAxis2(Native, out value);
|
||||
return value;
|
||||
}
|
||||
}
|
||||
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern IntPtr btUniversalConstraint_new(IntPtr rbA, IntPtr rbB, [In] ref Vector3 anchor, [In] ref Vector3 axis1, [In] ref Vector3 axis2);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btUniversalConstraint_getAnchor(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btUniversalConstraint_getAnchor2(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btUniversalConstraint_getAngle1(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern float btUniversalConstraint_getAngle2(IntPtr obj);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btUniversalConstraint_getAxis1(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btUniversalConstraint_getAxis2(IntPtr obj, out Vector3 value);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btUniversalConstraint_setLowerLimit(IntPtr obj, float ang1min, float ang2min);
|
||||
[DllImport(Native.Dll, CallingConvention = Native.Conv), SuppressUnmanagedCodeSecurity]
|
||||
static extern void btUniversalConstraint_setUpperLimit(IntPtr obj, float ang1max, float ang2max);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,4 +1,3 @@
|
|||
using System;
|
||||
using BulletSharp.Math;
|
||||
|
||||
namespace BulletSharp
|
||||
|
|
|
|||
|
|
@ -526,7 +526,7 @@ namespace BulletSharp
|
|||
}
|
||||
else if (obj is TypedConstraint)
|
||||
{
|
||||
ptr = (obj as TypedConstraint)._native;
|
||||
ptr = (obj as TypedConstraint).Native;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
|
|||
|
|
@ -23,7 +23,7 @@ namespace BulletSharp.SoftBody
|
|||
}
|
||||
|
||||
Native = btSoftRigidDynamicsWorld_new(dispatcher.Native, pairCache.Native,
|
||||
(constraintSolver != null) ? constraintSolver._native : IntPtr.Zero,
|
||||
(constraintSolver != null) ? constraintSolver.Native : IntPtr.Zero,
|
||||
collisionConfiguration.Native, _softBodySolver._native);
|
||||
|
||||
CollisionObjectArray = new AlignedCollisionObjectArray(btCollisionWorld_getCollisionObjectArray(Native), this);
|
||||
|
|
|
|||
Разница между файлами не показана из-за своего большого размера
Загрузить разницу
Загрузка…
Ссылка в новой задаче